From cae73bce1e41324f65c93ab280fa62431332a1fc Mon Sep 17 00:00:00 2001
From: Hosted Weblate <hosted@weblate.org>
Date: Wed, 27 Nov 2024 17:36:02 +0100
Subject: [PATCH] Added translation using Weblate (Korean)

Co-authored-by: jonghak <jonghak9028@gmail.com>
---
 docs/po/ko.po | 229367 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 229367 insertions(+)
 create mode 100644 docs/po/ko.po

diff --git a/docs/po/ko.po b/docs/po/ko.po
new file mode 100644
index 00000000000..62f392b8805
--- /dev/null
+++ b/docs/po/ko.po
@@ -0,0 +1,229367 @@
+# SOME DESCRIPTIVE TITLE
+# Copyright (C) YEAR Free Software Foundation, Inc.
+# This file is distributed under the same license as the PACKAGE package.
+# jonghak <jonghak9028@gmail.com>, 2024.
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"POT-Creation-Date: 2024-10-05 14:14+0200\n"
+"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: ko\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+
+#.  vim: set syntax=asciidoc:
+#. type: Attribute :lang:
+#: src/Master_Developer.adoc:1 src/Master_Documentation.adoc:1
+#: src/Master_Getting_Started.adoc:1 src/Master_Integrator.adoc:1
+#: help/rtfaults.adoc:1 help/tklinuxcnc.adoc:1 src/code/adding-configs.adoc:1
+#: src/code/building-linuxcnc.adoc:1 src/code/code-notes.adoc:1
+#: src/code/contributing-to-linuxcnc.adoc:1 src/code/nml-messages.adoc:1
+#: src/code/rs274.adoc:1 src/code/style-guide.adoc:1
+#: src/common/emc-history.adoc:1 src/common/glossary.adoc:1
+#: src/common/gpld-copyright.adoc:1 src/common/linux-faq.adoc:1
+#: src/common/overleaf.adoc:1 src/config/core-components.adoc:1
+#: src/config/ini-config.adoc:1 src/config/ini-homing.adoc:1
+#: src/config/integrator-concepts.adoc:1 src/config/iov2.adoc:1
+#: src/config/lathe-config.adoc:1 src/config/moveoff.adoc:1
+#: src/config/pncconf.adoc:1 src/config/python-hal-interface.adoc:1
+#: src/config/python-interface.adoc:1 src/config/stepconf.adoc:1
+#: src/config/stepper.adoc:1 src/config/stepper-diagnostics.adoc:1
+#: src/config/stepper-quickstart.adoc:1 src/drivers/ax5214h.adoc:1
+#: src/drivers/gm.adoc:1 src/drivers/gs2.adoc:1 src/drivers/hostmot2.adoc:1
+#: src/drivers/hal_gpio.adoc:1 src/drivers/mb2hal.adoc:1
+#: src/drivers/mitsub-vfd.adoc:1 src/drivers/motenc.adoc:1
+#: src/drivers/opto22.adoc:1 src/drivers/pico-ppmc.adoc:1
+#: src/drivers/pluto-p.adoc:1 src/drivers/pmx485.adoc:1
+#: src/drivers/servo-to-go.adoc:1 src/drivers/shuttle.adoc:1
+#: src/drivers/vfs11.adoc:1 src/examples/gcode.adoc:1
+#: src/examples/gs2-example.adoc:1 src/examples/mpg.adoc:1
+#: src/examples/pci-parallel-port.adoc:1 src/examples/spindle.adoc:1
+#: src/gcode/coordinates.adoc:1 src/gcode/g-code.adoc:1
+#: src/gcode/machining-center.adoc:1 src/gcode/m-code.adoc:1
+#: src/gcode/o-code.adoc:1 src/gcode/other-code.adoc:1
+#: src/gcode/overview.adoc:1 src/gcode/rs274ngc.adoc:1
+#: src/gcode/tool-compensation.adoc:1 src/getting-started/about-linuxcnc.adoc:1
+#: src/getting-started/getting-linuxcnc.adoc:1
+#: src/getting-started/running-linuxcnc.adoc:1
+#: src/getting-started/system-requirements.adoc:1
+#: src/getting-started/hardware-interface.adoc:1
+#: src/getting-started/updating-linuxcnc.adoc:1 src/gui/axis.adoc:1
+#: src/gui/filter-programs.adoc:1 src/gui/gladevcp.adoc:1
+#: src/gui/gladevcp-libraries.adoc:1 src/gui/gmoccapy.adoc:1
+#: src/gui/gscreen.adoc:1 src/gui/gstat.adoc:1 src/gui/halui.adoc:1
+#: src/gui/image-to-gcode.adoc:1 src/gui/mdro.adoc:1 src/gui/ngcgui.adoc:1
+#: src/gui/panelui.adoc:1 src/gui/pyvcp.adoc:1 src/gui/pyvcp-examples.adoc:1
+#: src/gui/qtdragon.adoc:1 src/gui/qtvcp.adoc:1
+#: src/gui/qtvcp-code-snippets.adoc:1 src/gui/qtvcp-custom-widgets.adoc:1
+#: src/gui/qtvcp-development.adoc:1 src/gui/qtvcp-libraries.adoc:1
+#: src/gui/qtvcp-vcp-panels.adoc:1 src/gui/qtvcp-vismach.adoc:1
+#: src/gui/qtvcp-widgets.adoc:1 src/gui/tklinuxcnc.adoc:1
+#: src/gui/tooledit.adoc:1 src/gui/touchy.adoc:1 src/gui/vismach.adoc:1
+#: src/hal/basic-hal.adoc:1 src/hal/canonical-devices.adoc:1
+#: src/hal/comp.adoc:1 src/hal/components.adoc:1 src/hal/general-ref.adoc:1
+#: src/hal/hal-examples.adoc:1 src/hal/halmodule.adoc:1 src/hal/halshow.adoc:1
+#: src/hal/haltcl.adoc:1 src/hal/halui-examples.adoc:1 src/hal/intro.adoc:1
+#: src/hal/parallel-port.adoc:1 src/hal/rtcomps.adoc:1 src/hal/tools.adoc:1
+#: src/hal/tutorial.adoc:1 src/hal/twopass.adoc:1
+#: src/install/latency-test.adoc:1 src/integrator/steppers.adoc:1
+#: src/integrator/stepper-timing.adoc:1 src/integrator/wiring.adoc:1
+#: src/ladder/classic-ladder.adoc:1 src/ladder/ladder-examples.adoc:1
+#: src/ladder/ladder-intro.adoc:1 src/lathe/lathe-user.adoc:1
+#: src/motion/5-axis-kinematics.adoc:1 src/motion/dh-parameters.adoc:1
+#: src/motion/external-offsets.adoc:1 src/motion/kinematics.adoc:1
+#: src/motion/pid-theory.adoc:1 src/motion/switchkins.adoc:1
+#: src/motion/tweaking-steppers.adoc:1 src/plasma/plasma-cnc-primer.adoc:1
+#: src/plasma/qtplasmac.adoc:1 src/remap/remap.adoc:1
+#: src/source-highlight/hal-demo.adoc:1 src/source-highlight/ini-demo.adoc:1
+#: src/source-highlight/ngc-demo.adoc:1 src/tooldatabase/tooldatabase.adoc:1
+#: src/user/starting-linuxcnc.adoc:1 src/user/user-concepts.adoc:1
+#: src/user/user-foreword.adoc:1 src/user/user-intro.adoc:1 README.adoc:1
+#: INSTALL.adoc:1
+#, no-wrap
+msgid "en"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Developer.adoc:7
+#, no-wrap
+msgid "Developer Manual V{lversion}, {date}"
+msgstr ""
+
+#. type: Title ==
+#: src/Master_Developer.adoc:9 src/code/building-linuxcnc.adoc:6
+#: src/code/contributing-to-linuxcnc.adoc:12
+#: src/config/python-interface.adoc:18 src/config/stepconf.adoc:7
+#: src/config/stepper.adoc:13 src/drivers/hostmot2.adoc:13
+#: src/drivers/mb2hal.adoc:13 src/gcode/coordinates.adoc:13
+#: src/gui/axis.adoc:13 src/gui/filter-programs.adoc:6 src/gui/gmoccapy.adoc:15
+#: src/gui/gscreen.adoc:13 src/gui/halui.adoc:14 src/gui/mdro.adoc:13
+#: src/gui/panelui.adoc:11 src/gui/pyvcp.adoc:13 src/gui/qtdragon.adoc:12
+#: src/gui/qtvcp-vismach.adoc:12 src/gui/tklinuxcnc.adoc:14
+#: src/hal/canonical-devices.adoc:7 src/hal/comp.adoc:13
+#: src/hal/tutorial.adoc:7 src/ladder/ladder-intro.adoc:37
+#: src/motion/5-axis-kinematics.adoc:17 src/motion/kinematics.adoc:7
+#: src/motion/switchkins.adoc:13 src/plasma/qtplasmac.adoc:24
+#: src/user/user-intro.adoc:7
+#, no-wrap
+msgid "Introduction"
+msgstr ""
+
+#. type: Target for macro image
+#: src/Master_Developer.adoc:11 src/Master_Getting_Started.adoc:13
+#, no-wrap
+msgid "common/images/emc2-intro.png"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:8
+#, no-wrap
+msgid "LinuxCNC V{lversion}, {date}"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:11
+#, no-wrap
+msgid "Getting Started & Configuration"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:14
+#, no-wrap
+msgid "Getting Started with LinuxCNC"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:31
+#, no-wrap
+msgid "General User Information"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:50
+#, no-wrap
+msgid "Configuration Wizards"
+msgstr ""
+
+#. type: Title ===
+#: src/Master_Documentation.adoc:59 src/config/ini-homing.adoc:109
+#: src/drivers/hostmot2.adoc:712
+#, no-wrap
+msgid "Configuration"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:85
+#, no-wrap
+msgid "HAL (Hardware Abstraction Layer)"
+msgstr ""
+
+#. type: Title ===
+#: src/Master_Documentation.adoc:120 src/hal/components.adoc:86
+#, no-wrap
+msgid "Hardware Drivers"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:159
+#, no-wrap
+msgid "Hardware Examples"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:173
+#, no-wrap
+msgid "ClassicLadder"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:184
+#, no-wrap
+msgid "Advanced Topics"
+msgstr ""
+
+#. type: Title ===
+#: src/Master_Documentation.adoc:209 src/index.tmpl:278 src/code/rs274.adoc:15
+#: src/config/iov2.adoc:49 src/drivers/hal_pi_gpio.adoc:13
+#: src/drivers/hal_gpio.adoc:14 src/drivers/mb2hal.adoc:34
+#: src/gui/qtvcp-libraries.adoc:26 src/gui/qtvcp-libraries.adoc:194
+#: src/gui/qtvcp-libraries.adoc:246 src/gui/qtvcp-libraries.adoc:603
+#: src/gui/qtvcp-libraries.adoc:636 src/gui/qtvcp-libraries.adoc:734
+#: src/gui/qtvcp-libraries.adoc:768 src/gui/qtvcp-libraries.adoc:1130
+#: src/gui/qtvcp-libraries.adoc:1245 src/gui/qtvcp-libraries.adoc:1431
+#: src/gui/qtvcp-vcp-panels.adoc:192 src/motion/external-offsets.adoc:65
+#: src/motion/switchkins.adoc:135 src/tooldatabase/tooldatabase.adoc:80
+#, no-wrap
+msgid "Usage"
+msgstr ""
+
+#. type: Title ==
+#: src/Master_Documentation.adoc:212 src/code/code-notes.adoc:774
+#: src/user/user-intro.adoc:154
+#, no-wrap
+msgid "User Interfaces"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:235
+#, no-wrap
+msgid "G-code Programming"
+msgstr ""
+
+#. type: Title ==
+#: src/Master_Documentation.adoc:262 src/user/user-intro.adoc:161
+#, no-wrap
+msgid "Virtual Control Panels"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:291
+#, no-wrap
+msgid "User Interface Programming"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:306
+#, no-wrap
+msgid "Glossary, Copyright & History"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:309
+#, no-wrap
+msgid "Overleaf"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:316
+#, no-wrap
+msgid "Copyright"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Documentation.adoc:322
+#, no-wrap
+msgid "LinuxCNC History"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Getting_Started.adoc:7
+#, no-wrap
+msgid "Getting Started V{lversion}, {date}"
+msgstr ""
+
+#. type: Plain text
+#: src/Master_Getting_Started.adoc:10
+msgid "The LinuxCNC Team"
+msgstr ""
+
+#. type: Title =
+#: src/Master_Integrator.adoc:7
+#, no-wrap
+msgid "Integrator Information V{lversion}, {date}"
+msgstr ""
+
+#. type: TH
+#: src/index.tmpl:6 src/common/glossary.adoc:178 man/man9/matrix_kb.9:10
+#: man/man9/mux_generic.9:10 man/man9/pid.9:10 man/man9/pwmgen.9:10
+#: man/man9/sim_encoder.9:10
+#, no-wrap
+msgid "LinuxCNC"
+msgstr ""
+
+#. type: Content of: <html><head><script>
+#: src/index.tmpl:9
+msgid "//"
+msgstr ""
+
+#. type: CDATA
+#: src/index.tmpl:9
+#, no-wrap
+msgid ""
+"var sections = [['sec0', 'sec1', 'sec2', 'sec3', 'sec4', 'sec5', 'sec6',\n"
+"   'sec7', 'sec8', 'sec9', 'sec10','sec11','sec12','sec13', 'sec14', "
+"'sec15'],\n"
+"   ['man_1', 'man_9','man_3hal', 'man_3rtapi', 'man_3hm2', 'man_3']];\n"
+"\n"
+"function storeOK() { // Check for HTML5 Local Storage\n"
+"  try {\n"
+"    return 'localStorage' in window && window['localStorage'] !== null;\n"
+"  } catch (e) {\n"
+"    return false;\n"
+"  }\n"
+"}\n"
+"\n"
+"function toggle(sec){\n"
+"  var e = document.getElementById(sec);\n"
+"  var i = document.getElementById(sec + '_image');\n"
+"  if(!e)return true;\n"
+"  if(e.style.display==\"none\"){\n"
+"    e.style.display=\"block\"\n"
+"    i.src = 'minus.png';\n"
+"    i.alt = '-';\n"
+"    if (storeOK()){localStorage.setItem(sec, \"block\");}\n"
+"  }\n"
+"  else {\n"
+"    e.style.display=\"none\"\n"
+"    i.src = 'plus.png';\n"
+"    if (storeOK()){localStorage.setItem(sec, \"none\");}\n"
+"  }\n"
+"  return false;\n"
+"}\n"
+"\n"
+"function toggle_section(a){\n"
+"  if (a.id.substring(0,3) === \"doc\"){var s = 0;}\n"
+"  if (a.id.substring(0,3) === \"man\"){var s = 1;}\n"
+"  if (a.value.substring(0,6) === \"Expand\"){\n"
+"    for (var i in sections[s]){\n"
+"      document.getElementById(sections[s][i]).style.display = 'block';\n"
+"      document.getElementById(sections[s][i] + '_image').src = "
+"'minus.png';\n"
+"      document.getElementById(sections[s][i] + '_image').alt = '-';\n"
+"      if (storeOK()){localStorage.setItem(sections[s][i], \"block\");}\n"
+"    }\n"
+"  }\n"
+"  else{\n"
+"    for (var i in sections[s]){\n"
+"      document.getElementById(sections[s][i]).style.display = 'none';\n"
+"      document.getElementById(sections[s][i] + '_image').src = 'plus.png';\n"
+"      document.getElementById(sections[s][i] + '_image').alt = '+';\n"
+"      if (storeOK()){localStorage.setItem(sections[s][i], \"none\");}\n"
+"    }\n"
+"  }\n"
+"}\n"
+"\n"
+"function setup_page(){\n"
+"  for (var s in sections){\n"
+"    for (var i in sections[s]){\n"
+"      if (localStorage.getItem(sections[s][i]) != null){\n"
+"        if (localStorage.getItem(sections[s][i]) === \"block\"){\n"
+"          document.getElementById(sections[s][i]).style.display = 'block';\n"
+"          document.getElementById(sections[s][i] + '_image').src = "
+"'minus.png';\n"
+"          document.getElementById(sections[s][i] + '_image').alt = '-';\n"
+"        }\n"
+"        else{\n"
+"          document.getElementById(sections[s][i]).style.display = 'none';\n"
+"          document.getElementById(sections[s][i] + '_image').src = "
+"'plus.png';\n"
+"          document.getElementById(sections[s][i] + '_image').alt = '+';\n"
+"        }\n"
+"      }\n"
+"      else{\n"
+"        document.getElementById(sections[s][i]).style.display = 'none';\n"
+"        document.getElementById(sections[s][i] + '_image').src = "
+"'plus.png';\n"
+"        document.getElementById(sections[s][i] + '_image').alt = '+';\n"
+"      }\n"
+"    }\n"
+"  }\n"
+"}\n"
+"//"
+msgstr ""
+
+#. type: Attribute 'alt' of: <html><body><div><img>
+#: src/index.tmpl:93
+msgid "LinuxCNC Logo"
+msgstr ""
+
+#. type: Content of: <html><body>
+#: src/index.tmpl:96
+msgid "@TRANSLATIONS@"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:97
+msgid ""
+"Translations: <a href=\"ar/\">Arabic</a> <a href=\"de/\">Deutsch</a> <a "
+"href=\"es/\">Espa&ntilde;ol</a> <a href=\"fr/\">Français</a> <a "
+"href=\"nb/\">Norsk bokm&aring;l</a> <a href=\"ru/\">Russian</a> <a "
+"href=\"sv/\">Svensk</a> <a href=\"tr/\">Turkish</a> <a "
+"href=\"zh_CN/\">中文</a>"
+msgstr ""
+
+#.  <h3 align="center">
+#. LinuxCNC version <strong>@VERSION@</strong></h3>
+#. <h2>Documentation</h2> 
+#. type: Content of: <html><body>
+#: src/index.tmpl:108
+msgid "@ENDTRANSLATIONS@"
+msgstr ""
+
+#. type: Content of: <html><body><h2>
+#: src/index.tmpl:112
+msgid "LinuxCNC version <strong>@VERSION@</strong> Documentation"
+msgstr ""
+
+#. type: Content of: <html><body><div><p>
+#: src/index.tmpl:115
+msgid ""
+"<a href=\"https://linuxcnc.org\">LinuxCNC Home Page</a> &bull; <a "
+"href=\"https://wiki.linuxcnc.org/cgi-bin/wiki.pl\">Wiki</a> &bull; <a "
+"href=\"https://forum.linuxcnc.org\">Forum</a> &bull; <a "
+"href=\"https://github.com/LinuxCNC/linuxcnc\">Source</a> &bull; <a "
+"href=\"gcode.html\">G-Code Quick Reference</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:121
+msgid ""
+"<input type=\"button\" value=\"Expand Documents\" id=\"docExpand\" "
+"onclick=\"return toggle_section(this);\"/> <input type=\"button\" "
+"value=\"Collapse Documents\" id=\"docCollapse\" onclick=\"return "
+"toggle_section(this);\"/>"
+msgstr ""
+
+#. type: Content of: <html><body><h3>
+#: src/index.tmpl:124
+msgid "Getting Started &amp; Configuration"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:126
+msgid "<a onclick=\"return toggle('sec0')\">"
+msgstr ""
+
+#. type: Table
+#: src/index.tmpl:126 src/index.tmpl:140 src/index.tmpl:154 src/index.tmpl:163
+#: src/index.tmpl:181 src/index.tmpl:203 src/index.tmpl:228 src/index.tmpl:239
+#: src/index.tmpl:251 src/index.tmpl:268 src/index.tmpl:280 src/index.tmpl:296
+#: src/index.tmpl:316 src/index.tmpl:335 src/index.tmpl:348 src/index.tmpl:365
+#: src/man/man1/hal_input.1.adoc:80 src/man/man3/hal_type_t.3.adoc:31
+#: src/man/man9/counter.9.adoc:47 src/man/man9/counter.9.adoc:50
+#: src/man/man9/counter.9.adoc:53 src/man/man9/counter.9.adoc:56
+#: src/man/man9/encoder.9.adoc:122 src/man/man9/encoder.9.adoc:125
+#: src/man/man9/encoder.9.adoc:128 src/man/man9/encoder.9.adoc:131
+#: src/man/man9/encoder_ratio.9.adoc:44 src/man/man9/encoder_ratio.9.adoc:47
+#: src/man/man9/encoder_ratio.9.adoc:50 src/man/man9/kins.9.adoc:68
+#: src/man/man9/kins.9.adoc:71 src/man/man9/kins.9.adoc:74
+#: src/man/man9/kins.9.adoc:77 src/man/man9/kins.9.adoc:80
+#: src/man/man9/kins.9.adoc:94 src/man/man9/kins.9.adoc:97
+#: src/man/man9/kins.9.adoc:100 src/man/man9/kins.9.adoc:103
+#: src/man/man9/kins.9.adoc:121 src/man/man9/kins.9.adoc:156
+#: src/man/man9/kins.9.adoc:159 src/man/man9/opto_ac5.9.adoc:36
+#: src/plasma/qtplasmac.adoc:693 src/plasma/qtplasmac.adoc:761
+#, no-wrap
+msgid "+"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:127
+msgid "Getting Started with LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:130
+msgid "<a href=\"getting-started/about-linuxcnc.html\">About LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:131
+msgid ""
+"<a href=\"getting-started/system-requirements.html\">Computer System "
+"Requirements</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:132
+msgid ""
+"<a href=\"getting-started/hardware-interface.html\">Hardware Interface / "
+"Supported Hardware</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:133
+msgid "<a href=\"getting-started/getting-linuxcnc.html\">Getting LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:134
+msgid "<a href=\"getting-started/running-linuxcnc.html\">Running LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:135
+msgid "<a href=\"getting-started/updating-linuxcnc.html\">Updating LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:136
+msgid "<a href=\"common/linux-faq.html\">Linux FAQ</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:140
+msgid "<a onclick=\"return toggle('sec2')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:141
+msgid "General User Information</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:144
+msgid "<a href=\"user/user-foreword.html\">User Foreword</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:145
+msgid "<a href=\"user/user-intro.html\">LinuxCNC User Introduction</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:146
+msgid "<a href=\"user/user-concepts.html\">Important User Concepts</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:147
+msgid "<a href=\"user/starting-linuxcnc.html\">Starting LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:148
+msgid "<a href=\"gcode/machining-center.html\">CNC Machine Overview</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:149
+msgid "<a href=\"lathe/lathe-user.html\">Lathe User Information</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:150
+msgid "<a href=\"plasma/plasma-cnc-primer.html\">Plasma CNC Primer</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:154
+msgid "<a onclick=\"return toggle('sec1')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:155
+msgid "Configuration Wizards</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:158
+msgid ""
+"<a href=\"config/stepconf.html\" class=\"tooltips\">StepConf, Parallel Port "
+"Stepper Configurator</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:159
+msgid ""
+"<a href=\"config/pncconf.html\" class=\"tooltips\">PnCconf, Mesa Hardware "
+"Configurator</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:163
+msgid "<a onclick=\"return toggle('sec5')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:164
+msgid "Configuration</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:167
+msgid "<a href=\"config/integrator-concepts.html\">Integrator Concepts</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:168
+msgid "<a href=\"install/latency-test.html\">Latency Test</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:169
+msgid "<a href=\"motion/tweaking-steppers.html\">Stepper Tuning</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:170
+msgid "<a href=\"config/ini-config.html\">INI Configuration</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:171
+msgid "<a href=\"config/ini-homing.html\">Homing Configuration</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:172
+msgid "<a href=\"config/iov2.html\">I/O Control V2</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:173
+msgid "<a href=\"config/lathe-config.html\">Lathe Configuration</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:174
+msgid "<a href=\"config/stepper-quickstart.html\">Stepper Quick Start</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:175
+msgid "<a href=\"config/stepper.html\">Stepper Configuration</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:176
+msgid "<a href=\"config/stepper-diagnostics.html\">Stepper Diagnostics</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:177
+msgid "<a href=\"gui/filter-programs.html\">Filter Programs</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:181
+msgid "<a onclick=\"return toggle('sec11')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:182
+msgid "HAL (Hardware Abstraction Layer)</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:185
+msgid "<a href=\"hal/intro.html\">HAL Introduction</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:186
+msgid "<a href=\"hal/basic-hal.html\">HAL Basics</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:187
+msgid "<a href=\"hal/twopass.html\">HAL Twopass</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:188
+msgid "<a href=\"hal/tutorial.html\">HAL Tutorial</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:189
+msgid "<a href=\"hal/hal-examples.html\">HAL Examples</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:190
+msgid "<a href=\"config/core-components.html\">HAL Core Components</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:191
+msgid "<a href=\"hal/components.html\">HAL Component List</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:192
+msgid "<a href=\"hal/rtcomps.html\">HAL Component Descriptions</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:193
+msgid "<a href=\"hal/comp.html\">HAL Component Generator</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:194
+msgid "<a href=\"hal/haltcl.html\">HAL TCL Files</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:195
+msgid ""
+"<a href=\"gui/halui.html\" class=\"tooltips\">HALUI, Hardware Abstract Layer "
+"User Interface</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:196
+msgid "<a href=\"hal/halui-examples.html\">HALUI Examples</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:197
+msgid "<a href=\"hal/halmodule.html\">Creating Non-Realtime Python Components</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:198
+msgid "<a href=\"hal/canonical-devices.html\">Canonical Device Interfaces</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:199
+msgid "<a href=\"hal/tools.html\">HAL Tools</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:203
+msgid "<a onclick=\"return toggle('sec8')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:204
+msgid "Hardware Drivers</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:207
+msgid "<a href=\"hal/parallel-port.html\">Parallel Port Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:208
+msgid "<a href=\"drivers/ax5214h.html\">AX5214H Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:209
+msgid "<a href=\"drivers/gm.html\">General Mechatronics GM6-PCI Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:210
+msgid "<a href=\"drivers/gs2.html\">GS2 Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:211
+msgid "<a href=\"drivers/hal_gpio.html\">Generic GPIO Driver using libgpiod</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:212
+msgid "<a href=\"drivers/hal_pi_gpio.html\">Raspberry Pi GPIO Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:213
+msgid "<a href=\"drivers/hostmot2.html\">Mesa HostMot2 Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:214
+msgid "<a href=\"drivers/mb2hal.html\">Modbus to HAL Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:215
+msgid "<a href=\"drivers/mesa_modbus.html\">Modbus framework for Mesa cards</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:216
+msgid "<a href=\"drivers/mitsub-vfd.html\">Mitsubishi VFD Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:217
+msgid "<a href=\"drivers/motenc.html\">Motenc Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:218
+msgid "<a href=\"drivers/opto22.html\">Opto22 Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:219
+msgid "<a href=\"drivers/pico-ppmc.html\">Pico Drivers</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:220
+msgid "<a href=\"drivers/pluto-p.html\">Pluto P Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:221
+msgid "<a href=\"drivers/pmx485.html\">Powermax Modbus Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:222
+msgid "<a href=\"drivers/servo-to-go.html\">Servo To Go Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:223
+msgid "<a href=\"drivers/shuttle.html\">ShuttleXpress and ShuttlePRO Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:224
+msgid "<a href=\"drivers/vfs11.html\">VFS11 Driver</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:228
+msgid "<a onclick=\"return toggle('sec10')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:229
+msgid "Hardware Examples</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:232
+msgid "<a href=\"examples/pci-parallel-port.html\">PCI Parallel Port Example</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:233
+msgid "<a href=\"examples/spindle.html\">Spindle Control Example</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:234
+msgid "<a href=\"examples/mpg.html\">MPG Example</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:235
+msgid "<a href=\"examples/gs2-example.html\">GS2 Example</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:239
+msgid "<a onclick=\"return toggle('sec9')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:240
+msgid "ClassicLadder</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:244
+msgid ""
+"ClassicLadder is a software PLC (Programmable Logic Controller) built into "
+"LinuxCNC."
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:245
+msgid "<a href=\"ladder/ladder-intro.html\">ClassicLadder Introduction</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:246
+msgid "<a href=\"ladder/classic-ladder.html\">ClassicLadder Programming</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:247
+msgid "<a href=\"ladder/ladder-examples.html\">ClassicLadder Examples</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:251
+msgid "<a onclick=\"return toggle('sec12')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:252
+msgid "Advanced Topics</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:255
+msgid "<a href=\"motion/kinematics.html\">Kinematics</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:256
+msgid "<a href=\"motion/dh-parameters.html\">DH Parameters</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:257
+msgid "<a href=\"motion/5-axis-kinematics.html\">5-Axis-Kinematics</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:258
+msgid "<a href=\"motion/switchkins.html\">Switchable Kinematics</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:259
+msgid "<a href=\"motion/pid-theory.html\">PID theory</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:260
+msgid "<a href=\"remap/remap.html\">Remap: Extending LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:261
+msgid "<a href=\"config/moveoff.html\">Moveoff Component</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:262
+msgid "<a href=\"code/rs274.html\">Stand Alone Interpreter</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:263
+msgid "<a href=\"motion/external-offsets.html\">External Offsets</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:264
+msgid "<a href=\"tooldatabase/tooldatabase.html\">Tool Database Interface</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:268
+msgid "<a onclick=\"return toggle('sec13')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:269
+msgid "Integrator Information</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:272
+msgid "<a href=\"integrator/steppers.html\">Stepper Information</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:273
+msgid "<a href=\"integrator/stepper-timing.html\">Stepper Drive Timing</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:274
+msgid "<a href=\"integrator/wiring.html\">Best Wiring Practices</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:280
+msgid "<a onclick=\"return toggle('sec3')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:281
+msgid "User Interfaces</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:284
+msgid "<a href=\"gui/axis.html\">AXIS, Keyboard GUI</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:285
+msgid "<a href=\"gui/gmoccapy.html\">GMOCCAPY, Touchscreen GUI</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:286
+msgid "<a href=\"gui/touchy.html\">Touchy, Touchscreen GUI</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:287
+msgid "<a href=\"gui/gscreen.html\">Gscreen, Customizable Touchscreen GUI</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:288
+msgid "<a href=\"gui/qtdragon.html\">QtDragon, Customizable Qt based GUI</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:289
+msgid "<a href=\"gui/ngcgui.html\">NGCGUI, Subroutine GUI</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:290
+msgid "<a href=\"gui/tklinuxcnc.html\">TkLinuxCNC, (no opengl) GUI</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:291
+msgid ""
+"<a href=\"plasma/qtplasmac.html\">QtPlasmaC, A Complete Plasma Cutting "
+"Configuration</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:292
+msgid "<a href=\"gui/mdro.html\">MDRO, A Display for Digital Read Out scales</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:296
+msgid "<a onclick=\"return toggle('sec4')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:297
+msgid "G-code Programming</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:300
+msgid "<a href=\"gcode/coordinates.html\">Coordinate System</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:301
+msgid "<a href=\"gcode/tool-compensation.html\">Tool Compensation</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:302
+msgid "<a href=\"gui/tooledit.html\">Tool Table Editor</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:303
+msgid "<a href=\"gcode/overview.html\">G-code Overview</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:304
+msgid "<a href=\"gcode/g-code.html\">G-codes</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:305
+msgid "<a href=\"gcode/m-code.html\">M-codes</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:306
+msgid "<a href=\"gcode/o-code.html\">O-codes</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:307
+msgid "<a href=\"gcode/other-code.html\">Other Codes</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:308
+msgid "<a href=\"examples/gcode.html\">G-code Examples</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:309
+msgid "<a href=\"gui/image-to-gcode.html\">Image to G-code</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:310
+msgid "<a href=\"gcode/rs274ngc.html\">RS274/NGC Differences</a>"
+msgstr ""
+
+#. type: Content of: <html><body><h3>
+#: src/index.tmpl:314
+msgid "Customization &amp; Development"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:316
+msgid "<a onclick=\"return toggle('sec6')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:317
+msgid "Virtual Control Panels</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:320
+msgid "<a href=\"gui/pyvcp.html\">Python Virtual Control Panel (PyVCP)</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:321
+msgid "<a href=\"gui/pyvcp-examples.html\">PyVCP Examples</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:322
+msgid "<a href=\"gui/gladevcp.html\">Glade Virtual Control Panel (GladeVCP)</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:323
+msgid "<a href=\"gui/gladevcp-libraries.html\">GladeVCP Libraries</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:324
+msgid "<a href=\"gui/qtvcp.html\">QtVCP</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:325
+msgid "<a href=\"gui/qtvcp-vcp-panels.html\">QtVCP -VCP Panels</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:326
+msgid "<a href=\"gui/qtvcp-widgets.html\">QtVCP -widgets</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:327
+msgid "<a href=\"gui/qtvcp-libraries.html\">QtVCP -libraries</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:328
+msgid "<a href=\"gui/qtvcp-vismach.html\">QtVCP -Vismach</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:329
+msgid "<a href=\"gui/qtvcp-custom-widgets.html\">QtVCP -Custom Widgets</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:330
+msgid "<a href=\"gui/qtvcp-code-snippets.html\">QtVCP -Code Snippets</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:331
+msgid "<a href=\"gui/qtvcp-development.html\">QtVCP -Development</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:335
+msgid "<a onclick=\"return toggle('sec7')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:336
+msgid "User Interface Programming</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:339
+msgid "<a href=\"gui/panelui.html\">Panelui</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:340
+msgid "<a href=\"config/python-interface.html\">LinuxCNC Python Module</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:341
+msgid "<a href=\"config/python-hal-interface.html\">HAL Python Module</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:342
+msgid "<a href=\"gui/gstat.html\">GStat Python Module</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:343
+msgid "<a href=\"gui/vismach.html\">Vismach Virtual Machines</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:348
+msgid "<a onclick=\"return toggle('sec14')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:349
+msgid "Developer Information</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:352
+msgid "<a href=\"hal/general-ref.html\">General Reference</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:353
+msgid "<a href=\"code/code-notes.html\">Code Notes</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:354
+msgid "<a href=\"code/nml-messages.html\">NML Messages</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:355
+msgid "<a href=\"code/style-guide.html\">Style Guide</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:356
+msgid "<a href=\"code/adding-configs.html\">Adding Configs for Selection</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:357
+msgid "<a href=\"code/contributing-to-linuxcnc.html\">Contributing to LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:358
+msgid "<a href=\"code/writing-tests.html\">Writing tests for LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:359
+msgid "<a href=\"code/building-linuxcnc.html\">Building LinuxCNC</a>"
+msgstr ""
+
+#. type: Content of: <html><body><h3>
+#: src/index.tmpl:363
+msgid "General Information"
+msgstr ""
+
+#. type: Content of: <html><body><p><a>
+#: src/index.tmpl:365
+msgid "<a onclick=\"return toggle('sec15')\">"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:366
+msgid "Glossary, Copyright, History &amp; Overview</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:369
+msgid "<a href=\"common/overleaf.html\">LinuxCNC Document Overview</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:370
+msgid "<a href=\"common/emc-history.html\">LinuxCNC History</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:371
+msgid "<a href=\"common/glossary.html\">Glossary</a>"
+msgstr ""
+
+#. type: Content of: <html><body><div><ul><li>
+#: src/index.tmpl:372
+msgid ""
+"<a href=\"common/gpld-copyright.html\">Copyright &amp; Documentation "
+"License</a>"
+msgstr ""
+
+#. type: Content of: <html><body><h3>
+#: src/index.tmpl:376
+msgid "Man Pages"
+msgstr ""
+
+#. type: Content of: <html><body><div><p>
+#: src/index.tmpl:378
+msgid ""
+"For more information about man pages see the <a "
+"href=\"common/linux-faq.html#faq:man-pages\">Linux FAQ</a>"
+msgstr ""
+
+#. type: Content of: <html><body><p>
+#: src/index.tmpl:380
+msgid ""
+"<input type=\"button\" value=\"Expand Man Pages\" onclick=\"return "
+"toggle_section(this);\" id=\"manExpand\"/> <input type=\"button\" "
+"value=\"Collapse Man Pages\" onclick=\"return toggle_section(this);\" "
+"id=\"manCollapse\"/>"
+msgstr ""
+
+#. type: Title =
+#: help/rtfaults.adoc:3
+#, no-wrap
+msgid "RT Faults"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:6
+msgid "Finding line number information for faults in realtime components"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:9
+msgid ""
+"Get a version of LinuxCNC which prints the faulting instruction address "
+"(that includes this version of LinuxCNC)"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:13
+#, no-wrap
+msgid ""
+"Include debugging info in your modules.\n"
+"For built-in modules, below the definition of EXTRA_CFLAGS in Makefile, add:"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:15
+#, no-wrap
+msgid "EXTRA_CFLAGS += -g\n"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:17
+msgid "For standalone modules, add the same line just above the line:"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:19
+#, no-wrap
+msgid "  ifeq ($(BUILDSYS),kbuild)\n"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:21
+msgid "and (re)build the component"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:25
+#, no-wrap
+msgid ""
+"Run hal until the following fault occurs: *DO NOT EXIT THE HAL SESSION "
+"YET*.\n"
+"You must find the start of the module (step 5) first."
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:27
+msgid "Note the ip (instruction pointer) address in dmesg, e.g.:"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:30
+#, no-wrap
+msgid ""
+"RTAPI: Task 1[c2800000]: Fault with vec=14, signo=11 ip=c93dc01a.\n"
+"^^^^^^^^\n"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:32
+msgid "Find the module which contains the offending IP."
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:37
+#, no-wrap
+msgid ""
+"$ cat /proc/modules\n"
+"motmod 142230 0 - Live 0xc93df000\n"
+"fault 1626 1 motmod, Live 0xc93dc000\n"
+"hal_lib 30517 2 motmod,fault, Live 0xc93d5000\n"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:39
+msgid "Now you can exit hal/emc2."
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:43
+#, no-wrap
+msgid ""
+"Subtract the start of the module from the faulting ip (in this case, 0x1a)\n"
+"Among other ways to do this, you can use the shell:"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:46
+#, no-wrap
+msgid ""
+"$ printf \"0x%x\\n\" $((0xc93dc01a-0xc93dc000))\n"
+"0x1a\n"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:48
+msgid "Use addr2line to find out the source code line:"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:51
+#, no-wrap
+msgid ""
+"$ addr2line -e emc2-dev/src/fault.ko 0x1a\n"
+"/usr/src/linux-headers-2.6.32-122-rtai/hal/components/fault.comp:9\n"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:54
+msgid ""
+"Ignore how the directory name is wrong and see whether this has helped you "
+"localize the problem:"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:56
+#, no-wrap
+msgid "  fault.comp:9          *(int*)0 = 0;\n"
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:58
+msgid "Yup! Looks like it has."
+msgstr ""
+
+#. type: Plain text
+#: help/rtfaults.adoc:63
+msgid ""
+"Note that even if you do not prefix the address argument to addr2line with "
+"0x, it is interpreted as a hex number, and you'll get the wrong line-number "
+"information if passing a decimal number. Thus take care to always use hex "
+"addresses with addr2line."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:4 src/config/pncconf.adoc:130
+#: src/user/user-intro.adoc:132
+#, no-wrap
+msgid "TkLinuxCNC"
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:12
+#, no-wrap
+msgid "Menus"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:14
+#, no-wrap
+msgid "*File -> Run...*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:17
+#, no-wrap
+msgid ""
+"Prompts for an NC program to run.\n"
+"You need to be in Auto mode, or you'll get an error."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:18
+#, no-wrap
+msgid "*File -> Reset*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:21
+#, no-wrap
+msgid ""
+"Resets the interpreter.\n"
+"The modal G- and M-codes are set to their defaults."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:22
+#, no-wrap
+msgid "*File -> Quit*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:25
+#, no-wrap
+msgid ""
+"Quits the Tkemc graphical application.\n"
+"The controller will also shut down."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:26
+#, no-wrap
+msgid "*View -> Tools*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:33
+#, no-wrap
+msgid ""
+"Shows the tool table.\n"
+"You can edit the table.\n"
+"Selecting the 'Done' button will save the table and reload it into the "
+"controller.\n"
+"Note that Tab and Return affect the text, so you have to click the 'Done' "
+"button with the mouse."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:34
+#, no-wrap
+msgid "*View -> Offsets and Variables*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:42
+#, no-wrap
+msgid ""
+"Shows the interpreter parameters, which hold the work offsets and user "
+"variables.\n"
+"You can edit the file.\n"
+"Selecting the Done button will save the file and reload it into the "
+"controller.\n"
+"Note that Tab and Return affect the text, so you have to click the Done "
+"button with the mouse."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:43
+#, no-wrap
+msgid "*Settings -> Relative Display, Actual Display*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:47
+#, no-wrap
+msgid ""
+"Sets the display to show positions as relative to the current work offset, "
+"or in absolute machine coordinates.\n"
+"In relative display mode, the work offsets are shown also."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:48
+#, no-wrap
+msgid "*Settings -> Actual Position, Commanded Position*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:52
+msgid ""
+"Sets the display to show either the actual position of the axes, as reported "
+"by their feedback, or the commanded position, which is where the controller "
+"is commanding them to go."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:53
+#, no-wrap
+msgid "*Help -> Help...*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:55
+msgid "Brings up this help window."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:56
+#, no-wrap
+msgid "*Help -> About...*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:58
+msgid "Brings up a credits window."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:59
+#, no-wrap
+msgid "Status Command Buttons"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:65
+msgid ""
+"The buttons in the next two rows are labeled according to the current EMC "
+"status. Click on them to pop up menus that send commands to the EMC. The "
+"labels on these buttons will change to reflect the new status."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:66
+#, no-wrap
+msgid "*ON/ESTOP - RESET/ESTOP*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:75
+#, no-wrap
+msgid ""
+"Changes the power state of the machine.\n"
+"At startup the machine is in ESTOP. Selecting Estop Reset will enable the "
+"estop circuitry, but the servos will not yet be enabled. Selecting Machine "
+"On will enable the servos. Selecting Machine Off will disable the "
+"servos. Selecting Estop at any time will return the machine to the initial "
+"estopped state. Function keys F1 and F2 will toggle the states of the estop "
+"and servo systems, respectively. The Function Keys are listed completely "
+"below."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:81
+#, no-wrap
+msgid ""
+"*SAFETY NOTE:* ESTOP will put the machine into the estopped state, but\n"
+"should not be relied on for this action in the event of an emergency.\n"
+"Always use the hardware estop to assure physical disabling of the\n"
+"machine.\n"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:82
+#, no-wrap
+msgid "*MANUAL / AUTO / MDI*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:84
+msgid "Changes the execution mode of the machine. +"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:84
+#, no-wrap
+msgid "*Manual mode*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:88
+#, no-wrap
+msgid ""
+"Allows the operator to jog and home the axes, and control\n"
+"the coolant and spindle. +\n"
+"Function key F3 puts the controller into Manual mode.\n"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:88
+#, no-wrap
+msgid "*Auto mode*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:92
+#, no-wrap
+msgid ""
+"Allows the operator to load programs into the machine, run\n"
+"them, and pause/step/resume them. +\n"
+"F4 puts the controller into Auto mode.\n"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:92
+#, no-wrap
+msgid "*Manual Data Input (MDI)*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:95
+#, no-wrap
+msgid ""
+"Mode allows the operator to type in blocks of NC code interactively. +\n"
+"F5 puts the controller into MDI mode.\n"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:96
+#, no-wrap
+msgid "*MIST ON/OFF, FLOOD ON/OFF*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:101
+#, no-wrap
+msgid ""
+"Turns mist or flood coolant on or off.\n"
+"Function key F7 toggles the state of the mist coolant.\n"
+"Function key F8 toggles the state of the flood coolant.\n"
+"These buttons and function keys only work in Manual mode."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:102
+#, no-wrap
+msgid "*SPINDLE FORWARD/REVERSE/OFF*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:108
+#, no-wrap
+msgid ""
+"Turns the spindle on forward, reverse,or off. Function key F9 turns the "
+"spindle on forward if it's off, or off if it's on.\n"
+"F10 turns the spindle on reverse if it's off, or off it it's on.\n"
+"These buttons and function keys only work in Manual mode."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:116
+#, no-wrap
+msgid ""
+"The speed of the spindle can be decreased or increased using the < and > "
+"buttons to the left and right of the spindle control button, respectively.\n"
+"F11 and F12, while pressed, decrease or increase the spindle speed, "
+"respectively, until they are released.\n"
+"These buttons and function keys work in Manual, Auto, or MDI mode.\n"
+"They are not active when the spindle is off."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:117
+#, no-wrap
+msgid "*BRAKE ON/OFF*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:122
+#, no-wrap
+msgid ""
+"Puts the spindle brake on, or releases it.\n"
+"This can be used to manually operate the spindle brake for maintenance or "
+"tramming operations.\n"
+"The 'B' and 'b' key, in Manual mode,"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:123
+#, no-wrap
+msgid "*ABORT*"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:128
+#, no-wrap
+msgid ""
+"Stops all motion and any program that is running.\n"
+"The Escape key accomplishes the same result.\n"
+"Use ABORT or the Escape key to stop machine motions while testing programs."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:130
+msgid "ABORT will not affect the estop state of the machine."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:131
+#, no-wrap
+msgid "Tool and Tool Offset"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:137
+msgid ""
+"At the left, below the command buttons, is a display of the currently loaded "
+"tool and the tool offset, if any. A value of 0 for the Tool means that no "
+"tool is in the spindle. The offset is non-zero if a tool length offset is "
+"active."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:138
+#, no-wrap
+msgid "Position Display Options and Work Offsets"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:149
+msgid ""
+"At the right, below the command buttons, is a display showing how to "
+"interpret the position numbers. There are two sources of position feedback, "
+"either Commanded or Actual. Commanded numbers are what the motion system "
+"asks for, and is not necessarily what the machine axes positions are (servo "
+"lag may mean they are different). Actual numbers reflect the current "
+"position of the axes. Normally, actual numbers are what you want. In some "
+"cases, for example running a program in simulation with the axes inhibited "
+"or disconnected, commanded numbers are what you want."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:155
+msgid ""
+"Position numbers can also be Absolute or Relative. Absolute numbers are not "
+"affected by any work offsets in a program. They are relative to the machine "
+"home position. Relative numbers include any work offset. If Relative numbers "
+"are selected, the applicable Work Offsets are shown."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:159
+msgid ""
+"To change these settings, use the '@' key for Commanded/Actual, and the '#' "
+"key for Absolute/Relative. The default values can be set in the INI file, "
+"e.g.,"
+msgstr ""
+
+#. type: delimited block -
+#: help/tklinuxcnc.adoc:165
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"POSITION_OFFSET =   RELATIVE\n"
+"POSITION_FEEDBACK = ACTUAL\n"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:168 src/common/linux-faq.adoc:193
+#: src/getting-started/getting-linuxcnc.adoc:90
+msgid "or"
+msgstr ""
+
+#. type: delimited block -
+#: help/tklinuxcnc.adoc:174
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"POSITION_OFFSET =   ABSOLUTE\n"
+"POSITION_FEEDBACK = COMMANDED\n"
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:176
+#, no-wrap
+msgid "Axis Positions"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:181
+msgid ""
+"Axis positions are displayed in a large font in the middle of the "
+"display. The values are interpreted in units, commanded/actual, and "
+"absolute/relative, as described above."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:186
+msgid ""
+"The color of the numbers shows the state of each axis. Yellow numbers mean "
+"the axis has not yet been homed. Green numbers mean the axis has been homed "
+"and is within limits. Red numbers mean the axis is at a soft or hard limit."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:187
+#, no-wrap
+msgid "Axis Command Buttons"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:193
+msgid ""
+"Below the axis position numbers is a row of command buttons that affect axis "
+"motion. The Axis Speed setting, displayed in units/minute, can be changed by "
+"clicking and holding the < or > buttons until the desired setting is "
+"reached."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:198
+msgid ""
+"The Increment button shows the current value of the jog increment, or "
+"\"continuous\" for continuous jogging. Clicking on this button brings up a "
+"menu that changes the jog increment or selects continuous jogging."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:202
+msgid ""
+"The Axis Motion buttons jog an axis in the negative direction using the "
+"\"-\" button, positive direction using the \"+\" button, or home the axis "
+"using the \"home\" button."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:206
+msgid ""
+"The Feed Override value in percent is displayed, and can be changed by "
+"clicking and holding the < or > buttons until the desired setting is "
+"reached."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:207
+#, no-wrap
+msgid "Manual Data Input (MDI) Box"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:216
+msgid ""
+"Below the axis command buttons is an input box labeled \"MDI:\" that is "
+"active when the machine is in manual data input (MDI) mode. You can type NC "
+"code statements into this box, and hit Enter to send the command. Note that "
+"many of the function and alphanumeric accelerator keys don't work as "
+"accelerator keys, so that they can be used to compose MDI statements. Keys "
+"F1-F5 (estop state and Manual/Auto/MDI mode), and F11-F12 (spindle speed "
+"control) do work; others do not."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:223
+msgid ""
+"Below the MDI box is a display of the current modal settings for G, M, F, "
+"and S codes. These are only valid when in MDI mode. In Auto mode, they hold "
+"the modal values up to the point where the interpreter has read, usually far "
+"ahead of the executing line in the program. They do, however, always show "
+"the modal groups that are applicable when you next enter an MDI line."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:224
+#, no-wrap
+msgid "Program Display"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:232
+msgid ""
+"At the bottom of the main screen is a label showing the current program, or "
+"the last program loaded. Below this is a row of command buttons to Open, "
+"Run, Pause, Resume, or Step the program. The Open button is identical to the "
+"File->Open... menu at the top, as is the 'o' or 'O' accelerator. The run, "
+"pause, resume, and step accelerators are 'r', 'p', 's', and 'a', "
+"respectively, lower or upper case."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:236
+msgid ""
+"The window at the bottom shows a few lines of text of the currently loaded "
+"program. The display window is moved through the program so that the "
+"currently executing line is always at the top."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:237
+#, no-wrap
+msgid "Function and Accelerator Keys"
+msgstr ""
+
+#. type: delimited block -
+#: help/tklinuxcnc.adoc:273
+#, no-wrap
+msgid ""
+"Escape  abort motion                        <-|\n"
+"F1      toggle estop/estop reset state        |\n"
+"F2      toggle machine off/machine on state   |- work in MDI mode also\n"
+"F3      Manual mode                           |\n"
+"F4      Auto mode                             |\n"
+"F5      MDI mode                            <-|\n"
+"F6      reset interpreter\n"
+"F7      toggle mist on/mist off\n"
+"F8      toggle flood on/flood off\n"
+"F9      toggle spindle forward/off\n"
+"F10     toggle spindle reverse/off\n"
+"F11     decrease spindle speed              <-|- work in MDI mode also\n"
+"F12     increase spindle speed              <-|\n"
+"x       select X axis\n"
+"y       select Y axis\n"
+"z       select Z axis\n"
+"Left, Right Arrow  jog X axis\n"
+"Up, Down Arrow     jog Y axis\n"
+"Page Up, Down      jog Z axis\n"
+"Home    home selected axis\n"
+"<, >    decrement or increment axis speed\n"
+"c/C     select continuous jogging\n"
+"i/I     select incremental jog, and toggle through increments\n"
+"1-9,0   set feed override to 10%-90%, 0 is 100%\n"
+"@       toggle commanded/actual position display\n"
+"#       toggle absolute/relative position display\n"
+"o/O     open a program\n"
+"r/R     run an opened program\n"
+"p/P     pause an executing program\n"
+"s/S     resume a paused program\n"
+"a/A     step one line in a paused program\n"
+"b       take spindle brake off\n"
+"Alt-b   put spindle brake on\n"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:278
+msgid ""
+"Note that MDI mode disables most of the keys, since they are valid symbols "
+"that can be typed in. F1-F5 work in MDI, as do the spindle speed change keys "
+"F11 and F12."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:279
+#, no-wrap
+msgid "The RS-274-NGC Interpreter"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:285
+msgid ""
+"The EMC runs a dialect of RS-274 \"G-codes\" that originated from "
+"Allen-Bradley as part of their work for the National Center for "
+"Manufacturing Sciences (NCMS) on the Next Generation Controller (NGC)  "
+"project. The dialect is similar to the Fanuc series of CNCs."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:286 src/remap/remap.adoc:262
+#, no-wrap
+msgid "G-codes"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:289 help/tklinuxcnc.adoc:339 src/gcode/g-code.adoc:60
+#: src/gcode/g-code.adoc:1233 html/gcode.html:53 src/gcode/m-code.adoc:15
+#: src/plasma/qtplasmac.adoc:1191 src/plasma/qtplasmac.adoc:4278
+#, no-wrap
+msgid "Code"
+msgstr ""
+
+#. [grid=none,frame=ends]
+#. type: Table
+#: help/tklinuxcnc.adoc:290 help/tklinuxcnc.adoc:340 src/config/iov2.adoc:13
+#: src/drivers/mb2hal.adoc:55 src/drivers/mb2hal.adoc:80
+#: src/drivers/pmx485.adoc:45 src/drivers/shuttle.adoc:7
+#: src/gcode/g-code.adoc:61 html/gcode.html:53 src/gcode/m-code.adoc:16
+#: src/gui/gmoccapy.adoc:1559 src/hal/tools.adoc:229
+#: src/plasma/qtplasmac.adoc:98 src/plasma/qtplasmac.adoc:124
+#: src/plasma/qtplasmac.adoc:679 src/plasma/qtplasmac.adoc:704
+#: src/plasma/qtplasmac.adoc:741 src/plasma/qtplasmac.adoc:759
+#: src/plasma/qtplasmac.adoc:773 src/plasma/qtplasmac.adoc:812
+#: src/plasma/qtplasmac.adoc:822 src/plasma/qtplasmac.adoc:837
+#: src/plasma/qtplasmac.adoc:857 src/plasma/qtplasmac.adoc:874
+#: src/plasma/qtplasmac.adoc:890 src/plasma/qtplasmac.adoc:957
+#: src/plasma/qtplasmac.adoc:979 src/plasma/qtplasmac.adoc:996
+#: src/plasma/qtplasmac.adoc:1007 src/plasma/qtplasmac.adoc:1017
+#: src/plasma/qtplasmac.adoc:1027 src/plasma/qtplasmac.adoc:1036
+#: src/plasma/qtplasmac.adoc:1047 src/plasma/qtplasmac.adoc:1084
+#: src/plasma/qtplasmac.adoc:1148 src/plasma/qtplasmac.adoc:1492
+#: src/plasma/qtplasmac.adoc:1505 src/plasma/qtplasmac.adoc:1519
+#: src/plasma/qtplasmac.adoc:1769 src/plasma/qtplasmac.adoc:2341
+#: src/plasma/qtplasmac.adoc:2606 src/plasma/qtplasmac.adoc:3936
+#: src/plasma/qtplasmac.adoc:4053 src/plasma/qtplasmac.adoc:4277
+#: src/plasma/qtplasmac.adoc:4351
+#, no-wrap
+msgid "Description"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:290
+#, no-wrap
+msgid "G00 X Y Z"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:291
+#, no-wrap
+msgid "rapid feed"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:291
+#, no-wrap
+msgid "G01 X Y Z"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:292
+#, no-wrap
+msgid "linear feed, e.g., G01 X10 Y20 Z30 F60 for 60 ipm"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:292
+#, no-wrap
+msgid "G02 X Y Z I J"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:293
+#, no-wrap
+msgid "clockwise circular feed (helical with Z)"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:293
+#, no-wrap
+msgid "G03 X Y Z I J"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:294
+#, no-wrap
+msgid "counterclockwise circular feed (helical with Z)"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:294
+#, no-wrap
+msgid "G04 P<#>"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:295
+#, no-wrap
+msgid "dwell # of seconds"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:295
+#, no-wrap
+msgid "G10 L2 P<#> X Y Z"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:296
+#, no-wrap
+msgid "set coordinates for system #1-9, 1 = G54, 9 = G59.3"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:296 src/gcode/overview.adoc:498
+#: src/remap/remap.adoc:1810
+#, no-wrap
+msgid "G17"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:297
+#, no-wrap
+msgid "XY plane circular interpolation"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:297 src/gcode/overview.adoc:499
+#: src/remap/remap.adoc:1811
+#, no-wrap
+msgid "G18"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:298
+#, no-wrap
+msgid "ZX plane circular interpolation"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:298 src/gcode/overview.adoc:500
+#: src/remap/remap.adoc:1812
+#, no-wrap
+msgid "G19"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:299
+#, no-wrap
+msgid "YZ plane circular interpolation"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:299 src/remap/remap.adoc:1819
+#, no-wrap
+msgid "G20"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:300
+#, no-wrap
+msgid "English units (inches)"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:300 src/remap/remap.adoc:1820
+#, no-wrap
+msgid "G21"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:301
+#, no-wrap
+msgid "metric units (millimeters)"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:301 src/code/code-notes.adoc:1282
+#: src/gcode/overview.adoc:511 src/remap/remap.adoc:1851
+#: src/remap/remap.adoc:1860
+#, no-wrap
+msgid "G40"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:302
+#, no-wrap
+msgid "cancel cutter compensation"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:302
+#, no-wrap
+msgid "G41 D<#>"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:303
+#, no-wrap
+msgid "cutter compensation for tool <#>, tool on left"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:303
+#, no-wrap
+msgid "G42 D<#>"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:304
+#, no-wrap
+msgid "cutter compensation for tool <#>, tool on right"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:304
+#, no-wrap
+msgid "G43 H<#>"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:305
+#, no-wrap
+msgid "use tool length offset for tool #, 0 = no offset"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:305
+#, no-wrap
+msgid "G49"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:306
+#, no-wrap
+msgid "cancel tool length offset"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:306 src/remap/remap.adoc:1870
+#, no-wrap
+msgid "G53"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:307
+#, no-wrap
+msgid "turn any coordinate offsets off for this block"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:307 src/gcode/g-code.adoc:776
+#: src/gcode/g-code.adoc:1590 src/gcode/overview.adoc:533
+#: src/remap/remap.adoc:1871
+#, no-wrap
+msgid "G54"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:308
+#, no-wrap
+msgid "use coordinate offsets for system #1, from G10 L2 P1"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:308 src/gcode/g-code.adoc:777
+#: src/gcode/g-code.adoc:1591 src/gcode/overview.adoc:534
+#: src/remap/remap.adoc:1872
+#, no-wrap
+msgid "G55"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:309
+#, no-wrap
+msgid "\"\" for system #2, from G10 L2 P2"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:309 src/gcode/g-code.adoc:778
+#: src/gcode/g-code.adoc:1592 src/gcode/overview.adoc:535
+#: src/remap/remap.adoc:1873
+#, no-wrap
+msgid "G56"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:310
+#, no-wrap
+msgid "\"\" for system #3, from G10 L2 P3"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:310 src/gcode/g-code.adoc:779
+#: src/gcode/g-code.adoc:1593 src/gcode/overview.adoc:536
+#: src/remap/remap.adoc:1874
+#, no-wrap
+msgid "G57"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:311
+#, no-wrap
+msgid "\"\" for system #4, from G10 L2 P4"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:311 src/gcode/g-code.adoc:780
+#: src/gcode/g-code.adoc:1594 src/gcode/overview.adoc:537
+#: src/remap/remap.adoc:1875
+#, no-wrap
+msgid "G58"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:312
+#, no-wrap
+msgid "\"\" for system #5, from G10 L2 P5"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:312 src/gcode/g-code.adoc:781
+#: src/gcode/g-code.adoc:1595 src/gcode/overview.adoc:538
+#: src/remap/remap.adoc:1876
+#, no-wrap
+msgid "G59"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:313
+#, no-wrap
+msgid "\"\" for system #6, from G10 L2 P6"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:313 src/gcode/g-code.adoc:782
+#: src/gcode/g-code.adoc:1596 src/gcode/overview.adoc:539
+#: src/remap/remap.adoc:1876
+#, no-wrap
+msgid "G59.1"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:314
+#, no-wrap
+msgid "\"\" for system #7, G10 L2 P7"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:314 src/gcode/g-code.adoc:783
+#: src/gcode/g-code.adoc:1597 src/gcode/overview.adoc:540
+#: src/remap/remap.adoc:1876
+#, no-wrap
+msgid "G59.2"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:315
+#, no-wrap
+msgid "\"\" for system #8, G10 L2 P8"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:315 src/gcode/g-code.adoc:784
+#: src/gcode/g-code.adoc:1598 src/gcode/overview.adoc:541
+#: src/remap/remap.adoc:1876
+#, no-wrap
+msgid "G59.3"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:316
+#, no-wrap
+msgid "\"\" for system #9, G10 L2 P9"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:316 src/remap/remap.adoc:1884
+#, no-wrap
+msgid "G61"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:317 src/gcode/machining-center.adoc:257
+#, no-wrap
+msgid "exact stop mode"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:317 src/remap/remap.adoc:1887
+#, no-wrap
+msgid "G64"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:318
+#, no-wrap
+msgid "cutting mode"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:318 src/gcode/overview.adoc:480
+#: src/remap/remap.adoc:1905
+#, no-wrap
+msgid "G76"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:319
+#, no-wrap
+msgid "threading canned cycle"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:319 src/gcode/overview.adoc:481
+#: src/remap/remap.adoc:1915
+#, no-wrap
+msgid "G80"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:320
+#, no-wrap
+msgid "cancel fixed (canned) cycle"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:320 src/gcode/overview.adoc:482
+#: src/remap/remap.adoc:1916
+#, no-wrap
+msgid "G81"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:321
+#, no-wrap
+msgid "drilling cycle, no dwell, rapid out"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:321 src/gcode/overview.adoc:483
+#: src/remap/remap.adoc:1917
+#, no-wrap
+msgid "G82"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:322
+#, no-wrap
+msgid "drilling cycle, dwell, rapid out"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:322 src/gcode/overview.adoc:484
+#: src/remap/remap.adoc:1918
+#, no-wrap
+msgid "G83"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:323
+#, no-wrap
+msgid "deep hole peck drilling cycle"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:323 src/gcode/overview.adoc:485
+#: src/remap/remap.adoc:1919
+#, no-wrap
+msgid "G84"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:324
+#, no-wrap
+msgid "tapping cycle"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:324 src/gcode/overview.adoc:486
+#: src/remap/remap.adoc:1920
+#, no-wrap
+msgid "G85"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:325
+#, no-wrap
+msgid "boring cycle, no dwell, feed out"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:325 src/gcode/overview.adoc:487
+#: src/remap/remap.adoc:1921
+#, no-wrap
+msgid "G86"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:326
+#, no-wrap
+msgid "boring cycle, spindle stop, rapid out"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:326 src/gcode/overview.adoc:488
+#: src/remap/remap.adoc:1922
+#, no-wrap
+msgid "G87"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:327
+#, no-wrap
+msgid "back boring cycle"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:327 src/gcode/overview.adoc:489
+#: src/remap/remap.adoc:1923
+#, no-wrap
+msgid "G88"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:328
+#, no-wrap
+msgid "boring cycle, spindle stop, manual out"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:328 src/gcode/overview.adoc:490
+#: src/remap/remap.adoc:1924
+#, no-wrap
+msgid "G89"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:329
+#, no-wrap
+msgid "boring cycle, with dwell, feed out"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:329 src/remap/remap.adoc:1931
+#, no-wrap
+msgid "G90"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:330
+#, no-wrap
+msgid "non-incremental programming (the usual)"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:330 src/remap/remap.adoc:1932
+#, no-wrap
+msgid "G91"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:331
+#, no-wrap
+msgid "incremental programming"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:331 src/remap/remap.adoc:1934
+#, no-wrap
+msgid "G93"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:332
+#, no-wrap
+msgid "inverse time feed mode"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:332 src/remap/remap.adoc:1935
+#, no-wrap
+msgid "G94"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:333
+#, no-wrap
+msgid "feed per minute mode (the usual)"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:333
+#, no-wrap
+msgid "G98,G99"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:334
+#, no-wrap
+msgid "set canned cycle return level"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:336 src/remap/remap.adoc:265
+#, no-wrap
+msgid "M-codes"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:340
+#, no-wrap
+msgid "M0"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:341
+#, no-wrap
+msgid "optional program stop"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:341
+#, no-wrap
+msgid "M1"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:342
+#, no-wrap
+msgid "program stop"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:342
+#, no-wrap
+msgid "M2"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:343
+#, no-wrap
+msgid "program end"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:343
+#, no-wrap
+msgid "M3"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:344
+#, no-wrap
+msgid "turn spindle clockwise, e.g., S1000 M3 for 1000 rpm"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:344
+#, no-wrap
+msgid "M4"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:345
+#, no-wrap
+msgid "turn spindle counterclockwise"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:345
+#, no-wrap
+msgid "M5"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:346
+#, no-wrap
+msgid "turn spindle off"
+msgstr ""
+
+#. type: Title ====
+#: help/tklinuxcnc.adoc:346 src/code/code-notes.adoc:1198
+#, no-wrap
+msgid "M6"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:347
+#, no-wrap
+msgid "tool change, e.g., T1 M6 for tool 1"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:347
+#, no-wrap
+msgid "M7"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:348
+#, no-wrap
+msgid "mist coolant on"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:348
+#, no-wrap
+msgid "M8"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:349
+#, no-wrap
+msgid "flood coolant on"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:349
+#, no-wrap
+msgid "M9"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:350
+#, no-wrap
+msgid "all coolant off"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:350
+#, no-wrap
+msgid "M48"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:351
+#, no-wrap
+msgid "disable override control for M50-51 switches"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:351
+#, no-wrap
+msgid "M49"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:352
+#, no-wrap
+msgid "enable override control for M50-51 switches"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:352
+#, no-wrap
+msgid "M50"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:353
+#, no-wrap
+msgid "enable/disable feed override"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:353
+#, no-wrap
+msgid "M51"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:354
+#, no-wrap
+msgid "enable/disable spindle speed override"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:354
+#, no-wrap
+msgid "M52"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:355
+#, no-wrap
+msgid "enable/disable adaptive feed override"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:355
+#, no-wrap
+msgid "M53"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:356
+#, no-wrap
+msgid "enable/disable feed hold"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:356
+#, no-wrap
+msgid "M62"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:357
+#, no-wrap
+msgid ".."
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:358
+#, no-wrap
+msgid "digital IO control"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:358
+#, no-wrap
+msgid "M65"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:359
+#, no-wrap
+msgid "M100..M199"
+msgstr ""
+
+#. type: Table
+#: help/tklinuxcnc.adoc:360
+#, no-wrap
+msgid "user defined commands"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:363
+msgid "(check the user manual for details)."
+msgstr ""
+
+#. type: Title ==
+#: help/tklinuxcnc.adoc:364
+#, no-wrap
+msgid "Frequently Asked Questions (FAQ)"
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:367
+#, no-wrap
+msgid "The axes don't move when I try to jog them"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:369
+msgid "Make sure you're out of estop, in Manual mode."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:370
+#, no-wrap
+msgid "Software limits don't work. I can jog past a soft limit."
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:373
+msgid ""
+"Software limits only work when an axis has been homed, since otherwise the "
+"machine doesn't know where the limits really are."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:374
+#, no-wrap
+msgid "Why doesn't the mouse or return key work?"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:377
+msgid ""
+"Sometimes the cursor needs to be in the part of the window with the text in "
+"it. Move the cursor to a different region and try it."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:378
+#, no-wrap
+msgid "Why are the modal G- and M-codes not correct in Auto mode?"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:381
+msgid ""
+"The modes that will be active when you enter MDI mode are shown. These are "
+"read ahead of actual program execution."
+msgstr ""
+
+#. type: Labeled list
+#: help/tklinuxcnc.adoc:382
+#, no-wrap
+msgid "How can I change the fonts/colors/sizes in the Tkemc display?"
+msgstr ""
+
+#. type: Plain text
+#: help/tklinuxcnc.adoc:386
+msgid ""
+"The \"Tkemc\" file in the emc/ directory contains the X resources used by "
+"the program. Almost nothing is hard coded in the program itself. You can "
+"change any of these values and see the effects."
+msgstr ""
+
+#. type: Title =
+#: src/code/adding-configs.adoc:3
+#, no-wrap
+msgid "Adding Configuration Selection Items"
+msgstr ""
+
+#. type: Plain text
+#: src/code/adding-configs.adoc:6
+msgid ""
+"Example Configurations can be added to the Configuration Selector by two "
+"methods:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/adding-configs.adoc:9
+msgid ""
+"Auxiliary applications -- Applications installed independently with a deb "
+"package can place configuration subdirectories in a specified system "
+"directory.  The directory name is specified using the shell linuxcnc_var "
+"script:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/adding-configs.adoc:13
+#, no-wrap
+msgid ""
+"$ linuxcnc_var LINUXCNC_AUX_EXAMPLES\n"
+"/usr/share/linuxcnc/aux_examples\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/adding-configs.adoc:19
+msgid ""
+"Runtime settings -- the configuration selector can also offer configuration "
+"subdirectories specified at runtime using an exported environamental "
+"variable (LINUXCNC_AUX_CONFIGS).  This variable should be a path list of one "
+"or more configuration directories separated by a (:).  Typically, this "
+"variable would be set in a shell starting `linuxcnc` or in a user's "
+"`~/.profile` startup script.  Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/adding-configs.adoc:22
+#, no-wrap
+msgid "export LINUXCNC_AUX_CONFIGS=~/myconfigs:/opt/otherconfigs\n"
+msgstr ""
+
+#. type: Title =
+#: src/code/building-linuxcnc.adoc:4
+#, no-wrap
+msgid "Building LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:17
+msgid ""
+"This document describes how to build the LinuxCNC software from source.  "
+"This is primarily useful if you are a developer who is modifying LinuxCNC.  "
+"It can also be useful if you're a user who is testing developer branches, "
+"though then you also have the option of just installing Debian packages from "
+"the buildbot (http://buildbot.linuxcnc.org) or as a regular package from "
+"your Linux distribution (https://tracker.debian.org/pkg/linuxcnc).  "
+"Admittedly, this section also exists since LinuxCNC is a community effort.  "
+"and you are encouraged to contribute to the development of LinuxCNC.  "
+"Generally, you want to compile LinuxCNC yourself for immediate functional "
+"access"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:18
+msgid "to a new development of LinuxCNC or"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:19
+msgid ""
+"a new development you perhaps want to contribute to LinuxCNC or help other "
+"completing it."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:25
+msgid ""
+"You may for instance be porting LinuxCNC to some new Linux distribution or, "
+"and this common, a developer reacts to you reporting a problem whose fix you "
+"want to test.  Any such change will see no buildbot to help, or that help is "
+"delayed, pending someone else's review that you do not want to wait for or "
+"you are the only other individual with a particular hardware to test the "
+"code."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:29
+msgid ""
+"Besides the programs that control your machine that are built from the "
+"source tree, you can also build the same PDFs and/or HTML files that you are "
+"likely to have encountered online on https://linuxcnc.org/documents/."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:37
+msgid ""
+"If you want to contribute to LinuxCNC but are uncertain about where to "
+"start, please seriously consider to contribute to the documentation.  "
+"Everyone always finds something to improve - and if you only leave a "
+"\"FIXME: with a comment\" in the text as a reference for yourself and others "
+"to revisit a section later. Also, translations to languages other than "
+"English are very likely to benefit from your scrutiny at "
+"https://hosted.weblate.org/projects/linuxcnc/ ."
+msgstr ""
+
+#. type: Title ==
+#: src/code/building-linuxcnc.adoc:38
+#, no-wrap
+msgid "Downloading source tree"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:42
+msgid ""
+"The LinuxCNC project git repository is at "
+"https://github.com/LinuxCNC/linuxcnc.  GitHub is a popular git hosting "
+"service and code sharing website."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:44
+msgid "To retrieve the source tree you have two options:"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:45
+#, no-wrap
+msgid "Download tarball"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:50
+msgid ""
+"On the LinuxCNC project page in GitHub find a reference to the \"releases\" "
+"or \"tags\", click that hyperlink to the archive page and download the "
+"latest .tar file.  You will find that file compressed as a .tar.xz or "
+".tar.gz file.  This file, commonly referred to as a \"tarball\" is an "
+"archive very analogous to a .zip.  Your Linux desktop will know how to treat "
+"that file when double-clicking on it."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:50
+#, no-wrap
+msgid "Prepare a local copy of the LinuxCNC repository"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:54
+msgid ""
+"You would first install the tool \"git\" on your machine if it is not "
+"available already (`sudo apt install git`).  Then prepare a local instance "
+"of the source tree as follows: ."
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:56
+#, no-wrap
+msgid "$ git clone https://github.com/LinuxCNC/linuxcnc.git linuxcnc-source-dir\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:61
+#, no-wrap
+msgid ""
+".\n"
+"  The first argument to the git command gives it away:\n"
+"  This is called a \"clone\" of the LinuxCNC repository.\n"
+"  The advantage is that this local clone supports the communication about "
+"changes you may decide to perform on the source tree.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:66
+msgid ""
+"GitHub is an infrastructure on its own and explained in depth "
+"elsewhere. Just to get you motivated if you do not know it already.offers to "
+"perform a clone for you and have that instance made publicly available.  "
+"GitHub refers to such an additional instance of another repository as a "
+"\"fork\".  You can easily (and at no cost) create a fork of the LinuxCNC git "
+"repository at GitHub, and use that to track and publish your changes.  After "
+"creating your own GitHub fork of LinuxCNC, clone it to your development "
+"machine and proceed with your hacking as usual."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:69
+msgid ""
+"We of the LinuxCNC project hope that you will share your changes with us, so "
+"that the community can benefit from your work.  GitHub makes this sharing "
+"very easy: After you polish your changes and push them to your github fork, "
+"send us a Pull Request."
+msgstr ""
+
+#. type: Title ===
+#: src/code/building-linuxcnc.adoc:71
+#, no-wrap
+msgid "Quick Start"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:74
+msgid "For the impatient, try this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:81
+#, no-wrap
+msgid ""
+"$ git clone https://github.com/LinuxCNC/linuxcnc.git linuxcnc-source-dir\n"
+"$ cd linuxcnc-source-dir/src\n"
+"$ ./autogen.sh\n"
+"$ ./configure --with-realtime=uspace\n"
+"$ make\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:86
+msgid ""
+"That will probably fail! That doesn't make you a bad person, it just means "
+"you should read this whole document to find out how to fix your problems.  "
+"Especially the section on <<Satisfying-Build-Dependencies,Satisfying Build "
+"Dependencies>>."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:89
+msgid ""
+"If you are running on a realtime-capable system (such as an install from the "
+"LinuxCNC Live/Install Image, see the <<sub:realtime,Realtime>> section "
+"below), one extra build step is needed at this time:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:92 src/code/building-linuxcnc.adoc:141
+#, no-wrap
+msgid "$ sudo make setuid\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:95
+msgid "After you have successfully built LinuxCNC it is time to run the tests:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:99
+#, no-wrap
+msgid ""
+"$ source ../scripts/rip-environment\n"
+"$ runtests\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:103
+msgid ""
+"This might fail, too! Read this whole document, especially the section on "
+"<<Setting-up-the-environment,Setting up the test environment>>."
+msgstr ""
+
+#. type: Title ==
+#: src/code/building-linuxcnc.adoc:104
+#, no-wrap
+msgid "Supported Platforms"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:108
+msgid ""
+"The LinuxCNC project targets modern Debian-based distributions, including "
+"Debian, Ubuntu, and Mint.  We continuously test on the platforms listed at "
+"http://buildbot.linuxcnc.org."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:111
+msgid ""
+"LinuxCNC builds on most other Linux distributions, though dependency "
+"management will be more manual and less automatic.  Patches to improve "
+"portability to new platforms are always welcome."
+msgstr ""
+
+#. type: Title ===
+#: src/code/building-linuxcnc.adoc:113
+#: src/getting-started/updating-linuxcnc.adoc:242
+#, no-wrap
+msgid "Realtime"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:118
+msgid ""
+"LinuxCNC is a machine tool controller, and it requires a realtime platform "
+"to do this job.  This version of LinuxCNC supports the following platforms.  "
+"The first three listed are realtime operating systems:"
+msgstr ""
+
+#. type: Table
+#: src/code/building-linuxcnc.adoc:119 src/common/glossary.adoc:293
+#: src/config/integrator-concepts.adoc:261
+#: src/getting-started/getting-linuxcnc.adoc:255
+#: src/getting-started/getting-linuxcnc.adoc:258
+#, no-wrap
+msgid "RTAI"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:123
+msgid ""
+"From https://www.rtai.org.  A Linux kernel with the RTAI patch is available "
+"from the Debian archive at https://linuxcnc.org.  See "
+"<<cha:getting-linuxcnc,Getting LinuxCNC>> for installation instructions."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:124
+#, no-wrap
+msgid "Xenomai"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:126
+msgid ""
+"From https://xenomai.org. You will have to compile or obtain a Xenomai "
+"kernel yourself."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:127
+#, no-wrap
+msgid "Preempt-RT"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:130
+msgid ""
+"From https://rt.wiki.kernel.org.  A Linux kernel with the Preempt-RT patch "
+"is occasionally available from the Debian archive at https://www.debian.org, "
+"and from the wayback machine at https://snapshot.debian.org."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:131
+#, no-wrap
+msgid "Non-realtime"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:139
+#, no-wrap
+msgid ""
+"LinuxCNC can also be built and run on non-realtime platforms, such as a "
+"regular install of Debian or Ubuntu without any special realtime kernel.\n"
+"In this mode LinuxCNC is not useful for controlling machine tools, but it is "
+"useful for simulating the execution of G-code and for testing the "
+"non-realtime parts of the system (such as the user interfaces, and some "
+"kinds of components and device drivers).\n"
+"To make use of the realtime capabilities of LinuxCNC, certain parts of "
+"LinuxCNC need to run with root privileges. To enable root for these parts, "
+"run this extra command after the `make` that builds LinuxCNC: +"
+msgstr ""
+
+#. type: Title ==
+#: src/code/building-linuxcnc.adoc:143
+#, no-wrap
+msgid "Build modes"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:146
+msgid ""
+"There are two ways to build LinuxCNC: The developer-friendly \"run in "
+"place\" mode and the user-friendly Debian packaging mode."
+msgstr ""
+
+#. type: Title ===
+#: src/code/building-linuxcnc.adoc:147
+#, no-wrap
+msgid "Building for Run In Place"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:154
+msgid ""
+"In a Run-In-Place build, the LinuxCNC programs are compiled from source and "
+"then run directly from within the build directory.  Nothing is installed "
+"outside the build directory.  This is quick and easy, and suitable for rapid "
+"iteration of changes.  The LinuxCNC test suite runs only in a Run-In-Place "
+"build.  Most LinuxCNC developers primarily build using this mode."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:157
+msgid ""
+"Building for Run-In-Place follows the steps in the <<Quick-Start,Quick "
+"Start>> section at the top of this document, possibly with different "
+"arguments to `src/configure` and `make`."
+msgstr ""
+
+#. type: Title ====
+#: src/code/building-linuxcnc.adoc:159
+#, no-wrap
+msgid "`src/configure` arguments"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:164
+msgid ""
+"The `src/configure` script configures how the source code will be compiled.  "
+"It takes many optional arguments.  List all arguments to `src/configure` by "
+"running this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:168
+#, no-wrap
+msgid ""
+"$ cd linuxcnc-source-dir/src\n"
+"$ ./configure --help\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:171
+msgid "The most commonly used arguments are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:172
+#, no-wrap
+msgid "`--with-realtime=uspace`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:176
+msgid ""
+"Build for any realtime platform, or for non-realtime.  The resulting "
+"LinuxCNC executables will run on both a Linux kernel with Preempt-RT patches "
+"(providing realtime machine control) and on a vanilla (un-patched) Linux "
+"kernel (providing G-code simulation but no realtime machine control)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:179
+msgid ""
+"If development files are installed for Xenomai (typically from package "
+"libxenomai-dev) or RTAI (typically from a package with a name starting "
+"\"rtai-modules\"), support for these real-time kernels will also be enabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:180
+#, no-wrap
+msgid "`--with-realtime=/usr/realtime-$VERSION`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:185
+msgid ""
+"Build for the RTAI realtime platform using the older \"kernel realtime\" "
+"model.  This requires that you have an RTAI kernel and the RTAI modules "
+"installed in `/usr/realtime-$VERSION`.  The resulting LinuxCNC executables "
+"will only run on the specified RTAI kernel.  As of LinuxCNC 2.7, this "
+"produces the best realtime performance."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:186
+#, no-wrap
+msgid "`--enable-build-documentation`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:190
+msgid ""
+"Build the documentation, in addition to the executables.  This option adds "
+"significantly to the time required for compilation, as building the docs is "
+"quite time consuming.  If you are not actively working on the documentation "
+"you may want to omit this argument."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:191
+#, no-wrap
+msgid "`--disable-build-documentation-translation`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:194
+msgid ""
+"Disable building the translated documentation for all available languages.  "
+"The building of the translated documentation takes a huge amount of time, so "
+"it is recommend to skip that if not really needed."
+msgstr ""
+
+#. type: Title ====
+#: src/code/building-linuxcnc.adoc:196
+#, no-wrap
+msgid "`make` arguments"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:199
+msgid "The `make` command takes two useful optional arguments."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:200
+#, no-wrap
+msgid "Parallel compilation"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:203
+msgid ""
+"`make` takes an optional argument `-j` _N_ (where _N_ is a number).  This "
+"enables parallel compilation with _N_ simultaneous processes, which can "
+"significantly speed up your build."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:205
+msgid "A useful value for _N_ is the number of CPUs in your build system."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:207
+msgid "You can discover the number of CPUs by running `nproc`."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:208
+#, no-wrap
+msgid "Building just a specific target"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:211
+msgid ""
+"If you want to build just a specific part of LinuxCNC, you can name the "
+"thing you want to build on the `make` command line.  For example, if you are "
+"working on a component named `froboz`, you can build its executable by "
+"running:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:215
+#, no-wrap
+msgid ""
+"$ cd linuxcnc-source-dir/src\n"
+"$ make ../bin/froboz\n"
+msgstr ""
+
+#. type: Title ===
+#: src/code/building-linuxcnc.adoc:217
+#, no-wrap
+msgid "Building Debian Packages"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:228
+msgid ""
+"When building Debian packages, the LinuxCNC programs are compiled from "
+"source and then stored in a Debian package, complete with dependency "
+"information.  This process by default also includes the building of the "
+"documentation, which takes its time because of all the I/O for many "
+"languages, but that can be skipped. LinuxCNC is then installed as part of "
+"those packages on the same machines or on whatever machine of the same "
+"architecture that the .deb files are copied to. LinuxCNC cannot be run until "
+"the Debian packages are installed on a target machine and then the "
+"executables are available in /usr/bin and /usr/lib just like other regular "
+"software of the system."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:233
+msgid ""
+"This build mode is primarily useful when packaging the software for delivery "
+"to end users, and when building the software for a machine that does not "
+"have the build environment installed, or that does not have internet access."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:238
+msgid ""
+"To build packages is primarily useful when packaging the software for "
+"delivery to end users.  Developers among themselves exchange only the source "
+"code, likely supported by the LinuxCNC GitHub repository referenced below.  "
+"Also, when building the software for a machine that doesn't have the build "
+"environment installed, or that doesn't have internet access, one happily "
+"accepts a prebuilt package."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:242
+msgid ""
+"Building Debian packages is performed with the `dpkg-buildpackage` tool that "
+"is provided by the `dpkg-dev` package. Its execution comes with a series of "
+"prerequisites that are detailed below:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:243
+msgid "general build infrastructure shall be installed, i.e. compilers, etc."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:245
+msgid ""
+"build-time dependencies are to be installed, i.e. header files for external "
+"code libraries used, as described in the section "
+"<<Satisfying-Build-Dependencies,Satisfying Build Dependencies>>."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:246
+msgid "file in debian folder need to be complete that describe the package"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:248
+msgid ""
+"Build tools have been gathered as a virtual package named "
+"`build-essential`. To install it, run:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:251
+#, no-wrap
+msgid "$ sudo apt-get install build-essential\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:254
+msgid ""
+"Once those prerequisites are met, building the Debian packages consists of "
+"two steps."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:256
+msgid ""
+"The first step is generating the Debian package scripts and meta-data from "
+"the git repo by running this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:260 src/code/building-linuxcnc.adoc:341
+#, no-wrap
+msgid ""
+"$ cd linuxcnc-dev\n"
+"$ ./debian/configure\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/code/building-linuxcnc.adoc:265
+msgid "The `debian/configure` script is different from the `src/configure` script!"
+msgstr ""
+
+#. type: delimited block =
+#: src/code/building-linuxcnc.adoc:270
+msgid ""
+"The `debian/configure` accepts arguments depending on the platform you are "
+"building on/for, see the <<debian-configure-arguments, `debian/configure` "
+"arguments>> section.  It defaults to LinuxCNC running in user space "
+"(\"uspace\"), expecting the preempt_rt kernel to minimize latencies."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:273
+msgid ""
+"Once the Debian package scripts and meta-data are configured, build the "
+"package by running `dpkg-buildpackage`:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:276
+#, no-wrap
+msgid "$ dpkg-buildpackage -b -uc\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/code/building-linuxcnc.adoc:282
+#, no-wrap
+msgid ""
+"`dpkg-buildpackage` needs to run from the root of the source tree, which you "
+"mave have named `linuxcnc-source-dir`, *not* from within "
+"`linuxcnc-source-dir/debian`.\n"
+"`dpkg-buildpackage` takes an optional argument ``-j``_N_ (where _N_ is a "
+"number). This enables to run multiple jobs simultaneously."
+msgstr ""
+
+#. type: Title ====
+#: src/code/building-linuxcnc.adoc:285
+#, no-wrap
+msgid "LinuxCNC's `debian/configure` arguments"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:290
+msgid ""
+"The LinuxCNC source tree has a debian directory with all the info about how "
+"the Debian package shall be built, but some key files within are only "
+"distributed as templates. The `debian/configure` script readies those build "
+"instructions for the regular Debian packaging utilities and must thus be run "
+"prior to `dpkg-checkbuilddeps` or `dpkg-buildpackage`."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:293
+msgid ""
+"The `debian/configure` script takes a single argument which specifies the "
+"underlying realtime or non-realtime platform to build for.  The regular "
+"values for this argument are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:294
+#, no-wrap
+msgid "`no-docs`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:296
+msgid "Skip building documentation."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:297
+#, no-wrap
+msgid "`uspace`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:299
+msgid ""
+"Configure the Debian package for Preempt-RT realtime or for non-realtime "
+"(these two are compatible)."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:300
+#, no-wrap
+msgid "`noauto`"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:301
+#, no-wrap
+msgid "`rtai`"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:302
+#, no-wrap
+msgid "`xenomai`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:306
+msgid ""
+"Normally, the lists of RTOSes for uspace realtime to support is detected "
+"automatically.  However, if you wish, you may specify one or more of these "
+"after `uspace` to enable support for these RTOSes.  Or, to disable "
+"autodetection, specify `noauto`."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:308
+msgid ""
+"If you want just the traditional RTAI \"kernel module\" realtime, use `-r` "
+"or `$KERNEL_VERSION` instead."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:309
+#, no-wrap
+msgid "`rtai=<package name>`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:313
+msgid ""
+"If the development package for RTAI, lxrt, does not start with "
+"\"rtai-modules\", or if the first such package listed by apt-cache search is "
+"not the desired one, then explicitly specify the package name."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:314
+#, no-wrap
+msgid "`-r`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:317
+msgid ""
+"Configure the Debian package for the currently running RTAI kernel.  You "
+"must be running an RTAI kernel on your build machine for this to work!"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:318
+#, no-wrap
+msgid "`$KERNEL_VERSION`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:323
+msgid ""
+"Configure the Debian package for the specified RTAI kernel version (for "
+"example \"3.4.9-rtai-686-pae\").  The matching kernel headers Debian package "
+"must be installed on your build machine, "
+"e.g. \"linux-headers-3.4.9-rtai-686-pae\".  Note that you can _build_ "
+"LinuxCNC in this configuration, but if you are not running the matching RTAI "
+"kernel you will not be able to _run_ LinuxCNC, including the test suite."
+msgstr ""
+
+#. type: Title ====
+#: src/code/building-linuxcnc.adoc:325
+#, no-wrap
+msgid "Satisfying Build Dependencies"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:331
+msgid ""
+"On Debian-based platforms we provide packaging meta-data that knows what "
+"external software packages need to be installed in order to build LinuxCNC.  "
+"These are referred to as the _build dependencies_ of LinuxCNC, i.e. those "
+"packages that need to be available such that"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:332
+msgid "the build succeeds and"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:333
+msgid "the build can be built reproducibly."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:337
+msgid ""
+"You can use this meta-data to easily list the required packages missing from "
+"your build system.  First, go to the source tree of LinuxCNC and initiate "
+"its default self-configuration, if not already performed:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:346
+msgid ""
+"This will prepare the file debian/control that contains lists of Debian "
+"packages to create with the runtime dependencies for those packages and for "
+"our cause also the build-dependencies for those to-be-created packages."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:349
+msgid ""
+"The most straightforward way to get all build-dependencies installed is to "
+"just execute (from the same directory):"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:352
+#, no-wrap
+msgid "sudo apt-get build-dep .\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:358
+msgid ""
+"which will install all the dependencies required, not yet installed, but "
+"available.  The '.' is part of the command line, i.e. an instruction to "
+"retrieve the dependencies for the source tree at hand, not for dependencies "
+"of another package.  This completes the installation of build-dependencies."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:366
+msgid ""
+"The remainder of this section describes a semi-manual approach.  The list of "
+"dependencies in debian/control is long and it is tedious to compare the "
+"current state of packages already installed with it.  Debian systems provide "
+"a program called `dpkg-checkbuilddeps` that parses the package meta-data and "
+"compares the packages listed as build dependencies against the list of "
+"installed packages, and tells you what's missing."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:368
+msgid "First, install the `dpkg-checkbuilddeps` program by running:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:371
+#, no-wrap
+msgid "$ sudo apt-get install dpkg-dev\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:377
+msgid ""
+"This generates the file `debian/control` in a user-readable yaml-format "
+"which lists the build-dependencies close to the top.  You can use this "
+"meta-data to easily list the required packages missing from your build "
+"system.  You may decide to manually inspecting those files if you have a "
+"good understanding what is already installed."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:384
+msgid ""
+"Alternatively, Debian systems provide a program called `dpkg-checkbuilddeps` "
+"that parses the package meta-data and compares the packages listed as build "
+"dependencies against the list of installed packages, and tells you what's "
+"missing.  Also, `dpkg-buildpackage` would inform you about what is missing, "
+"and it should be fine.  However, it reports missing build-deps only after "
+"patches in the directory `debian/patches` have been automatically applied "
+"(if any).  If you are new to Linux and git version management, a clean start "
+"may be preferable to avoid complications."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:387
+msgid ""
+"The `dpkg-checkbuilddeps` (also from the dpkg-dev package that is installed "
+"as part of the build-essential dependencies) program can be asked to do its "
+"job (note that it needs to run from the `linuxcnc-source-dir` directory, "
+"*not* from `linuxcnc-source-dir/debian`):"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:390
+#, no-wrap
+msgid "$ dpkg-checkbuilddeps\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:394
+msgid ""
+"It will emit a list of packages that are required to build LinuxCNC on your "
+"system but are not installed, yet.  You can now install missing "
+"build-dependencies"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:395
+#, no-wrap
+msgid "manually"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:397
+msgid ""
+"Install them all with `sudo apt-get install`, followed by the package "
+"names.  You can rerun `dpkg-checkbuilddeps` any time you want, to list any "
+"missing packages, which has no effect on the source tree."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:398
+#, no-wrap
+msgid "automated"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:399
+msgid "Run `sudo apt build-dep .` ."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:401
+msgid ""
+"If in doubt about what a particular package of a build-dep may be providing, "
+"check out the package's description with ``apt-cache show`` _packagename_."
+msgstr ""
+
+#. type: Title ====
+#: src/code/building-linuxcnc.adoc:402
+#, no-wrap
+msgid "Options for `dpkg-buildpackage`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:407
+msgid ""
+"For a typical Debian package to build, you would run dpkg-buildpackage "
+"without any arguments.  As introduced above, the command has two extra "
+"options passed to it.  Like for all good Linux tools, the man page has all "
+"the details with `man dpkg-buildpackage`."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:408
+#, no-wrap
+msgid "`-uc`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:409
+msgid ""
+"Do not digitally sign the resulting binaries. You would want to sign your "
+"packages with a GPG key of yours only if you would wanted to distribute them "
+"to others. Having that option not set and then failing to sign the package "
+"would not affect the .deb file."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:410
+#, no-wrap
+msgid "`-b`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:412
+msgid ""
+"Only compiles the architecture-dependent packages (like the `linuxcnc` "
+"binaries and GUIs).  This is very helpful to avoid compiling what is "
+"hardware-independent. For LinuxCNC this is the documentation, which is "
+"available online anyway."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:414
+msgid ""
+"If you happen to run into difficulties while compiling, check the LinuxCNC "
+"forum online."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:417
+msgid ""
+"Currently emerging is the support for the DEB_BUILD_OPTIONS environment "
+"variable.  Set it to"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:418
+#, no-wrap
+msgid "`nodocs`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:419
+msgid ""
+"to skip building the documentation, preferably instead use the `-B` flag to "
+"dpkg-buildpackage."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/building-linuxcnc.adoc:420
+#, no-wrap
+msgid "`nocheck`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:423
+msgid ""
+"to skip self-tests of the LinuxCNC build process.  This saves some time and "
+"reduces the demand for a few software packages that may not be available for "
+"your system, i.e. the xvfb in particular.  You should not set this option to "
+"gain some extra confidence in your build to perform as expected unless you "
+"are running into mere technical difficulties with the test-specific software "
+"dependencies."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:425
+msgid ""
+"An environment variable can be set together with the execution of the "
+"command, e.g."
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:427
+#, no-wrap
+msgid "DEB_BUILD_OPTIONS=nocheck dpkg-buildpackage -uc -B\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:429
+msgid "would combine all the options introduced in this section."
+msgstr ""
+
+#. type: Title ====
+#: src/code/building-linuxcnc.adoc:430
+#, no-wrap
+msgid "Installing self-built Debian packages"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:436
+msgid ""
+"A Debian package can be recognised by its .deb extension.  The tool "
+"installing it, `dpkg` is part of every Debian installation.  The .deb files "
+"created by `dpkg-buildpackage` are found in the directory above the "
+"linuxcnc-source-dir, i.e. in `..`.  To see what files are provided in a "
+"package, run"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:439
+#, no-wrap
+msgid "dpkg -c ../linuxcnc-uspace*.deb\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:445
+msgid ""
+"The version of LinuxCNC will be part of the file name, which is meant to be "
+"matched by the asterisk.  There may be too many files listed to fit on your "
+"screen.  If you cannot scroll up in your terminal then add `| more` to that "
+"command to have its output passed through a so-called \"pager\".  Quit with "
+"\"q\"."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:447
+msgid "To install the packages, run"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:450
+#, no-wrap
+msgid "sudo dpkg -i ../linuxcnc*.deb\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/building-linuxcnc.adoc:453
+#, no-wrap
+msgid "Setting up the environment"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:456
+msgid ""
+"This section describes the special steps needed to set up a machine to run "
+"the LinuxCNC programs, including the tests."
+msgstr ""
+
+#. type: Title ===
+#: src/code/building-linuxcnc.adoc:457
+#, no-wrap
+msgid "Increase the locked memory limit"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:462
+msgid ""
+"LinuxCNC tries to improve its realtime latency by locking the memory it uses "
+"into RAM.  It does this in order to prevent the operating system from "
+"swapping LinuxCNC out to disk, which would have bad effects on latency.  "
+"Normally, locking memory into RAM is frowned upon, and the operating system "
+"places a strict limit on how much memory a user is allowed to have locked."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:465
+msgid ""
+"When using the Preempt-RT realtime platform LinuxCNC runs with enough "
+"privilege to raise its memory lock limit itself.  When using the RTAI "
+"realtime platform it does not have enough privilege, and the user must raise "
+"the memory lock limit."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:467
+msgid ""
+"If LinuxCNC displays the following message on startup, the problem is your "
+"system's configured limit on locked memory:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:471
+#, no-wrap
+msgid ""
+"RTAPI: ERROR: failed to map shmem\n"
+"RTAPI: Locked memory limit is 32KiB, recommended at least 20480KiB.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:477
+msgid ""
+"To fix this problem, add a file named `/etc/security/limits.d/linuxcnc.conf` "
+"(as root) with your favorite text editor (e.g., `sudo gedit "
+"/etc/security/limits.d/linuxcnc.conf`).  The file should contain the "
+"following line:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:480
+#, no-wrap
+msgid "* - memlock 20480\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:484
+msgid ""
+"Log out and log back in to make the changes take effect.  Verify that the "
+"memory lock limit is raised using the following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:487
+#, no-wrap
+msgid "$ ulimit -l\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/building-linuxcnc.adoc:489
+#, no-wrap
+msgid "Building on Gentoo"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:494
+msgid ""
+"Building on Gentoo is possible, but not supported.  Be sure you are running "
+"a desktop profile.  This project uses the Tk Widget Set, asciidoc, and has "
+"some other dependencies.  They should be installed as root:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:501
+#, no-wrap
+msgid ""
+"~ # euse -E tk imagequant\n"
+"~ # emerge -uDNa world\n"
+"~ # emerge -a dev-libs/libmodbus dev-lang/tk dev-tcltk/bwidget "
+"dev-tcltk/tclx\n"
+"~ # emerge -a dev-python/pygobject dev-python/pyopengl dev-python/numpy\n"
+"~ # emerge -a app-text/asciidoc app-shells/bash-completion\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:506
+msgid ""
+"You can switch back to being a normal user for most of the rest of the "
+"install.  As that user, create a virtual environment for pip, then install "
+"the pip packages:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:512
+#, no-wrap
+msgid ""
+"~/src $ python -m venv   --system-site-packages ~/src/venv\n"
+"~/src $ . ~/src/venv/bin/activate\n"
+"(venv) ~/src $ pip install yapps2\n"
+"(venv) ~/src $\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:515
+msgid "Then you can contrinue as normally:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:523
+#, no-wrap
+msgid ""
+"(venv) ~/src $ git clone https://github.com/LinuxCNC/linuxcnc.git\n"
+"(venv) ~/src $ cd linuxcnc\n"
+"(venv) ~/src $ cd src\n"
+"(venv) ~/src $ ./autogen.sh\n"
+"(venv) ~/src $ ./configure --enable-non-distributable=yes\n"
+"(venv) ~/src $ make\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:528
+msgid ""
+"There is no need to run \"make suid\", just make sure your user is in the "
+"\"dialout\" group.  To start linuxcnc, you must be in the Python Virtual "
+"Environment, and set up the linuxcnc environment:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/building-linuxcnc.adoc:533
+#, no-wrap
+msgid ""
+"~ $ . ~/src/venv/bin/activate\n"
+"(venv) ~ $ . ~/src/linuxcnc/scripts/rip-environment\n"
+"(venv) ~ $ ~/src/linuxcnc $ scripts/linuxcnc\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/building-linuxcnc.adoc:536
+#, no-wrap
+msgid "Options for checking out the git repo"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:542
+msgid ""
+"The <<Quick-Start,Quick Start>> instructions at the top of this document "
+"clone our git repo at https://github.com/LinuxCNC/linuxcnc.git.  This is the "
+"quickest, easiest way to get started.  However, there are other options to "
+"consider."
+msgstr ""
+
+#. type: Title ===
+#: src/code/building-linuxcnc.adoc:543
+#, no-wrap
+msgid "Fork us on GitHub"
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:550
+msgid ""
+"The LinuxCNC project git repo is at https://github.com/LinuxCNC/linuxcnc.  "
+"GitHub is a popular git hosting service and code sharing website.  You can "
+"easily (and at no costs) create a fork (a second instance holding a copy "
+"that you control) of the LinuxCNC git repository at GitHub.  You can then "
+"use that fork of yours to track and publish your changes, receive comments "
+"to your changes and accept patches from the community.  ."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:553
+msgid ""
+"After creating your own GitHub fork of LinuxCNC, clone it to your "
+"development machine and proceed with your hacking as usual."
+msgstr ""
+
+#. type: Plain text
+#: src/code/building-linuxcnc.adoc:556
+msgid ""
+"We of the LinuxCNC project hope that you will share your changes with us, so "
+"that the community can benefit from your work.  GitHub makes this sharing "
+"very easy: after you polish your changes and push them to your GitHub fork, "
+"send us a Pull Request."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:5 src/motion/switchkins.adoc:369
+#, no-wrap
+msgid "Code Notes"
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:13
+#, no-wrap
+msgid "Intended audience"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:20
+msgid ""
+"This document is a collection of notes about the internals of LinuxCNC. It "
+"is primarily of interest to developers, however much of the information here "
+"may also be of interest to system integrators and others who are simply "
+"curious about how LinuxCNC works. Much of this information is now outdated "
+"and has never been reviewed for accuracy."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:21
+#, no-wrap
+msgid "Organization"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:26
+msgid ""
+"There will be a chapter for each of the major components of LinuxCNC, as "
+"well as chapter(s) covering how they work together. This document is very "
+"much a work in progress, and its layout may change in the future."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:27
+#, no-wrap
+msgid "Terms and definitions"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:49
+msgid ""
+"'AXIS' - An axis is one of the nine degrees of freedom that define a tool "
+"position in three-dimensional Cartesian space. Those nine axes are referred "
+"to as X, Y, Z, A, B, C, U, V, and W. The linear orthogonal coordinates X, Y, "
+"and Z determine where the tip of the tool is positioned. The angular "
+"coordinates A, B, and C determine the tool orientation. A second set of "
+"linear orthogonal coordinates U, V, and W allows tool motion (typically for "
+"cutting actions) relative to the previously offset and rotated axes.  "
+"Unfortunately \"axis\" is also sometimes used to mean a degree of freedom of "
+"the machine itself, such as the saddle, table, or quill of a Bridgeport type "
+"milling machine. On a Bridgeport this causes no confusion, since movement of "
+"the table directly corresponds to movement along the X axis. However, the "
+"shoulder and elbow joints of a robot arm and the linear actuators of a "
+"hexapod do not correspond to movement along any Cartesian axis, and in "
+"general it is important to make the distinction between the Cartesian axes "
+"and the machine degrees of freedom. In this document, the latter will be "
+"called 'joints', not axes. The GUIs and some other parts of the code may not "
+"always follow this distinction, but the internals of the motion controller "
+"do."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:67
+msgid ""
+"'JOINT' - A joint is one of the movable parts of the machine. Joints are "
+"distinct from axes, although the two terms are sometimes (mis)used to mean "
+"the same thing. In LinuxCNC, a joint is a physical thing that can be moved, "
+"not a coordinate in space. For example, the quill, knee, saddle, and table "
+"of a Bridgeport mill are all joints. The shoulder, elbow, and wrist of a "
+"robot arm are joints, as are the linear actuators of a hexapod. Every joint "
+"has a motor or actuator of some type associated with it. Joints do not "
+"necessarily correspond to the X, Y, and Z axes, although for machines with "
+"trivial kinematics that may be the case.  Even on those machines, joint "
+"position and axis position are fundamentally different things. In this "
+"document, the terms 'joint' and 'axis' are used carefully to respect their "
+"distinct meanings.  Unfortunately that isn't necessarily true everywhere "
+"else. In particular, GUIs for machines with trivial kinematics may gloss "
+"over or completely hide the distinction between joints and axes. In "
+"addition, the INI file uses the term 'axis' for data that would more "
+"accurately be described as joint data, such as input and output scaling, "
+"etc."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:74
+msgid ""
+"This distinction was made in version 2.8 of LinuxCNC.  The INI file got a "
+"new section [JOINT_<num>]. Many of the parameters that were previously "
+"proper to the [AXIS_<letter>] section are now in the new section. Other "
+"sections, such as [KINS], also take on new parameters to match this.  An "
+"update script has been provided to transform old INI files to the new "
+"axes/joints configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:79
+msgid ""
+"'POSE' - A pose is a fully specified position in 3D Cartesian space. In the "
+"LinuxCNC motion controller, when we refer to a pose we mean an EmcPose "
+"structure, containing six linear coordinates (X, Y, Z, U, V, and W) and "
+"three angular ones (A, B, and C)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:85
+msgid ""
+"'coord', or coordinated mode, means that all articulations are synchronized "
+"and they move together as directed by the higher-level code. It is the "
+"normal mode when machining.  In coordinated mode, commands are assumed to be "
+"given in the Cartesian reference frame, and if the machine is not Cartesian, "
+"the commands are translated by the kinematics to drive each joint into the "
+"joint space as needed."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:91
+msgid ""
+"'free' means that commands are interpreted in joint space.  It is used to "
+"manually move (jog) individual joints, although it does not prevent them "
+"from moving multiple joints at once (I think).  Homing is also done in free "
+"mode; in fact, machines with non-trivial kinematics must be homed before "
+"they can go into coord or teleop mode."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:97
+msgid ""
+"'teleop' is the mode you probably need if you are jogging with a hexapod.  "
+"The jog commands implemented by the motion controller are joint jogs, which "
+"work in free mode. But if you want to move a hexapod or similar machine "
+"along a cartesian axis in particular, you must operate more than one joint.  "
+"That's what 'teleop' is for."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:98
+#, no-wrap
+msgid "Architecture overview"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:107
+msgid ""
+"There are four components contained in the LinuxCNC Architecture: a motion "
+"controller (EMCMOT), a discrete IO controller (EMCIO), a task executor which "
+"coordinates them (EMCTASK) and several text-mode and graphical User "
+"Interfaces. Each of them will be described in the current document, both "
+"from the design point of view and from the developers point of view (where "
+"to find needed data, how to easily extend/modify things, etc.)."
+msgstr ""
+
+#. type: Target for macro image
+#: src/code/code-notes.adoc:108
+#, no-wrap
+msgid "LinuxCNC-block-diagram-small.png"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:110
+#, no-wrap
+msgid "LinuxCNC software architecture"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:121
+msgid ""
+"At the coarsest level, LinuxCNC is a hierarchy of three controllers: the "
+"task level command handler and program interpreter, the motion controller, "
+"and the discrete I/O controller. The discrete I/O controller is implemented "
+"as a hierarchy of controllers, in this case for spindle, coolant, and "
+"auxiliary (e.g., estop)  subsystems. The task controller coordinates the "
+"actions of the motion and discrete I/O controllers. Their actions are "
+"programmed in conventional numerical control \"G and M code\" programs, "
+"which are interpreted by the task controller into NML messages and sent to "
+"the motion."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:122
+#, no-wrap
+msgid "Motion Controller Introduction"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:125
+msgid ""
+"The motion controller is a realtime component.  It receives motion control "
+"commands from the non-realtime parts of LinuxCNC (i.e. the G-code "
+"interpreter/Task, GUIs, etc) and executes those commands within its realtime "
+"context.  The communication from non-realtime context to realtime context "
+"happens via a message-passing IPC mechanism using shared memory, and via the "
+"Hardware Abstraction Layer (HAL)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:127
+msgid ""
+"The status of the motion controller is made available to the rest of "
+"LinuxCNC through the same message-passing shared memory IPC, and through "
+"HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:129
+msgid ""
+"The motion controller interacts with the motor controllers and other "
+"realtime and non-realtime hardware using HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:136
+msgid ""
+"This document assumes that the reader has a basic understanding of the HAL, "
+"and uses terms like HAL pins, HAL signals, etc, without explaining them. For "
+"more information about the HAL, see the HAL Manual. Another chapter of this "
+"document will eventually go into the internals of the HAL itself, but in "
+"this chapter, we only use the HAL API as defined in src/hal/hal.h."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:137
+#, no-wrap
+msgid "Motion Controller Modules"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:140
+msgid ""
+"The realtime functions of the motion controller are implemented with "
+"realtime modules -- userspace shared objects for Preempt-RT systems or "
+"kernel modules for some kernel-mode realtime implementations such as RTAI:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:142
+msgid "'tpmod' - trajectory planning"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:143
+msgid "'homemod' - homing functions"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:144
+msgid "'motmod' - processes NML commands and controls hardware via HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:145
+msgid ""
+"'kinematics module' - performs forward (joints-->coordinates) and inverse "
+"(coordinates->joints) kinematics calculations"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:152
+msgid ""
+"LinuxCNC is started by a *linuxcnc* script which reads a configuration INI "
+"file and starts all needed processes.  For realtime motion control, the "
+"script first loads the default tpmod and homemod modules and then loads the "
+"kinematics and motion modules according to settings in halfiles specified by "
+"the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:158
+msgid ""
+"Custom (user-built) homing or trajectory-planning modules can be used in "
+"place of the default modules via INI file settings or command line options.  "
+"Custom modules must implement all functions used by the default modules.  "
+"The halcompile utility can be used to create a custom module."
+msgstr ""
+
+#. type: Target for macro image
+#: src/code/code-notes.adoc:159
+#, no-wrap
+msgid "LinuxCNC-motion-controller-small.png"
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:161
+#, no-wrap
+msgid "Block diagrams and Data Flow"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:170
+msgid ""
+"The following figure is a block diagram of a joint controller. There is one "
+"joint controller per joint. The joint controllers work at a lower level than "
+"the kinematics, a level where all joints are completely independent. All the "
+"data for a joint is in a single joint structure. Some members of that "
+"structure are visible in the block diagram, such as coarse_pos, pos_cmd, and "
+"motor_pos_fb."
+msgstr ""
+
+#. type: Block title
+#: src/code/code-notes.adoc:171
+#, no-wrap
+msgid "Joint Controller Block Diagram"
+msgstr ""
+
+#. type: Target for macro image
+#: src/code/code-notes.adoc:172
+#, no-wrap
+msgid "emc2-motion-joint-controller-block-diag.png"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:177
+msgid ""
+"The above figure shows five of the seven sets of position information that "
+"form the main data flow through the motion controller. The seven forms of "
+"position data are as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:184
+msgid ""
+"'emcmotStatus\\->carte_pos_cmd' - This is the desired position, in Cartesian "
+"coordinates. It is updated at the traj rate, not the servo rate. In coord "
+"mode, it is determined by the traj planner. In teleop mode, it is determined "
+"by the traj planner? In free mode, it is either copied from actualPos, or "
+"generated by applying forward kins to (2) or (3)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:189
+msgid ""
+"'emcmotStatus\\->joints[n].coarse_pos' - This is the desired position, in "
+"joint coordinates, but before interpolation. It is updated at the traj rate, "
+"not the servo rate. In coord mode, it is generated by applying inverse kins "
+"to (1) In teleop mode, it is generated by applying inverse kins to (1) In "
+"free mode, it is copied from (3), I think."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:195
+msgid ""
+"'emcmotStatus\\->joints[n].pos_cmd - This is the desired position, in joint "
+"coords, after interpolation. A new set of these coords is generated every "
+"servo period. In coord mode, it is generated from (2)  by the "
+"interpolator. In teleop mode, it is generated from (2) by the "
+"interpolator. In free mode, it is generated by the free mode traj planner."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:200
+msgid ""
+"'emcmotStatus\\->joints[n].motor_pos_cmd' - This is the desired position, in "
+"motor coords. Motor coords are generated by adding backlash compensation, "
+"lead screw error compensation, and offset (for homing) to (3). It is "
+"generated the same way regardless of the mode, and is the output to the PID "
+"loop or other position loop."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:204
+msgid ""
+"'emcmotStatus\\->joints[n].motor_pos_fb' - This is the actual position, in "
+"motor coords. It is the input from encoders or other feedback device (or "
+"from virtual encoders on open loop machines). It is \"generated\" by reading "
+"the feedback device."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:208
+msgid ""
+"'emcmotStatus\\->joints[n].pos_fb' - This is the actual position, in joint "
+"coordinates. It is generated by subtracting offset, lead screw error "
+"compensation, and backlash compensation from (5). It is generated the same "
+"way regardless of the operating mode."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:221
+msgid ""
+"'emcmotStatus\\->carte_pos_fb' - This is the actual position, in Cartesian "
+"coordinates. It is updated at the traj rate, not the servo rate.  Ideally, "
+"actualPos would always be calculated by applying forward kinematics to "
+"(6). However, forward kinematics may not be available, or they may be "
+"unusable because one or more axes aren't homed. In that case, the options "
+"are: A) fake it by copying (1), or B) admit that we don't really know the "
+"Cartesian coordinates, and simply don't update actualPos. Whatever approach "
+"is used, I can see no reason not to do it the same way regardless of the "
+"operating mode. I would propose the following: If there are forward kins, "
+"use them, unless they don't work because of unhomed axes or other problems, "
+"in which case do (B). If no forward kins, do (A), since otherwise actualPos "
+"would _never_ get updated."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:222 src/config/ini-config.adoc:1063
+#: src/gui/halui.adoc:137 src/man/man1/halui.1.adoc:425
+#: src/user/user-concepts.adoc:179
+#, no-wrap
+msgid "Homing"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:224
+#, no-wrap
+msgid "Homing state diagram"
+msgstr ""
+
+#. type: Target for macro image
+#: src/code/code-notes.adoc:226
+#, no-wrap
+msgid "homing.svg"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:228
+#, no-wrap
+msgid "Another homing diagram"
+msgstr ""
+
+#. type: Target for macro image
+#: src/code/code-notes.adoc:230
+#, no-wrap
+msgid "hss.svg"
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:232
+#, no-wrap
+msgid "Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:239
+msgid ""
+"This section simply lists all of the commands that can be sent to the motion "
+"module, along with detailed explanations of what they do. The command names "
+"are defined in a large typedef enum in {linuxcnc}/src/emc/motion/motion.h, "
+"called cmd_code_t. (Note that in the code, each command name starts with "
+"'EMCMOT_', which is omitted here.)"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:243
+msgid ""
+"The commands are implemented by a large switch statement in the function "
+"emcmotCommandHandler(), which is called at the servo rate.  More on that "
+"function later."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:246
+msgid "There are approximately 44 commands - this list is still under construction."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:252
+msgid ""
+"The cmd_code_t enumeration, in motion.h, contains 73 commands, but the "
+"switch statement in command.c contemplates only 70 commands (as of "
+"6/5/2020).  ENABLE_WATCHDOG / DISABLE_WATCHDOG commands are in "
+"motion-logger.c. Maybe they are obsolete.  The SET_TELEOP_VECTOR command "
+"only appears in motion-logger.c, with no effect other than its own log."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:253
+#, no-wrap
+msgid "ABORT"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:266
+msgid ""
+"The ABORT command simply stops all motion. It can be issued at any time, and "
+"will always be accepted. It does not disable the motion controller or change "
+"any state information, it simply cancels any motion that is currently in "
+"progress.footnote:[It seems that the higher level code (TASK and above) also "
+"use ABORT to clear faults.  Whenever there is a persistent fault (such as "
+"being outside the hardware limit switches), the higher level code sends a "
+"constant stream of ABORTs to the motion controller trying to make the fault "
+"go away. Thousands of them.... That means that the motion controller should "
+"avoid persistent faults. This needs to be looked into.]"
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:267 src/code/code-notes.adoc:292
+#: src/code/code-notes.adoc:324 src/code/code-notes.adoc:352
+#: src/code/code-notes.adoc:376 src/code/code-notes.adoc:393
+#: src/code/code-notes.adoc:412 src/code/code-notes.adoc:429
+#: src/code/code-notes.adoc:446 src/code/code-notes.adoc:463
+#: src/code/code-notes.adoc:479 src/code/code-notes.adoc:495
+#: src/code/code-notes.adoc:513 src/code/code-notes.adoc:527
+#: src/code/code-notes.adoc:544 src/code/code-notes.adoc:562
+#: src/code/code-notes.adoc:578 src/code/code-notes.adoc:599
+#: src/code/code-notes.adoc:618 src/code/code-notes.adoc:646
+#: src/code/code-notes.adoc:676 src/drivers/pluto-p.adoc:11
+#: src/gui/gmoccapy.adoc:41
+#, no-wrap
+msgid "Requirements"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:270
+msgid "None. The command is always accepted and acted on immediately."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:271 src/code/code-notes.adoc:303
+#: src/code/code-notes.adoc:336 src/code/code-notes.adoc:364
+#: src/code/code-notes.adoc:381 src/code/code-notes.adoc:398
+#: src/code/code-notes.adoc:417 src/code/code-notes.adoc:434
+#: src/code/code-notes.adoc:451 src/code/code-notes.adoc:468
+#: src/code/code-notes.adoc:484 src/code/code-notes.adoc:500
+#: src/code/code-notes.adoc:518 src/code/code-notes.adoc:532
+#: src/code/code-notes.adoc:549 src/code/code-notes.adoc:567
+#: src/code/code-notes.adoc:583 src/code/code-notes.adoc:603
+#: src/code/code-notes.adoc:626 src/code/code-notes.adoc:654
+#: src/code/code-notes.adoc:684
+#, no-wrap
+msgid "Results"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:281
+msgid ""
+"In free mode, the free mode trajectory planners are disabled. That results "
+"in each joint stopping as fast as its accel (decel) limit allows. The stop "
+"is not coordinated. In teleop mode, the commanded Cartesian velocity is set "
+"to zero. I don't know exactly what kind of stop results (coordinated, "
+"uncoordinated, etc), but will figure it out eventually. In coord mode, the "
+"coord mode trajectory planner is told to abort the current move. Again, I "
+"don't know the exact result of this, but will document it when I figure it "
+"out."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:282
+#, no-wrap
+msgid "FREE"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:291
+msgid ""
+"The FREE command puts the motion controller in free mode. Free mode means "
+"that each joint is independent of all the other joints. Cartesian "
+"coordinates, poses, and kinematics are ignored when in free mode. In "
+"essence, each joint has its own simple trajectory planner, and each joint "
+"completely ignores the other joints. Some commands (like Joint JOG and HOME) "
+"only work in free mode. Other commands, including anything that deals with "
+"Cartesian coordinates, do not work at all in free mode."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:302
+msgid ""
+"The command handler applies no requirements to the FREE command, it will "
+"always be accepted. However, if any joint is in motion "
+"(GET_MOTION_INPOS_FLAG() == FALSE), then the command will be ignored.  This "
+"behavior is controlled by code that is now located in the function "
+"'set_operating_mode()' in control.c, that code needs to be cleaned up.  I "
+"believe the command should not be silently ignored, instead the command "
+"handler should determine whether it can be executed and return an error if "
+"it cannot."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:309
+msgid ""
+"If the machine is already in free mode, nothing. Otherwise, the machine is "
+"placed in free mode. Each joint's free mode trajectory planner is "
+"initialized to the current location of the joint, but the planners are not "
+"enabled and the joints are stationary."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:310
+#, no-wrap
+msgid "TELEOP"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:323
+msgid ""
+"The TELEOP command places the machine in teleoperating mode. In teleop mode, "
+"movement of the machine is based on Cartesian coordinates using kinematics, "
+"rather than on individual joints as in free mode. However the trajectory "
+"planner per se is not used, instead movement is controlled by a velocity "
+"vector. Movement in teleop mode is much like jogging, except that it is done "
+"in Cartesian space instead of joint space. On a machine with trivial "
+"kinematics, there is little difference between teleop mode and free mode, "
+"and GUIs for those machines might never even issue this command. However for "
+"non-trivial machines like robots and hexapods, teleop mode is used for most "
+"user commanded jog type movements."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:335
+msgid ""
+"The command handler will reject the TELEOP command with an error message if "
+"the kinematics cannot be activated because the one or more joints have not "
+"been homed. In addition, if any joint is in motion (GET_MOTION_INPOS_FLAG() "
+"== FALSE), then the command will be ignored (with no error message). This "
+"behavior is controlled by code that is now located in the function "
+"'set_operating_mode()' in control.c. I believe the command should not be "
+"silently ignored, instead the command handler should determine whether it "
+"can be executed and return an error if it cannot."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:342
+msgid ""
+"If the machine is already in teleop mode, nothing. Otherwise the machine is "
+"placed in teleop mode. The kinematics code is activated, interpolators are "
+"drained and flushed, and the Cartesian velocity commands are set to zero."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:343
+#, no-wrap
+msgid "COORD"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:351
+msgid ""
+"The COORD command places the machine in coordinated mode. In coord mode, "
+"movement of the machine is based on Cartesian coordinates using kinematics, "
+"rather than on individual joints as in free mode. In addition, the main "
+"trajectory planner is used to generate motion, based on queued LINE, CIRCLE, "
+"and/or PROBE commands. Coord mode is the mode that is used when executing a "
+"G-code program."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:363
+msgid ""
+"The command handler will reject the COORD command with an error message if "
+"the kinematics cannot be activated because the one or more joints have not "
+"been homed. In addition, if any joint is in motion (GET_MOTION_INPOS_FLAG() "
+"== FALSE), then the command will be ignored (with no error message). This "
+"behavior is controlled by code that is now located in the function "
+"'set_operating_mode()' in control.c. I believe the command should not be "
+"silently ignored, instead the command handler should determine whether it "
+"can be executed and return an error if it cannot."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:371
+msgid ""
+"If the machine is already in coord mode, nothing. Otherwise, the machine is "
+"placed in coord mode. The kinematics code is activated, interpolators are "
+"drained and flushed, and the trajectory planner queues are empty. The "
+"trajectory planner is active and awaiting a LINE, CIRCLE, or PROBE command."
+msgstr ""
+
+#. type: Table
+#: src/code/code-notes.adoc:372 src/plasma/qtplasmac.adoc:822
+#, no-wrap
+msgid "ENABLE"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:375
+msgid "The ENABLE command enables the motion controller."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:380 src/code/code-notes.adoc:397
+#: src/code/code-notes.adoc:416 src/code/code-notes.adoc:433
+#: src/code/code-notes.adoc:450 src/code/code-notes.adoc:467
+#: src/code/code-notes.adoc:483 src/code/code-notes.adoc:499
+#: src/code/code-notes.adoc:517 src/code/code-notes.adoc:531
+#: src/code/code-notes.adoc:548 src/code/code-notes.adoc:566
+msgid "None. The command can be issued at any time, and will always be accepted."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:388
+msgid ""
+"If the controller is already enabled, nothing. If not, the controller is "
+"enabled. Queues and interpolators are flushed. Any movement or homing "
+"operations are terminated. The amp-enable outputs associated with active "
+"joints are turned on. If forward kinematics are not available, the machine "
+"is switched to free mode."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:389
+#, no-wrap
+msgid "DISABLE"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:392
+msgid "The DISABLE command disables the motion controller."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:405
+msgid ""
+"If the controller is already disabled, nothing. If not, the controller is "
+"disabled. Queues and interpolators are flushed. Any movement or homing "
+"operations are terminated. The amp-enable outputs associated with active "
+"joints are turned off. If forward kinematics are not available, the machine "
+"is switched to free mode."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:406
+#, no-wrap
+msgid "ENABLE_AMPLIFIER"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:411
+msgid ""
+"The ENABLE_AMPLIFIER command turns on the amp enable output for a single "
+"output amplifier, without changing anything else. Can be used to enable a "
+"spindle speed controller."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:422
+msgid ""
+"Currently, nothing. (A call to the old extAmpEnable function is currently "
+"commented out.) Eventually it will set the amp enable HAL pin true."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:423
+#, no-wrap
+msgid "DISABLE_AMPLIFIER"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:428
+msgid ""
+"The DISABLE_AMPLIFIER command turns off the amp enable output for a single "
+"amplifier, without changing anything else. Again, useful for spindle speed "
+"controllers."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:439
+msgid ""
+"Currently, nothing. (A call to the old extAmpEnable function is currently "
+"commented out.) Eventually it will set the amp enable HAL pin false."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:440
+#, no-wrap
+msgid "ACTIVATE_JOINT"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:445
+msgid ""
+"The ACTIVATE_JOINT command turns on all the calculations associated with a "
+"single joint, but does not change the joint's amp enable output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:456
+msgid ""
+"Calculations for the specified joint are enabled. The amp enable pin is not "
+"changed, however, any subsequent ENABLE or DISABLE commands will modify the "
+"joint's amp enable pin."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:457
+#, no-wrap
+msgid "DEACTIVATE_JOINT"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:462
+msgid ""
+"The DEACTIVATE_JOINT command turns off all the calculations associated with "
+"a single joint, but does not change the joint's amp enable output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:473
+msgid ""
+"Calculations for the specified joint are enabled. The amp enable pin is not "
+"changed, and subsequent ENABLE or DISABLE commands will not modify the "
+"joint's amp enable pin."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:474
+#, no-wrap
+msgid "ENABLE_WATCHDOG"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:478
+msgid "The ENABLE_WATCHDOG command enables a hardware based watchdog (if present)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:489 src/code/code-notes.adoc:505
+msgid ""
+"Currently nothing. The old watchdog was a strange thing that used a specific "
+"sound card. A new watchdog interface may be designed in the future."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:490
+#, no-wrap
+msgid "DISABLE_WATCHDOG"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:494
+msgid ""
+"The DISABLE_WATCHDOG command disables a hardware based watchdog (if "
+"present)."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:506
+#, no-wrap
+msgid "PAUSE"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:512
+msgid ""
+"The PAUSE command stops the trajectory planner. It has no effect in free or "
+"teleop mode. At this point I don't know if it pauses all motion immediately, "
+"or if it completes the current move and then pauses before pulling another "
+"move from the queue."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:521
+msgid "The trajectory planner pauses."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:522
+#, no-wrap
+msgid "RESUME"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:526
+msgid ""
+"The RESUME command restarts the trajectory planner if it is paused. It has "
+"no effect in free or teleop mode, or if the planner is not paused."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:535
+msgid "The trajectory planner resumes."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:536
+#, no-wrap
+msgid "STEP"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:543
+msgid ""
+"The STEP command restarts the trajectory planner if it is paused, and tells "
+"the planner to stop again when it reaches a specific point. It has no effect "
+"in free or teleop mode. At this point I don't know exactly how this "
+"works. I'll add more documentation here when I dig deeper into the "
+"trajectory planner."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:553
+msgid ""
+"The trajectory planner resumes, and later pauses when it reaches a specific "
+"point."
+msgstr ""
+
+#. type: TH
+#: src/code/code-notes.adoc:554 src/plasma/qtplasmac.adoc:2781
+#: man/man9/scale.9:9
+#, no-wrap
+msgid "SCALE"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:561
+msgid ""
+"The SCALE command scales all velocity limits and commands by a specified "
+"amount. It is used to implement feed rate override and other similar "
+"functions. The scaling works in free, teleop, and coord modes, and affects "
+"everything, including homing velocities, etc. However, individual joint "
+"velocity limits are unaffected."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:570
+msgid "All velocity commands are scaled by the specified constant."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:571
+#, no-wrap
+msgid "OVERRIDE_LIMITS"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:577
+msgid ""
+"The OVERRIDE_LIMITS command prevents limits from tripping until the end of "
+"the next JOG command. It is normally used to allow a machine to be jogged "
+"off of a limit switch after tripping. (The command can actually be used to "
+"override limits, or to cancel a previous override.)"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:582
+msgid ""
+"None. The command can be issued at any time, and will always be accepted. (I "
+"think it should only work in free mode.)"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:589
+msgid ""
+"Limits on all joints are over-ridden until the end of the next JOG "
+"command. (This is currently broken... once an OVERRIDE_LIMITS command is "
+"received, limits are ignored until another OVERRIDE_LIMITS command "
+"re-enables them.)"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:590
+#, no-wrap
+msgid "HOME"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:598
+msgid ""
+"The HOME command initiates a homing sequence on a specified joint. The "
+"actual homing sequence is determined by a number of configuration "
+"parameters, and can range from simply setting the current position to zero, "
+"to a multi-stage search for a home switch and index pulse, followed by a "
+"move to an arbitrary home location. For more information about the homing "
+"sequence, see the homing section of the Integrator Manual."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:602
+msgid "The command will be ignored silently unless the machine is in free mode."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:607
+msgid "Any jog or other joint motion is aborted, and the homing sequence starts."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:608
+#, no-wrap
+msgid "JOG_CONT"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:617
+msgid ""
+"The JOG_CONT command initiates a continuous jog on a single joint. A "
+"continuous jog is generated by setting the free mode trajectory planner's "
+"target position to a point beyond the end of the joint's range of "
+"travel. This ensures that the planner will move constantly until it is "
+"stopped by either the joint limits or an ABORT command.  Normally, a GUI "
+"sends a JOG_CONT command when the user presses a jog button, and ABORT when "
+"the button is released."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:625
+msgid ""
+"The command handler will reject the JOG_CONT command with an error message "
+"if machine is not in free mode, or if any joint is in motion "
+"(GET_MOTION_INPOS_FLAG() == FALSE), or if motion is not enabled. It will "
+"also silently ignore the command if the joint is already at or beyond its "
+"limit and the commanded jog would make it worse."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:635
+msgid ""
+"The free mode trajectory planner for the joint identified by "
+"emcmotCommand\\->axis is activated, with a target position beyond the end of "
+"joint travel, and a velocity limit of emcmotCommand\\->vel. This starts the "
+"joint moving, and the move will continue until stopped by an ABORT command "
+"or by hitting a limit. The free mode planner accelerates at the joint accel "
+"limit at the beginning of the move, and will decelerate at the joint accel "
+"limit when it stops."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:636
+#, no-wrap
+msgid "JOG_INCR"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:645
+msgid ""
+"The JOG_INCR command initiates an incremental jog on a single joint.  "
+"Incremental jogs are cumulative, in other words, issuing two JOG_INCR "
+"commands that each ask for 0.100 inches of movement will result in 0.200 "
+"inches of travel, even if the second command is issued before the first one "
+"finishes. Normally incremental jogs stop when they have traveled the desired "
+"distance, however they also stop when they hit a limit, or on an ABORT "
+"command."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:653
+msgid ""
+"The command handler will silently reject the JOG_INCR command if machine is "
+"not in free mode, or if any joint is in motion (GET_MOTION_INPOS_FLAG() == "
+"FALSE), or if motion is not enabled. It will also silently ignore the "
+"command if the joint is already at or beyond its limit and the commanded jog "
+"would make it worse."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:667
+msgid ""
+"The free mode trajectory planner for the joint identified by "
+"emcmotCommand\\->axis is activated, the target position is "
+"incremented/decremented by emcmotCommand\\->offset, and the velocity limit "
+"is set to emcmotCommand\\->vel. The free mode trajectory planner will "
+"generate a smooth trapezoidal move from the present position to the target "
+"position. The planner can correctly handle changes in the target position "
+"that happen while the move is in progress, so multiple JOG_INCR commands can "
+"be issued in quick succession. The free mode planner accelerates at the "
+"joint accel limit at the beginning of the move, and will decelerate at the "
+"joint accel limit to stop at the target position."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:668
+#, no-wrap
+msgid "JOG_ABS"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:675
+msgid ""
+"The JOG_ABS command initiates an absolute jog on a single joint. An absolute "
+"jog is a simple move to a specific location, in joint coordinates. Normally "
+"absolute jogs stop when they reach the desired location, however they also "
+"stop when they hit a limit, or on an ABORT command."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:683
+msgid ""
+"The command handler will silently reject the JOG_ABS command if machine is "
+"not in free mode, or if any joint is in motion (GET_MOTION_INPOS_FLAG() == "
+"FALSE), or if motion is not enabled. It will also silently ignore the "
+"command if the joint is already at or beyond its limit and the commanded jog "
+"would make it worse."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:698
+msgid ""
+"The free mode trajectory planner for the joint identified by "
+"emcmotCommand\\->axis is activated, the target position is set to "
+"emcmotCommand\\->offset, and the velocity limit is set to "
+"emcmotCommand\\->vel. The free mode trajectory planner will generate a "
+"smooth trapezoidal move from the present position to the target "
+"position. The planner can correctly handle changes in the target position "
+"that happen while the move is in progress. If multiple JOG_ABS commands are "
+"issued in quick succession, each new command changes the target position and "
+"the machine goes to the final commanded position.  The free mode planner "
+"accelerates at the joint accel limit at the beginning of the move, and will "
+"decelerate at the joint accel limit to stop at the target position."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:699
+#, no-wrap
+msgid "SET_LINE"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:703
+msgid "The SET_LINE command adds a straight line to the trajectory planner queue."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:705 src/code/code-notes.adoc:712
+#: src/code/code-notes.adoc:719 src/code/code-notes.adoc:727
+#: src/code/code-notes.adoc:735
+msgid "(More later)"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:706
+#, no-wrap
+msgid "SET_CIRCLE"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:710
+msgid "The SET_CIRCLE command adds a circular move to the trajectory planner queue."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:713
+#, no-wrap
+msgid "SET_TELEOP_VECTOR"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:717
+msgid ""
+"The SET_TELEOP_VECTOR command instructs the motion controller to move along "
+"a specific vector in Cartesian space."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:720
+#, no-wrap
+msgid "PROBE"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:725
+msgid ""
+"The PROBE command instructs the motion controller to move toward a specific "
+"point in Cartesian space, stopping and recording its position if the probe "
+"input is triggered."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:728
+#, no-wrap
+msgid "CLEAR_PROBE_FLAG"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:733
+msgid ""
+"The CLEAR_PROBE_FLAG command is used to reset the probe input in preparation "
+"for a PROBE command. (Question: why shouldn't the PROBE command "
+"automatically reset the input?)"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:736
+#, no-wrap
+msgid "SET_xix"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:745
+msgid ""
+"There are approximately 15 SET_xxx commands, where xxx is the name of some "
+"configuration parameter. It is anticipated that there will be several more "
+"SET commands as more parameters are added. I would like to find a cleaner "
+"way of setting and reading configuration parameters. The existing methods "
+"require many lines of code to be added to multiple files each time a "
+"parameter is added. Much of that code is identical or nearly identical for "
+"every parameter."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:746
+#, no-wrap
+msgid "Backlash and Screw Error Compensation"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:749
+msgid "FIXME Backlash and Screw Error Compensation"
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:750
+#, no-wrap
+msgid "Task controller (EMCTASK)"
+msgstr ""
+
+#. [grid=none,frame=ends]
+#. type: Table
+#: src/code/code-notes.adoc:752 src/plasma/qtplasmac.adoc:3935
+#, no-wrap
+msgid "State"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:756
+msgid ""
+"Task has three possible internal states: *E-stop*, *E-stop Reset*, and "
+"*Machine On*."
+msgstr ""
+
+#. type: Target for macro image
+#: src/code/code-notes.adoc:757
+#, no-wrap
+msgid "task-state-transitions.svg"
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:759
+#, no-wrap
+msgid "IO controller (EMCIO)"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:763
+msgid ""
+"The I/O Controller is part of TASK.  It interacts with external I/O using "
+"HAL pins."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:766
+msgid ""
+"Currently ESTOP/Enable, coolant, and tool changing are handled by "
+"iocontrol. These are relatively low speed events, high speed coordinated I/O "
+"is handled in motion."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:768
+msgid "emctaskmain.cc sends I/O commands via taskclass.cc."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:770
+msgid "iocontrol main loop process:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:772
+msgid "checks to see it HAL inputs have changed"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:773
+msgid ""
+"checks if read_tool_inputs() indicates the tool change is finished and set "
+"emcioStatus.status"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:777
+#, no-wrap
+msgid "FIXME User Interfaces\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:778
+#, no-wrap
+msgid "libnml Introduction"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:786
+msgid ""
+"libnml is derived from the NIST rcslib without all the multi-platform "
+"support. Many of the wrappers around platform specific code has been removed "
+"along with much of the code that is not required by LinuxCNC. It is hoped "
+"that sufficient compatibility remains with rcslib so that applications can "
+"be implemented on non-Linux platforms and still be able to communicate with "
+"LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:791
+msgid ""
+"This chapter is not intended to be a definitive guide to using libnml (or "
+"rcslib), instead, it will eventually provide an overview of each C++ class "
+"and their member functions. Initially, most of these notes will be random "
+"comments added as the code scrutinized and modified."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:792
+#, no-wrap
+msgid "LinkedList"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:797
+msgid ""
+"Base class to maintain a linked list. This is one of the core building "
+"blocks used in passing NML messages and assorted internal data structures."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:798
+#, no-wrap
+msgid "LinkedListNode"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:803
+msgid ""
+"Base class for producing a linked list - Purpose, to hold pointers to the "
+"previous and next nodes, pointer to the data, and the size of the data."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:805
+msgid "No memory for data storage is allocated."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:806
+#, no-wrap
+msgid "SharedMemory"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:811
+msgid ""
+"Provides a block of shared memory along with a semaphore (inherited from the "
+"Semaphore class). Creation and destruction of the semaphore is handled by "
+"the SharedMemory constructor and destructor."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:812
+#, no-wrap
+msgid "ShmBuffer"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:817
+msgid ""
+"Class for passing NML messages between local processes using a shared memory "
+"buffer. Much of internal workings are inherited from the CMS class."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:818
+#, no-wrap
+msgid "Timer"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:824
+msgid ""
+"The Timer class provides a periodic timer limited only by the resolution of "
+"the system clock. If, for example, a process needs to be run every 5 seconds "
+"regardless of the time taken to run the process, the following code snippet "
+"demonstrates how :"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/code-notes.adoc:836
+#, no-wrap
+msgid ""
+"main()\n"
+"{\n"
+"    timer = new Timer(5.0);    /* Initialize a timer with a 5 second loop "
+"*/\n"
+"    while(0) {\n"
+"        /* Do some process */\n"
+"        timer.wait();    /* Wait till the next 5 second interval */\n"
+"    }\n"
+"    delete timer;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:838
+#, no-wrap
+msgid "Semaphore"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:846
+msgid ""
+"The Semaphore class provides a method of mutual exclusions for accessing a "
+"shared resource. The function to get a semaphore can either block until "
+"access is available, return after a timeout, or return immediately with or "
+"without gaining the semaphore. The constructor will create a semaphore or "
+"attach to an existing one if the ID is already in use."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:848
+msgid "The Semaphore::destroy() must be called by the last process only."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:849
+#, no-wrap
+msgid "CMS"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:859
+msgid ""
+"At the heart of libnml is the CMS class, it contains most of the functions "
+"used by libnml and ultimately NML. Many of the internal functions are "
+"overloaded to allow for specific hardware dependent methods of data "
+"passing. Ultimately, everything revolves around a central block of memory "
+"(referred to as the 'message buffer' or just 'buffer'). This buffer may "
+"exist as a shared memory block accessed by other CMS/NML processes, or a "
+"local and private buffer for data being transferred by network or serial "
+"interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:866
+msgid ""
+"The buffer is dynamically allocated at run time to allow for greater "
+"flexibility of the CMS/NML sub-system. The buffer size must be large enough "
+"to accommodate the largest message, a small amount for internal use and "
+"allow for the message to be encoded if this option is chosen (encoded data "
+"will be covered later). The following figure is an internal view of the "
+"buffer space."
+msgstr ""
+
+#. type: Target for macro image
+#: src/code/code-notes.adoc:867
+#, no-wrap
+msgid "CMS_buffer.png"
+msgstr ""
+
+#. type: Block title
+#: src/code/code-notes.adoc:869
+#, no-wrap
+msgid "CMS buffer"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:872
+msgid ""
+"The CMS base class is primarily responsible for creating the communications "
+"pathways and interfacing to the operating system."
+msgstr ""
+
+#
+#
+#. == NML Notes /* FIX ME */
+#. A collection of random notes and thought whilst studying the libnml
+#. and rcslib code.
+#. Much of this needs to be edited and re-written in a coherent manner
+#. before publication.
+#. type: Title ==
+#: src/code/code-notes.adoc:883
+#, no-wrap
+msgid "Configuration file format"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:887
+msgid ""
+"NML configuration consists of two types of line formats. One for Buffers, "
+"and a second for Processes that connect to the buffers."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:888
+#, no-wrap
+msgid "Buffer line"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:891
+msgid "The original NIST format of the buffer line is:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:893
+msgid ""
+"'B name type host size neut RPC# buffer# max_procs key [type specific "
+"configs]'"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:894
+msgid "'B' - identifies this line as a Buffer configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:895
+msgid "'name' - is the identifier of the buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:896
+msgid ""
+"'type' - describes the buffer type - SHMEM, LOCMEM, FILEMEM, PHANTOM, or "
+"GLOBMEM."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:897
+msgid "'host' - is either an IP address or host name for the NML server"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:898
+msgid "'size' - is the size of the buffer"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:900
+msgid ""
+"'neut' - a boolean to indicate if the data in the buffer is encoded in a "
+"machine independent format, or raw."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:901
+msgid "'RPC#' - Obsolete - Place holder retained for backward compatibility only."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:902
+msgid "'buffer#' - A unique ID number used if a server controls multiple buffers."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:903
+msgid "'max_procs' - is the maximum processes allowed to connect to this buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:904
+msgid "'key' - is a numerical identifier for a shared memory buffer"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:905
+#, no-wrap
+msgid "Type specific configs"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:911
+msgid ""
+"The buffer type implies additional configuration options whilst the host "
+"operating system precludes certain combinations. In an attempt to distill "
+"published documentation in to a coherent format, only the *SHMEM* buffer "
+"type will be covered."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:913
+msgid ""
+"'mutex=os_sem' - default mode for providing semaphore locking of the buffer "
+"memory."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:914
+msgid "'mutex=none' - Not used"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:915
+msgid "'mutex=no_interrupts' - not applicable on a Linux system"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:916
+msgid "'mutex=no_switching' - not applicable on a Linux system"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:919
+msgid ""
+"'mutex=mao split' - Splits the buffer in to half (or more) and allows one "
+"process to access part of the buffer whilst a second process is writing to "
+"another part."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:920
+msgid "'TCP=(port number)' - Specifies which network port to use."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:921
+msgid "'UDP=(port number)' - ditto"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:922
+msgid "'STCP=(port number)' - ditto"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:923
+msgid "'serialPortDevName=(serial port)' - Undocumented."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:925
+msgid ""
+"'passwd=file_name.pwd' - Adds a layer of security to the buffer by requiring "
+"each process to provide a password."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:927
+msgid ""
+"'bsem' - NIST documentation implies a key for a blocking semaphore, and if "
+"bsem=-1, blocking reads are prevented."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:928
+msgid "'queue' - Enables queued message passing."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:929
+msgid "'ascii' - Encode messages in a plain text format"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:930
+msgid "'disp' - Encode messages in a format suitable for display (???)"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:931
+msgid ""
+"'xdr' - Encode messages in External Data Representation. (see rpc/xdr.h for "
+"details)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:932
+msgid ""
+"'diag' - Enables diagnostics stored in the buffer (timings and byte counts "
+"?)"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:933
+#, no-wrap
+msgid "Process line"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:936
+msgid "The original NIST format of the process line is:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:938
+#, no-wrap
+msgid ""
+"*P name buffer type host ops server timeout master c_num [type specific "
+"configs]*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:940
+msgid "'P' - identifies this line as a Process configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:941
+msgid "'name' - is the identifier of the process."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:942
+msgid "'buffer' - is one of the buffers defined elsewhere in the config file."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:943
+msgid ""
+"'type' - defines whether this process is local or remote relative to the "
+"buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:944
+msgid "'host' - specifies where on the network this process is running."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:945
+msgid ""
+"'ops' - gives the process read only, write only, or read/write access to the "
+"buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:946
+msgid "'server' - specifies if this process will running a server for this buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:947
+msgid "'timeout' - sets the timeout characteristics for accesses to the buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:948
+msgid ""
+"'master' - indicates if this process is responsible for creating and "
+"destroying the buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:949
+msgid "'c_num' - an integer between zero and (max_procs -1)"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:950
+#, no-wrap
+msgid "Configuration Comments"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:959
+msgid ""
+"Some of the configuration combinations are invalid, whilst others imply "
+"certain constraints. On a Linux system, GLOBMEM is obsolete, whilst PHANTOM "
+"is only really useful in the testing stage of an application, likewise for "
+"FILEMEM. LOCMEM is of little use for a multi-process application, and only "
+"offers limited performance advantages over SHMEM. This leaves SHMEM as the "
+"only buffer type to use with LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:965
+msgid ""
+"The neut option is only of use in a multi-processor system where different "
+"(and incompatible) architectures are sharing a block of memory. The "
+"likelihood of seeing a system of this type outside of a museum or research "
+"establishment is remote and is only relevant to GLOBMEM buffers."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:968
+msgid ""
+"The RPC number is documented as being obsolete and is retained only for "
+"compatibility reasons."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:973
+msgid ""
+"With a unique buffer name, having a numerical identity seems to be "
+"pointless. Need to review the code to identify the logic. Likewise, the key "
+"field at first appears to be redundant, and it could be derived from the "
+"buffer name."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:978
+msgid ""
+"The purpose of limiting the number of processes allowed to connect to any "
+"one buffer is unclear from existing documentation and from the original "
+"source code. Allowing unspecified multiple processes to connect to a buffer "
+"is no more difficult to implement."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:983
+msgid ""
+"The mutex types boil down to one of two, the default \"os_sem\" or \"mao "
+"split\". Most of the NML messages are relatively short and can be copied to "
+"or from the buffer with minimal delays, so split reads are not essential."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:988
+msgid ""
+"Data encoding is only relevant when transmitted to a remote process - Using "
+"TCP or UDP implies XDR encoding. Whilst ASCII encoding may have some use in "
+"diagnostics or for passing data to an embedded system that does not "
+"implement NML."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:991
+msgid ""
+"UDP protocols have fewer checks on data and allows a percentage of packets "
+"to be dropped. TCP is more reliable, but is marginally slower."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:997
+msgid ""
+"If LinuxCNC is to be connected to a network, one would hope that it is local "
+"and behind a firewall. About the only reason to allow access to LinuxCNC via "
+"the Internet would be for remote diagnostics - This can be achieved far more "
+"securely using other means, perhaps by a web interface."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1002
+msgid ""
+"The exact behavior when timeout is set to zero or a negative value is "
+"unclear from the NIST documents. Only INF and positive values are "
+"mentioned. However, buried in the source code of rcslib, it is apparent that "
+"the following applies:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1005
+msgid ""
+"timeout > 0 Blocking access until the timeout interval is reached or access "
+"to the buffer is available."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1008
+msgid ""
+"timeout = 0 Access to the buffer is only possible if no other process is "
+"reading or writing at the time."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1010
+msgid "timeout < 0 or INF Access is blocked until the buffer is available."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:1011
+#, no-wrap
+msgid "NML base class"
+msgstr ""
+
+#.  FIXME
+#. type: Plain text
+#: src/code/code-notes.adoc:1017
+msgid ""
+"Expand on the lists and the relationship between NML, NMLmsg, and the lower "
+"level cms classes."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1019
+msgid "Not to be confused with NMLmsg, RCS_STAT_MSG, or RCS_CMD_MSG."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1023
+msgid ""
+"NML is responsible for parsing the config file, configuring the cms buffers "
+"and is the mechanism for routing messages to the correct buffer(s). To do "
+"this, NML creates several lists for:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1025
+msgid "cms buffers created or connected to."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1026
+msgid "processes and the buffers they connect to"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1027
+msgid "a long list of format functions for each message type"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1039
+msgid ""
+"This last item is probably the nub of much of the malignment of "
+"libnml/rcslib and NML in general. Each message that is passed via NML "
+"requires a certain amount of information to be attached in addition to the "
+"actual data. To do this, several formatting functions are called in sequence "
+"to assemble fragments of the overall message. The format functions will "
+"include NML_TYPE, MSG_TYPE, in addition to the data declared in derived "
+"NMLmsg classes. Changes to the order in which the formatting functions are "
+"called and also the variables passed will break compatibility with rcslib if "
+"messed with - There are reasons for maintaining rcslib compatibility, and "
+"good reasons for messing with the code. The question is, which set of "
+"reasons are overriding?"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:1040
+#, no-wrap
+msgid "NML internals"
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1042
+#, no-wrap
+msgid "NML constructor"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1049
+msgid ""
+"NML::NML() parses the config file and stores it in a linked list to be "
+"passed to cms constructors in single lines. It is the function of the NML "
+"constructor to call the relevant cms constructor for each buffer and "
+"maintain a list of the cms objects and the processes associated with each "
+"buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1052
+msgid ""
+"It is from the pointers stored in the lists that NML can interact with cms "
+"and why Doxygen fails to show the real relationships involved."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1060
+msgid ""
+"The config is stored in memory before passing a pointer to a specific line "
+"to the cms constructor. The cms constructor then parses the line again to "
+"extract a couple of variables... It would make more sense to do ALL the "
+"parsing and save the variables in a struct that is passed to the cms "
+"constructor - This would eliminate string handling and reduce duplicate code "
+"in cms..."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1061
+#, no-wrap
+msgid "NML read/write"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1066
+msgid ""
+"Calls to NML::read and NML::write both perform similar tasks in so much as "
+"processing the message - The only real variation is in the direction of data "
+"flow."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1075
+msgid ""
+"A call to the read function first gets data from the buffer, then calls "
+"format_output(), whilst a write function would call format_input() before "
+"passing the data to the buffer. It is in format_xxx() that the work of "
+"constructing or deconstructing the message takes place. A list of assorted "
+"functions are called in turn to place various parts of the NML header (not "
+"to be confused with the cms header) in the right order - The last function "
+"called is emcFormat() in emc.cc."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1076
+#, no-wrap
+msgid "NMLmsg and NML relationships"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1086
+msgid ""
+"NMLmsg is the base class from which all message classes are derived.  Each "
+"message class must have a unique ID defined (and passed to the constructor) "
+"and also an update(*cms) function. The update() will be called by the NML "
+"read/write functions when the NML formatter is called -- the pointer to the "
+"formatter will have been declared in the NML constructor at some point. By "
+"virtue of the linked lists NML creates, it is able to select cms pointer "
+"that is passed to the formatter and therefor which buffer is to be used."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:1087
+#, no-wrap
+msgid "Adding custom NML commands"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1096
+msgid ""
+"LinuxCNC is pretty awesome, but some parts need some tweaking. As you know "
+"communication is done through NML channels, the data sent through such a "
+"channel is one of the classes defined in emc.hh (implemented in emc.cc). If "
+"somebody needs a message type that doesn't exist, he should follow these "
+"steps to add a new one. (The Message I added in the example is called "
+"EMC_IO_GENERIC (inherits EMC_IO_CMD_MSG (inherits RCS_CMD_MSG)))"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1098
+msgid ""
+"add the definition of the EMC_IO_GENERIC class to "
+"emc2/src/emc/nml_intf/emc.hh"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1099
+msgid "add the type define: #define EMC_IO_GENERIC_TYPE ((NMLTYPE) 1605) +"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1100
+msgid "(I chose 1605, because it was available) to emc2/src/emc/nml_intf/emc.hh"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1101
+msgid "add case EMC_IO_GENERIC_TYPE to emcFormat in emc2/src/emc/nml_intf/emc.cc"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1102
+msgid ""
+"add case EMC_IO_GENERIC_TYPE to emc_symbol_lookup in "
+"emc2/src/emc/nml_intf/emc.cc"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1103
+msgid "add EMC_IO_GENERIC::update function to emc2/src/emc/nml_intf/emc.cc"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1107
+msgid ""
+"Recompile, and the new message should be there. The next part is to send "
+"such messages from somewhere, and receive them in another place, and do some "
+"stuff with it."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:1108
+#, no-wrap
+msgid "The Tool Table and Toolchanger"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1113
+msgid ""
+"LinuxCNC interfaces with toolchanger hardware, and has an internal "
+"toolchanger abstraction.  LinuxCNC manages tool information in a tool table "
+"file."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:1114
+#, no-wrap
+msgid "Toolchanger abstraction in LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1118
+msgid ""
+"LinuxCNC supports two kinds of toolchanger hardware, called _nonrandom_ and "
+"_random_.  The INI setting <<sub:ini:sec:emcio,[EMCIO]RANDOM_TOOLCHANGER>> "
+"controls which of these kinds of hardware LinuxCNC thinks it is connected "
+"to."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1119
+#, no-wrap
+msgid "Nonrandom Toolchangers"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1122
+msgid ""
+"Nonrandom toolchanger hardware puts each tool back in the pocket it was "
+"originally loaded from."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1124
+msgid ""
+"Examples of nonrandom toolchanger hardware are the \"manual\" toolchanger, "
+"lathe tool turrents, and rack toolchangers."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1127
+msgid ""
+"When configured for a nonrandom toolchanger, LinuxCNC does not change the "
+"pocket number in the tool table file as tools are loaded and unloaded.  "
+"Internal to LinuxCNC, on tool change the tool information is *copied* from "
+"the tool table's source pocket to pocket 0 (which represents the spindle), "
+"replacing whatever tool information was previously there."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1131
+msgid ""
+"In LinuxCNC configured for nonrandom toolchanger, tool 0 (T0) has special "
+"meaning: \"no tool\".  T0 may not appear in the tool table file, and "
+"changing to T0 will result in LinuxCNC thinking it has got an empty spindle."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1132
+#, no-wrap
+msgid "Random Toolchangers"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1136
+msgid ""
+"Random toolchanger hardware swaps the tool in the spindle (if any) with the "
+"requested tool on tool change.  Thus the pocket that a tool resides in "
+"changes as it is swapped in and out of the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1138
+msgid "An example of random toolchanger hardware is a carousel toolchanger."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1143
+msgid ""
+"When configured for a random toolchanger, LinuxCNC swaps the pocket number "
+"of the old and the new tool in the tool table file when tools are loaded.  "
+"Internal to LinuxCNC, on tool change, the tool information is *swapped* "
+"between the tool table's source pocket and pocket 0 (which represents the "
+"spindle).  So after a tool change, pocket 0 in the tool table has the tool "
+"information for the new tool, and the pocket that the new tool came from has "
+"the tool information for the old tool (the tool that was in the spindle "
+"before the tool change), if any."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1148
+msgid ""
+"If LinuxCNC is configured for random toolchanger, tool 0 (T0) has *no* "
+"special meaning.  It is treated exactly like any other tool in the tool "
+"table.  It is customary to use T0 to represent \"no tool\" (i.e., a tool "
+"with zero TLO), so that the spindle can be conveniently emptied when needed."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:1149
+#, no-wrap
+msgid "The Tool Table"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1153
+msgid ""
+"LinuxCNC keeps track of tools in a file called the <<sec:tool-table,tool "
+"table>>.  The tool table records the following information for each tool:"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1154
+#, no-wrap
+msgid "tool number"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1156
+msgid ""
+"An integer that uniquely identifies this tool.  Tool numbers are handled "
+"differently by LinuxCNC when configured for random and nonrandom "
+"toolchangers:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1159
+msgid ""
+"When LinuxCNC is configured for a nonrandom toolchanger this number must be "
+"positive.  T0 gets special handling and is not allowed to appear in the tool "
+"table."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1161
+msgid ""
+"When LinuxCNC is configured for a random toolchanger this number must be "
+"non-negative.  T0 is allowed in the tool table, and is usually used to "
+"represent \"no tool\", i.e. the empty pocket."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1162
+#, no-wrap
+msgid "pocket number"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1165
+msgid ""
+"An integer that identifies the pocket or slot in the toolchanger hardware "
+"where the tool resides.  Pocket numbers are handled differently by LinuxCNC "
+"when configured for random and nonrandom toolchangers:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1168
+msgid ""
+"When LinuxCNC is configured for a nonrandom toolchanger, the pocket number "
+"in the tool file can be any positive integer (pocket 0 is not allowed).  "
+"LinuxCNC silently compactifies the pocket numbers when it loads the tool "
+"file, so there may be a difference between the pocket numbers in the tool "
+"file and the internal pocket numbers used by "
+"LinuxCNC-with-nonrandom-toolchanger."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1169
+msgid ""
+"When LinuxCNC is configured for a random toolchanger, the pocket numbers in "
+"the tool file must be between 0 and 1000, inclusive.  Pockets 1-1000 are in "
+"the toolchanger, pocket 0 is the spindle."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1170 src/gui/gladevcp.adoc:1359
+#: src/gui/gladevcp.adoc:1495
+#, no-wrap
+msgid "diameter"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1172
+msgid "Diameter of the tool, in machine units."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1173
+#, no-wrap
+msgid "tool length offset"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1175
+msgid ""
+"Tool length offset (also called TLO), in up to 9 axes, in machine units.  "
+"Axes that don't have a specified TLO get 0."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:1176
+#, no-wrap
+msgid "G-codes affecting tools"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1179
+msgid "The G-codes that use or affect tool information are:"
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1180
+#, no-wrap
+msgid "Txxx"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1184
+msgid ""
+"Tells the toolchanger hardware to prepare to switch to a specified tool "
+"+xxx+."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1186
+msgid "Handled by +Interp::convert_tool_select()+."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1188
+msgid ""
+"The machine is asked to prepare to switch to the selected tool by calling "
+"the Canon function +SELECT_TOOL()+ with the tool number of the requested "
+"tool."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1189
+msgid "(saicanon) No-op."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1193
+msgid ""
+"(emccanon) Builds an +EMC_TOOL_PREPARE+ message with the requested pocket "
+"number and sends it to Task, which sends it on to IO.  IO gets the message "
+"and asks HAL to prepare the pocket by setting "
+"+iocontrol.0.tool-prep-pocket+, +iocontrol.0.tool-prep-number+, and "
+"+iocontrol.0.tool-prepare+.  IO then repeatedly calls +read_tool_inputs()+ "
+"to poll the HAL pin +iocontrol.0.tool-prepared+, which signals from the "
+"toolchanger hardware, via HAL, to IO that the requested tool prep is "
+"complete.  When that pin goes True, IO sets +emcioStatus.tool.pocketPrepped+ "
+"to the requested tool's pocket number."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1194
+msgid ""
+"Back in interp, +settings->selected_pocket+ is assigned the tooldata index "
+"of the requested tool _xxx_."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1197 src/remap/remap.adoc:708
+msgid ""
+"The legacy names *selected_pocket* and *current_pocket* actually reference a "
+"sequential tooldata index for tool items loaded from a tool table "
+"([EMCIO]TOOL_TABLE) or via a tooldata database ([EMCIO]DB_PROGRAM)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1201
+msgid ""
+"Tells the toolchanger to switch to the currently selected tool (selected by "
+"the previous Txxx command)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1203 src/code/code-notes.adoc:1268
+msgid "Handled by +Interp::convert_tool_change()+."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1205
+msgid ""
+"The machine is asked to change to the selected tool by calling the Canon "
+"function +CHANGE_TOOL()+ with +settings->selected_pocket+ (a tooldata "
+"index)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1207
+msgid ""
+"(saicanon) Sets sai's +_active_slot+ to the passed-in pocket number.  Tool "
+"information is copied from the selected pocket of of the tool table (ie, "
+"from sai's +_tools[_active_slot]+) to the spindle (aka sai's +_tools[0]+)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1212
+msgid ""
+"(emccanon) Sends an +EMC_TOOL_LOAD+ message to Task, which sends it to IO.  "
+"IO sets +emcioStatus.tool.toolInSpindle+ to the tool number of the tool in "
+"the pocket identified by +emcioStatus.tool.pocketPrepped+ (set by +Txxx+ aka "
+"+SELECT_TOOL()+).  It then requests that the toolchanger hardware perform a "
+"tool change, by setting the HAL pin +iocontrol.0.tool-change+ to True.  "
+"Later, IO's +read_tool_inputs()+ will sense that the HAL pin "
+"+iocontrol.0.tool_changed+ has been set to True, indicating the toolchanger "
+"has completed the tool change.  When this happens, it calls +load_tool()+ to "
+"update the machine state."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1213
+msgid ""
+"+load_tool()+ with a nonrandom toolchanger config copies the tool "
+"information from the selected pocket to the spindle (pocket 0)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1214
+msgid ""
+"+load_tool()+ with a random toolchanger config swaps tool information "
+"between pocket 0 (the spindle) and the selected pocket, then saves the tool "
+"table."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1216
+msgid ""
+"Back in interp, +settings->current_pocket+ is assigned the new tooldata "
+"index from +settings->selected_pocket+ (set by +Txxx+).  The relevant "
+"numbered parameters (<<sub:numbered-parameters,#5400-#5413>>) are updated "
+"with the new tool information from pocket 0 (spindle)."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1217
+#, no-wrap
+msgid "G43/G43.1/G49"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1221
+msgid ""
+"Apply tool length offset.  G43 uses the TLO of the currently loaded tool, or "
+"of a specified tool if the H-word is given in the block.  G43.1 gets TLO "
+"from axis-words in the block.  G49 cancels the TLO (it uses 0 for the offset "
+"for all axes)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1223
+msgid "Handled by +Interp::convert_tool_length_offset()+."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1228
+msgid ""
+"It starts by building an +EmcPose+ containing the 9-axis offsets to use.  "
+"For +G43.1+, these tool offsets come from axis words in the current block.  "
+"For +G43+ these offsets come from the current tool (the tool in pocket 0), "
+"or from the tool specified by the H-word in the block.  For G49, the offsets "
+"are all 0."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1229
+msgid "The offsets are passed to Canon's +USE_TOOL_LENGTH_OFFSET()+ function."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1230
+msgid "(saicanon) Records the TLO in +_tool_offset+."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1233
+msgid ""
+"(emccanon) Builds an +EMC_TRAJ_SET_OFFSET+ message containing the offsets "
+"and sends it to Task.  Task copies the offsets to "
+"+emcStatus->task.toolOffset+ and sends them on to Motion via an "
+"+EMCMOT_SET_OFFSET+ command.  Motion copies the offsets to "
+"+emcmotStatus->tool_offset+, where it gets used to offset future motions."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1235
+msgid ""
+"Back in interp, the offsets are recorded in +settings->tool_offset+.  The "
+"effective pocket is recorded in +settings->tool_offset_index+, though this "
+"value is never used."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1236
+#, no-wrap
+msgid "G10 L1/L10/L11"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1239
+msgid "Modifies the tool table."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1241
+msgid "Handled by +Interp::convert_setup_tool()+."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1243
+msgid ""
+"Picks the tool number out of the P-word in the block and finds the pocket "
+"for that tool:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1244
+msgid ""
+"With a nonrandom toolchanger config this is always the pocket number in the "
+"toolchanger (even when the tool is in the spindle)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1246
+msgid ""
+"With a random toolchanger config, if the tool is currently loaded it uses "
+"pocket 0 (pocket 0 means \"the spindle\"), and if the tool is not loaded it "
+"uses the pocket number in the tool changer.  (This difference is important.)"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1247
+msgid "Figures out what the new offsets should be."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1248
+msgid ""
+"The new tool information (diameter, offsets, angles, and orientation), along "
+"with the tool number and pocket number, are passed to the Canon call "
+"SET_TOOL_TABLE_ENTRY()."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1249
+msgid ""
+"(saicanon)  Copy the new tool information to the specified pocket (in sai's "
+"internal tool table, +_tools+)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1254
+msgid ""
+"(emccanon)  Build an +EMC_TOOL_SET_OFFSET+ message with the new tool "
+"information, and send it to Task, which passes it to IO.  IO updates the "
+"specified pocket in its internal copy of the tool table "
+"(+emcioStatus.tool.toolTable+), and if the specified tool is currently "
+"loaded (it is compared to +emcioStatus.tool.toolInSpindle+) then the new "
+"tool information is copied to pocket 0 (the spindle) as well.  (FIXME: "
+"that's a buglet, should only be copied on nonrandom machines.)  Finally IO "
+"saves the new tool table."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1259
+msgid ""
+"Back in interp, if the modified tool is currently loaded in the spindle, and "
+"if the machine is a non-random toolchanger, then the new tool information is "
+"copied from the tool's home pocket to pocket 0 (the spindle) in interp's "
+"copy of the tool table, +settings->tool_table+.  (This copy is not needed on "
+"random tool changer machines because there, tools don't have a home pocket "
+"and instead we just updated the tool in pocket 0 directly.).  The relevant "
+"numbered parameters (<<sub:numbered-parameters,#5400-#5413>>) are updated "
+"from the tool information in the spindle (by copying the information from "
+"interp's +settings->tool_table+ to +settings->parameters+).  (FIXME: this is "
+"a buglet, the params should only be updated if it was the current tool that "
+"was modified)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1262
+msgid ""
+"If the modified tool is currently loaded in the spindle, and if the config "
+"is for a nonrandom toolchanger, then the new tool information is written to "
+"the tool table's pocket 0 as well, via a second call to "
+"SET_TOOL_TABLE_ENTRY().  (This second tool-table update is not needed on "
+"random toolchanger machines because there, tools don't have a home pocket "
+"and instead we just updated the tool in pocket 0 directly.)"
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1263
+#, no-wrap
+msgid "M61"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1266
+msgid ""
+"Set current tool number.  This switches LinuxCNC's internal representation "
+"of which tool is in the spindle, without actually moving the toolchanger or "
+"swapping any tools."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1270
+msgid "Canon: +CHANGE_TOOL_NUMBER()+"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1272
+msgid ""
+"settings->current_pocket is assigned the tooldata index currently holding "
+"the tool specified by the Q-word argument."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1273
+#, no-wrap
+msgid "G41/G41.1/G42/G42.1"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1276
+msgid "Enable cutter radius compensation (usually called _cutter comp_)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1278
+msgid "Handled by +Interp::convert_cutter_compensation_on()+."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1281
+msgid ""
+"No Canon call, cutter comp happens in the interpreter.  Uses the tool table "
+"in the expected way: if a D-word tool number is supplied it looks up the "
+"pocket number of the specified tool number in the table, and if no D-word is "
+"supplied it uses pocket 0 (the spindle)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1285
+msgid "Cancel cutter radius compensation."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1287
+msgid "Handled by +Interp::convert_cutter_compensation_off()+."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1289
+msgid ""
+"No Canon call, cutter comp happens in the interpreter.  Does not use the "
+"tool table."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:1290
+#, no-wrap
+msgid "Internal state variables"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1293
+msgid ""
+"This is not an exhaustive list! Tool information is spread through out "
+"LinuxCNC."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1294
+#, no-wrap
+msgid "IO"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1297
+msgid "+emcioStatus+ is of type +EMC_IO_STAT+"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1298
+#, no-wrap
+msgid "emcioStatus.tool.pocketPrepped"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1301
+msgid ""
+"When IO gets the signal from HAL that the toolchanger prep is complete "
+"(after a +Txxx+ command), this variable is set to the pocket of the "
+"requested tool.  When IO gets the signal from HAL that the tool change "
+"itself is complete (after an +M6+ command), this variable gets reset to -1."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1302
+#, no-wrap
+msgid "emcioStatus.tool.toolInSpindle"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1305
+msgid ""
+"Tool number of the tool currently installed in the spindle.  Exported on the "
+"HAL pin +iocontrol.0.tool-number+ (s32)."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1306
+#, no-wrap
+msgid "emcioStatus.tool.toolTable[]"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1311
+msgid ""
+"An array of +CANON_TOOL_TABLE+ structures, +CANON_POCKETS_MAX+ long.  Loaded "
+"from the tool table file at startup and maintained there after.  Index 0 is "
+"the spindle, indexes 1-(CANON_POCKETS_MAX-1) are the pockets in the "
+"toolchanger.  This is a complete copy of the tool information, maintained "
+"separately from Interp's +settings.tool_table+."
+msgstr ""
+
+#. type: Title ====
+#: src/code/code-notes.adoc:1312
+#, no-wrap
+msgid "interp"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1315
+msgid ""
+"+settings+ is of type +settings+, defined as +struct setup_struct+ in "
+"+src/emc/rs274ngc/interp_internal.hh+."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1316
+#, no-wrap
+msgid "settings.selected_pocket"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1318
+msgid "Tooldata index of the tool most recently selected by +Txxx+."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1319
+#, no-wrap
+msgid "settings.current_pocket"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1322
+msgid ""
+"Original tooldata index of the tool currently in the spindle.  In other "
+"words: which tooldata index the tool that's currently in the spindle was "
+"loaded from."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1323
+#, no-wrap
+msgid "settings.tool_table[]"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1327
+msgid ""
+"An array of tool information.  The index into the array is the \"pocket "
+"number\" (aka \"slot number\").  Pocket 0 is the spindle, pockets 1 through "
+"(CANON_POCKETS_MAX-1) are the pockets of the toolchanger."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1328
+#, no-wrap
+msgid "settings.tool_offset_index"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1330
+msgid "Unused.  FIXME: Should probably be removed."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1331
+#, no-wrap
+msgid "settings.toolchange_flag"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1335
+msgid ""
+"Interp sets this to true when calling Canon's CHANGE_TOOL() function.  It is "
+"checked in +Interp::convert_tool_length_offset()+ to decide which tooldata "
+"index to use for G43 (with no H-word): +settings->current_pocket+ if the "
+"tool change is still in progress, tooldata index 0 (the spindle) if the tool "
+"change is complete."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1336
+#, no-wrap
+msgid "settings.random_toolchanger"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1341
+msgid ""
+"Set from the INI variable +[EMCIO]RANDOM_TOOLCHANGER+ at startup.  Controls "
+"various tool table handling logic.  (IO also reads this INI variable and "
+"changes its behavior based on it.  For example, when saving the tool table, "
+"random toolchanger save the tool in the spindle (pocket 0), but non-random "
+"toolchanger save each tool in its \"home pocket\".)"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1342
+#, no-wrap
+msgid "settings.tool_offset"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1344
+msgid "This is an +EmcPose+ variable."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1346
+msgid "Used to compute position in various places."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1349
+msgid ""
+"Sent to Motion via the +EMCMOT_SET_OFFSET+ message.  All motion does with "
+"the offsets is export them to the HAL pins "
+"+motion.0.tooloffset.[xyzabcuvw]+.  FIXME: export these from someplace "
+"closer to the tool table (io or interp, probably) and remove the "
+"EMCMOT_SET_OFFSET message."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1350
+#, no-wrap
+msgid "settings.pockets_max"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1353
+msgid ""
+"Used interchangeably with +CANON_POCKETS_MAX+ (a #defined constant, set to "
+"1000 as of April 2020).  FIXME: This settings variable is not currently "
+"useful and should probably be removed."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1354
+#, no-wrap
+msgid "settings.tool_table"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1360
+msgid ""
+"This is an array of +CANON_TOOL_TABLE+ structures (defined in "
+"+src/emc/nml_intf/emctool.h+), with +CANON_POCKETS_MAX+ entries.  Indexed by "
+"\"pocket number\", aka \"slot number\".  Index 0 is the spindle, indexes 1 "
+"to (CANON_POCKETS_MAX-1) are the pockets in the tool changer.  On a random "
+"toolchanger pocket numbers are meaningful.  On a nonrandom toolchanger "
+"pockets are meaningless; the pocket numbers in the tool table file are "
+"ignored and tools are assigned to +tool_table+ slots sequentially."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1361
+#, no-wrap
+msgid "settings.tool_change_at_g30"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1362
+#, no-wrap
+msgid "settings.tool_change_quill_up"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1363
+#, no-wrap
+msgid "settings.tool_change_with_spindle_on"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1365
+msgid ""
+"These are set from INI variables in the +[EMCIO]+ section, and determine how "
+"tool changes are performed."
+msgstr ""
+
+#. type: Title ==
+#: src/code/code-notes.adoc:1366
+#, no-wrap
+msgid "Reckoning of joints and axes"
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:1368
+#, no-wrap
+msgid "In the status buffer"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1371
+msgid "The status buffer is used by Task and the UIs."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1373
+msgid "FIXME: `axis_mask` and `axes` overspecify the number of axes"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1374
+#, no-wrap
+msgid "`status.motion.traj.axis_mask`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1378
+msgid ""
+"A bitmask with a \"1\" for the axes that are present and a \"0\" for the "
+"axes that are not present.  X is bit 0 with value 2^0^ = 1 if set, Y is bit "
+"1 with value 2^1^ = 2, Z is bit 2 with value 4, etc.  For example, a machine "
+"with X and Z axes would have an `axis_mask` of 0x5, an XYZ machine would "
+"have 0x7, and an XYZB machine would have an `axis_mask` of 0x17."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1379
+#, no-wrap
+msgid "`status.motion.traj.axes` (removed)"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1381
+msgid "This value was removed in LinuxCNC version 2.9.  Use `axis_mask` instead."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1382
+#, no-wrap
+msgid "`status.motion.traj.joints`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1386
+msgid ""
+"A count of the number of joints the machine has. A normal lathe has 2 "
+"joints; one driving the X axis and one driving the Z axis.  An XYYZ gantry "
+"mill has 4 joints: one driving X, one driving one side of the Y, one driving "
+"the other side of the Y, and one driving Z.  An XYZA mill also has 4 joints."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1387
+#, no-wrap
+msgid "`status.motion.axis[EMCMOT_MAX_AXIS]`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1390
+msgid ""
+"An array of `EMCMOT_MAX_AXIS` axis structures. `axis[n]` is valid if "
+"`(axis_mask & (1 << n))` is True.  If `(axis_mask & (1 << n))` is False, "
+"then `axis[n]` does not exist on this machine and must be ignored."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/code-notes.adoc:1391
+#, no-wrap
+msgid "`status.motion.joint[EMCMOT_MAX_JOINTS]`"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1394
+msgid ""
+"An array of `EMCMOT_MAX_JOINTS` joint structures.  `joint[0]` through "
+"`joint[joints-1]` are valid, the others do not exist on this machine and "
+"must be ignored."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1398
+msgid ""
+"Things are not this way currently in the joints-axes branch, but deviations "
+"from this design are considered bugs.  For an example of such a bug, see the "
+"treatment of axes in src/emc/ini/initraj.cc:loadTraj().  There are "
+"undoubtedly more, and I need your help to find them and fix them."
+msgstr ""
+
+#. type: Title ===
+#: src/code/code-notes.adoc:1399
+#, no-wrap
+msgid "In Motion"
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1403
+msgid ""
+"The Motion controller realtime component first gets the number of joints "
+"from the `num_joints` load-time parameter.  This determines how many joints "
+"worth of HAL pins are created at startup."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1405
+msgid ""
+"Motion's number of joints can be changed at runtime using the "
+"`EMCMOT_SET_NUM_JOINTS` command from Task."
+msgstr ""
+
+#. type: Plain text
+#: src/code/code-notes.adoc:1408
+msgid ""
+"The Motion controller always operates on `EMCMOT_MAX_AXIS` axes.  It always "
+"creates nine sets of `axis.*.*` pins."
+msgstr ""
+
+#. type: Title =
+#: src/code/contributing-to-linuxcnc.adoc:4
+#, no-wrap
+msgid "Contributing to LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:17
+msgid ""
+"This document contains information for developers about LinuxCNC "
+"infrastructure, and describes the best practices for contributing code and "
+"documentation updates to the LinuxCNC project."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:20
+msgid ""
+"Throughout this document, \"source\" means both the source code to the "
+"programs and libraries, and the source text for the documentation."
+msgstr ""
+
+#. type: Title ==
+#: src/code/contributing-to-linuxcnc.adoc:21
+#, no-wrap
+msgid "Communication among LinuxCNC developers"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:24
+msgid "The two main ways that project developers communicate with each other are:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:27
+msgid ""
+"Via IRC, at irc://irc.libera.chat/%23linuxcnc-devel[#linuxcnc-devel] on "
+"https://libera.chat/[Libera.chat]."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:28
+msgid ""
+"Via email, on the "
+"https://lists.sourceforge.net/lists/listinfo/emc-developers[developers' "
+"mailing list]"
+msgstr ""
+
+#. type: Title ==
+#: src/code/contributing-to-linuxcnc.adoc:29
+#, no-wrap
+msgid "The LinuxCNC Source Forge project"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:33
+msgid ""
+"We use Source Forge for https://sourceforge.net/p/emc/mailman/[mailing "
+"lists]."
+msgstr ""
+
+#. type: Title ==
+#: src/code/contributing-to-linuxcnc.adoc:34
+#, no-wrap
+msgid "The Git Revision Control System"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:38
+msgid ""
+"All of the LinuxCNC source is maintained in the https://git-scm.com/[Git "
+"revision control system]."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:39
+#, no-wrap
+msgid "LinuxCNC official Git repo"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:42
+msgid "The official LinuxCNC git repo is at https://github.com/linuxcnc/linuxcnc/"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:44
+msgid "Anyone can get a read-only copy of the LinuxCNC source tree via git:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/contributing-to-linuxcnc.adoc:47
+#, no-wrap
+msgid "git clone https://github.com/linuxcnc/linuxcnc linuxcnc-dev\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:51
+msgid ""
+"If you are a developer with push access, then follow github's instructions "
+"for setting up a repository that you can push from."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:57
+msgid ""
+"Note that the clone command put the local LinuxCNC repo in a directory "
+"called `linuxcnc-dev`, instead of the default `linuxcnc`.  This is because "
+"the LinuxCNC software by default expects configs and G-code programs in a "
+"directory called `$HOME/linuxcnc`, and having the git repo there too is "
+"confusing."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:61
+msgid ""
+"Issues and pull requests (abbreviated PRs) are welcome on GitHub: "
+"https://github.com/LinuxCNC/linuxcnc/issues "
+"https://github.com/LinuxCNC/linuxcnc/pulls"
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:62
+#, no-wrap
+msgid "Use of Git in the LinuxCNC project"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:66
+msgid ""
+"We use the \"merging upwards\" and \"topic branches\" git workflows "
+"described here:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:68
+msgid "https://www.kernel.org/pub/software/scm/git/docs/gitworkflows.html"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:72
+msgid ""
+"We have a development branch called `master`, and one or more stable "
+"branches with names like `2.6` and `2.7` indicating the version number of "
+"the releases we make from it."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:77
+msgid ""
+"Bugfixes go in the oldest applicable stable branch, and that branch gets "
+"merged into the next newer stable branch, and so on up to `master`.  The "
+"committer of the bugfix may do the merges themselves, or they may leave the "
+"merges for someone else."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:82
+msgid ""
+"New features generally go in the `master` branch, but some kinds of features "
+"(specifically well isolated device drivers and documentation)  may (at the "
+"discretion of the stable branch release managers) go into a stable branch "
+"and get merged up just like bugfixes do."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:83
+#, no-wrap
+msgid "git tutorials"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:86
+msgid "There are many excellent, free git tutorials on the internet."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:91
+msgid ""
+"The first place to look is probably the \"gittutorial\" manpage.  This "
+"manpage is accessible by running \"man gittutorial\" in a terminal (if you "
+"have the git manpages installed).  The gittutorial and its follow-on "
+"documentation are also available online here:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:94
+msgid ""
+"git tutorial: "
+"https://www.kernel.org/pub/software/scm/git/docs/gittutorial.html"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:96
+msgid ""
+"git tutorial 2: "
+"https://www.kernel.org/pub/software/scm/git/docs/gittutorial-2.html"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:98
+msgid ""
+"Everyday git with 20 commands or so: "
+"https://www.kernel.org/pub/software/scm/git/docs/giteveryday.html"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:100
+msgid ""
+"Git User's Manual: "
+"https://www.kernel.org/pub/software/scm/git/docs/user-manual.html"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:103
+msgid ""
+"For a more thorough documentation of git see the \"Pro Git\" book: "
+"https://git-scm.com/book"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:106
+msgid ""
+"Another online tutorial that has been recommended is \"Git for the Lazy\": "
+"https://wiki.spheredev.org/index.php/Git_for_the_lazy"
+msgstr ""
+
+#. type: Title ==
+#: src/code/contributing-to-linuxcnc.adoc:107
+#, no-wrap
+msgid "Overview of the process"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:111
+msgid ""
+"The high-level overview of how to contribute changes to the source goes like "
+"this:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:113
+msgid ""
+"Communicate with the project developers and let us know what you're hacking "
+"on.  Explain what you are doing, and why."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:114
+msgid "Clone the git repo."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:115
+msgid "Make your changes in a local branch."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:116
+msgid ""
+"Adding documentation and <<cha:writing-tests,writing tests>> is an important "
+"part of adding a new feature.  Otherwise, others won't know how to use your "
+"feature, and if other changes break your feature it can go unnoticed without "
+"a test."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:117
+msgid "Share your changes with the other project developers in one of these ways:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:118
+msgid ""
+"Push your branch to github and create a github pull request to "
+"<https://github.com/linuxcnc/linuxcnc> (this requires a github account), or"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:119
+msgid ""
+"Push your branch to a publicly visible git repo (such as github, or your own "
+"publicly-accessible server, etc) and share that location on the "
+"emc-developers mailing list, or"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:120
+msgid ""
+"Email your commits to the LinuxCNC-developers mailing list "
+"(<emc-developers@lists.sourceforge.net>) (use `git format-patch` to create "
+"the patches)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:121
+msgid "Advocate for your patch:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:122
+msgid "Explain what problem it addresses and why it should be included in LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:123
+msgid "Be receptive to questions and feedback from the developer community."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:124
+msgid ""
+"It is not uncommon for a patch to go through several revisions before it is "
+"accepted."
+msgstr ""
+
+#. type: Title ==
+#: src/code/contributing-to-linuxcnc.adoc:125
+#, no-wrap
+msgid "git configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:130
+msgid ""
+"In order to be considered for inclusion in the LinuxCNC source, commits must "
+"have correct Author fields identifying the author of the commit.  A good way "
+"to ensure this is to set your global git config:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/contributing-to-linuxcnc.adoc:134
+#, no-wrap
+msgid ""
+"git config --global user.name \"Your full name\"\n"
+"git config --global user.email \"you@example.com\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:137
+msgid "Use your real name (not a handle), and use an unobfuscated e-mail address."
+msgstr ""
+
+#. type: Title ==
+#: src/code/contributing-to-linuxcnc.adoc:138
+#, no-wrap
+msgid "Effective use of git"
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:140
+#, no-wrap
+msgid "Commit contents"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:144
+msgid ""
+"Keep your commits small and to the point.  Each commit should accomplish one "
+"logical change to the repo."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:145
+#, no-wrap
+msgid "Write good commit messages"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:149
+msgid ""
+"Keep commit messages around 72 columns wide (so that in a default-size "
+"terminal window, they don't wrap when shown by `git log`)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:153
+msgid ""
+"Use the first line as a summary of the intent of the change (almost like the "
+"subject line of an e-mail). Follow it with a blank line, then a longer "
+"message explaining the change. Example:"
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:154
+#, no-wrap
+msgid "Commit to the proper branch"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:159
+msgid ""
+"Bugfixes should go on the oldest applicable branch.  New features should go "
+"in the master branch.  If you're not sure where a change belongs, ask on irc "
+"or on the mailing list."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:160
+#, no-wrap
+msgid "Use multiple commits to organize changes"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:168
+msgid ""
+"When appropriate, organize your changes into a branch (a series of commits) "
+"where each commit is a logical step towards your ultimate goal. For example, "
+"first factor out some complex code into a new function. Then, in a second "
+"commit, fix an underlying bug. Then, in the third commit, add a new feature "
+"which is made easier by the refactoring and which would not have worked "
+"without fixing that bug."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:173
+msgid ""
+"This is helpful to reviewers, because it is easier to see that the \"factor "
+"out code into new function\" step was right when there aren't other edits "
+"mixed in; it's easier to see that the bug is fixed when the change that "
+"fixes it is separate from the new feature; and so on."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:174
+#, no-wrap
+msgid "Follow the style of the surrounding code"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:180
+msgid ""
+"Make an effort to follow the prevailing indentation style of surrounding "
+"code. In particular, changes to whitespace make it harder for other "
+"developers to track changes over time. When reformatting code must be done, "
+"do it as a commit separate from any semantic changes."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:181
+#, no-wrap
+msgid "Get rid of RTAPI_SUCCESS, use 0 instead"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:186
+msgid ""
+"The test \"retval < 0\" should feel familiar; it's the same kind of test you "
+"use in userspace (returns -1 for error) and in kernel space (returns -ERRNO "
+"for error)."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:187
+#, no-wrap
+msgid "Simplify complicated history before sharing with fellow developers"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:193
+msgid ""
+"With git, it's possible to record every edit and false start as a separate "
+"commit. This is very convenient as a way to create checkpoints during "
+"development, but often you don't want to share these false starts with "
+"others."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:196
+msgid ""
+"Git provides two main ways to clean history, both of which can be done "
+"freely before you share the change:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:201
+msgid ""
+"`git commit --amend` lets you make additional changes to the last thing you "
+"committed, optionally modifying the commit message as well. Use this if you "
+"realized right away that you left something out of the commit, or if you "
+"typo'd the commit message."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:207
+msgid ""
+"`git rebase --interactive` upstream-branch lets you go back through each "
+"commit made since you forked your feature branch from the upstream branch, "
+"possibly editing commits, dropping commits, or squashing (combining)  "
+"commits with others. Rebase can also be used to split individual commits "
+"into multiple new commits."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:208
+#, no-wrap
+msgid "Make sure every commit builds"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:216
+msgid ""
+"If your change consists of several patches, `git rebase -i` may be used to "
+"reorder these patches into a sequence of commits which more clearly lays out "
+"the steps of your work.  A potential consequence of reordering patches is "
+"that one might get dependencies wrong - for instance, introducing a use of a "
+"variable, and the declaration of that variable only follows in a later "
+"patch."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:222
+msgid ""
+"While the branch HEAD will build, not every commit might build in such a "
+"case.  That breaks `git bisect` - something somebody else might use later on "
+"to find the commit which introduced a bug.  So beyond making sure your "
+"branch builds, it is important to assure every single commit builds as well."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:228
+msgid ""
+"There's an automatic way to check a branch for each commit being buildable - "
+"see https://dustin.sallings.org/2010/03/28/git-test-sequence.html and the "
+"code at https://github.com/dustin/bindir/blob/master/git-test-sequence.  Use "
+"as follows (in this case testing every commit from origin/master to HEAD, "
+"including running regression tests):"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/contributing-to-linuxcnc.adoc:232
+#, no-wrap
+msgid ""
+"cd linuxcnc-dev\n"
+"git-test-sequence origin/master..  '(cd src && make && "
+"../scripts/runtests)'\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:235
+msgid "This will either report 'All is well' or 'Broke on <commit>'"
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:236
+#, no-wrap
+msgid "Renaming files"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:242
+msgid ""
+"Please use the ability to rename files very cautiously. Like running indent "
+"on single files, renames still make it more difficult to follow changes over "
+"time. At a minimum, you should seek consensus on irc or the mailing list "
+"that the rename is an improvement."
+msgstr ""
+
+#. type: Title ===
+#: src/code/contributing-to-linuxcnc.adoc:243
+#, no-wrap
+msgid "Prefer \"rebase\""
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:250
+msgid ""
+"Use `git pull --rebase` instead of bare `git pull` in order to keep a nice "
+"linear history. When you rebase, you always retain your work as revisions "
+"that are ahead of origin/master, so you can do things like `git "
+"format-patch` them to share with others without pushing to the central "
+"repository."
+msgstr ""
+
+#. type: Title ==
+#: src/code/contributing-to-linuxcnc.adoc:252
+#, no-wrap
+msgid "Translations"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:259
+msgid ""
+"The LinuxCNC project uses `gettext` to translate the software into many "
+"languages. We welcome contributions and help in this area! Improving and "
+"extending the translations is easy: you don't need to know any programming, "
+"and you don't need to install any special translation programs or other "
+"software."
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:262
+msgid ""
+"The easiest way to help with translations is using Weblate, an open-source "
+"web service. Our translation project is here:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:264
+msgid "https://hosted.weblate.org/projects/linuxcnc/"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:267
+msgid ""
+"Documentation on how to use Weblate is here: "
+"https://docs.weblate.org/en/latest/user/basic.html"
+msgstr ""
+
+#. type: Title ==
+#: src/code/contributing-to-linuxcnc.adoc:268
+#, no-wrap
+msgid "Other ways to contribute"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:272
+msgid ""
+"There are many ways to contribute to LinuxCNC, that are not addressed by "
+"this document. These ways include:"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:274
+msgid "Answering questions on the forum, mailing lists, and in IRC"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:275
+msgid "Reporting bugs on the bug tracker, forum, mailing lists, or in IRC"
+msgstr ""
+
+#. type: Plain text
+#: src/code/contributing-to-linuxcnc.adoc:276
+msgid "Helping test experimental features"
+msgstr ""
+
+#. type: Title =
+#: src/code/nml-messages.adoc:5
+#, no-wrap
+msgid "NML Messages"
+msgstr ""
+
+#. type: Plain text
+#: src/code/nml-messages.adoc:9
+#, no-wrap
+msgid ""
+"List of NML messages.\n"
+"For details see `src/emc/nml_intf/emc.hh`."
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:11
+#, no-wrap
+msgid "OPERATOR"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:17
+#, no-wrap
+msgid ""
+"EMC_OPERATOR_ERROR_TYPE\n"
+"EMC_OPERATOR_TEXT_TYPE\n"
+"EMC_OPERATOR_DISPLAY_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:20
+#, no-wrap
+msgid "JOINT"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:44
+#, no-wrap
+msgid ""
+"EMC_JOINT_SET_JOINT_TYPE\n"
+"EMC_JOINT_SET_UNITS_TYPE\n"
+"EMC_JOINT_SET_MIN_POSITION_LIMIT_TYPE\n"
+"EMC_JOINT_SET_MAX_POSITION_LIMIT_TYPE\n"
+"EMC_JOINT_SET_FERROR_TYPE\n"
+"EMC_JOINT_SET_HOMING_PARAMS_TYPE\n"
+"EMC_JOINT_SET_MIN_FERROR_TYPE\n"
+"EMC_JOINT_SET_MAX_VELOCITY_TYPE\n"
+"EMC_JOINT_INIT_TYPE\n"
+"EMC_JOINT_HALT_TYPE\n"
+"EMC_JOINT_ABORT_TYPE\n"
+"EMC_JOINT_ENABLE_TYPE\n"
+"EMC_JOINT_DISABLE_TYPE\n"
+"EMC_JOINT_HOME_TYPE\n"
+"EMC_JOINT_ACTIVATE_TYPE\n"
+"EMC_JOINT_DEACTIVATE_TYPE\n"
+"EMC_JOINT_OVERRIDE_LIMITS_TYPE\n"
+"EMC_JOINT_LOAD_COMP_TYPE\n"
+"EMC_JOINT_SET_BACKLASH_TYPE\n"
+"EMC_JOINT_UNHOME_TYPE\n"
+"EMC_JOINT_STAT_TYPE\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/nml-messages.adoc:47 src/config/pncconf.adoc:122
+#: src/gui/gladevcp.adoc:26 src/gui/pyvcp-examples.adoc:12
+#: src/user/user-intro.adoc:98
+#, no-wrap
+msgid "AXIS"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:51
+#, no-wrap
+msgid "EMC_AXIS_STAT_TYPE\n"
+msgstr ""
+
+#. type: Table
+#: src/code/nml-messages.adoc:54 src/plasma/qtplasmac.adoc:726
+#, no-wrap
+msgid "JOG"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:61
+#, no-wrap
+msgid ""
+"EMC_JOG_CONT_TYPE\n"
+"EMC_JOG_INCR_TYPE\n"
+"EMC_JOG_ABS_TYPE\n"
+"EMC_JOG_STOP_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:64
+#, no-wrap
+msgid "TRAJ"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:105
+#, no-wrap
+msgid ""
+"EMC_TRAJ_SET_AXES_TYPE\n"
+"EMC_TRAJ_SET_UNITS_TYPE\n"
+"EMC_TRAJ_SET_CYCLE_TIME_TYPE\n"
+"EMC_TRAJ_SET_MODE_TYPE\n"
+"EMC_TRAJ_SET_VELOCITY_TYPE\n"
+"EMC_TRAJ_SET_ACCELERATION_TYPE\n"
+"EMC_TRAJ_SET_MAX_VELOCITY_TYPE\n"
+"EMC_TRAJ_SET_MAX_ACCELERATION_TYPE\n"
+"EMC_TRAJ_SET_SCALE_TYPE\n"
+"EMC_TRAJ_SET_RAPID_SCALE_TYPE\n"
+"EMC_TRAJ_SET_MOTION_ID_TYPE\n"
+"EMC_TRAJ_INIT_TYPE\n"
+"EMC_TRAJ_HALT_TYPE\n"
+"EMC_TRAJ_ENABLE_TYPE\n"
+"EMC_TRAJ_DISABLE_TYPE\n"
+"EMC_TRAJ_ABORT_TYPE\n"
+"EMC_TRAJ_PAUSE_TYPE\n"
+"EMC_TRAJ_STEP_TYPE\n"
+"EMC_TRAJ_RESUME_TYPE\n"
+"EMC_TRAJ_DELAY_TYPE\n"
+"EMC_TRAJ_LINEAR_MOVE_TYPE\n"
+"EMC_TRAJ_CIRCULAR_MOVE_TYPE\n"
+"EMC_TRAJ_SET_TERM_COND_TYPE\n"
+"EMC_TRAJ_SET_OFFSET_TYPE\n"
+"EMC_TRAJ_SET_G5X_TYPE\n"
+"EMC_TRAJ_SET_HOME_TYPE\n"
+"EMC_TRAJ_SET_ROTATION_TYPE\n"
+"EMC_TRAJ_SET_G92_TYPE\n"
+"EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE\n"
+"EMC_TRAJ_PROBE_TYPE\n"
+"EMC_TRAJ_SET_TELEOP_ENABLE_TYPE\n"
+"EMC_TRAJ_SET_SPINDLESYNC_TYPE\n"
+"EMC_TRAJ_SET_SPINDLE_SCALE_TYPE\n"
+"EMC_TRAJ_SET_FO_ENABLE_TYPE\n"
+"EMC_TRAJ_SET_SO_ENABLE_TYPE\n"
+"EMC_TRAJ_SET_FH_ENABLE_TYPE\n"
+"EMC_TRAJ_RIGID_TAP_TYPE\n"
+"EMC_TRAJ_STAT_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:108
+#, no-wrap
+msgid "MOTION"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:118
+#, no-wrap
+msgid ""
+"EMC_MOTION_INIT_TYPE\n"
+"EMC_MOTION_HALT_TYPE\n"
+"EMC_MOTION_ABORT_TYPE\n"
+"EMC_MOTION_SET_AOUT_TYPE\n"
+"EMC_MOTION_SET_DOUT_TYPE\n"
+"EMC_MOTION_ADAPTIVE_TYPE\n"
+"EMC_MOTION_STAT_TYPE\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/nml-messages.adoc:121 src/common/glossary.adoc:349
+#, no-wrap
+msgid "TASK"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:144
+#, no-wrap
+msgid ""
+"EMC_TASK_INIT_TYPE\n"
+"EMC_TASK_HALT_TYPE\n"
+"EMC_TASK_ABORT_TYPE\n"
+"EMC_TASK_SET_MODE_TYPE\n"
+"EMC_TASK_SET_STATE_TYPE\n"
+"EMC_TASK_PLAN_OPEN_TYPE\n"
+"EMC_TASK_PLAN_RUN_TYPE\n"
+"EMC_TASK_PLAN_READ_TYPE\n"
+"EMC_TASK_PLAN_EXECUTE_TYPE\n"
+"EMC_TASK_PLAN_PAUSE_TYPE\n"
+"EMC_TASK_PLAN_STEP_TYPE\n"
+"EMC_TASK_PLAN_RESUME_TYPE\n"
+"EMC_TASK_PLAN_END_TYPE\n"
+"EMC_TASK_PLAN_CLOSE_TYPE\n"
+"EMC_TASK_PLAN_INIT_TYPE\n"
+"EMC_TASK_PLAN_SYNCH_TYPE\n"
+"EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE\n"
+"EMC_TASK_PLAN_SET_BLOCK_DELETE_TYPE\n"
+"EMC_TASK_PLAN_OPTIONAL_STOP_TYPE\n"
+"EMC_TASK_STAT_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:147
+#, no-wrap
+msgid "TOOL"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:161
+#, no-wrap
+msgid ""
+"EMC_TOOL_INIT_TYPE\n"
+"EMC_TOOL_HALT_TYPE\n"
+"EMC_TOOL_ABORT_TYPE\n"
+"EMC_TOOL_PREPARE_TYPE\n"
+"EMC_TOOL_LOAD_TYPE\n"
+"EMC_TOOL_UNLOAD_TYPE\n"
+"EMC_TOOL_LOAD_TOOL_TABLE_TYPE\n"
+"EMC_TOOL_SET_OFFSET_TYPE\n"
+"EMC_TOOL_SET_NUMBER_TYPE\n"
+"EMC_TOOL_START_CHANGE_TYPE\n"
+"EMC_TOOL_STAT_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:164
+#, no-wrap
+msgid "AUX"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:172
+#, no-wrap
+msgid ""
+"EMC_AUX_ESTOP_ON_TYPE\n"
+"EMC_AUX_ESTOP_OFF_TYPE\n"
+"EMC_AUX_ESTOP_RESET_TYPE\n"
+"EMC_AUX_INPUT_WAIT_TYPE\n"
+"EMC_AUX_STAT_TYPE\n"
+msgstr ""
+
+#. type: TH
+#: src/code/nml-messages.adoc:175 src/gui/gmoccapy.adoc:687
+#: man/man9/spindle.9:9
+#, no-wrap
+msgid "SPINDLE"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:189
+#, no-wrap
+msgid ""
+"EMC_SPINDLE_ON_TYPE\n"
+"EMC_SPINDLE_OFF_TYPE\n"
+"EMC_SPINDLE_INCREASE_TYPE\n"
+"EMC_SPINDLE_DECREASE_TYPE\n"
+"EMC_SPINDLE_CONSTANT_TYPE\n"
+"EMC_SPINDLE_BRAKE_RELEASE_TYPE\n"
+"EMC_SPINDLE_BRAKE_ENGAGE_TYPE\n"
+"EMC_SPINDLE_SPEED_TYPE\n"
+"EMC_SPINDLE_ORIENT_TYPE\n"
+"EMC_SPINDLE_WAIT_ORIENT_COMPLETE_TYPE\n"
+"EMC_SPINDLE_STAT_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:192
+#, no-wrap
+msgid "COOLANT"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:200
+#, no-wrap
+msgid ""
+"EMC_COOLANT_MIST_ON_TYPE\n"
+"EMC_COOLANT_MIST_OFF_TYPE\n"
+"EMC_COOLANT_FLOOD_ON_TYPE\n"
+"EMC_COOLANT_FLOOD_OFF_TYPE\n"
+"EMC_COOLANT_STAT_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:203
+#, no-wrap
+msgid "LUBE"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:209
+#, no-wrap
+msgid ""
+"EMC_LUBE_ON_TYPE\n"
+"EMC_LUBE_OFF_TYPE\n"
+"EMC_LUBE_STAT_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:212
+#, no-wrap
+msgid "IO (Input/Output)"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:221
+#, no-wrap
+msgid ""
+"EMC_IO_INIT_TYPE\n"
+"EMC_IO_HALT_TYPE\n"
+"EMC_IO_ABORT_TYPE\n"
+"EMC_IO_SET_CYCLE_TIME_TYPE\n"
+"EMC_IO_STAT_TYPE\n"
+"EMC_IO_PLUGIN_CALL_TYPE\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/nml-messages.adoc:224
+#, no-wrap
+msgid "Others"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/nml-messages.adoc:235
+#, no-wrap
+msgid ""
+"EMC_NULL_TYPE\n"
+"EMC_SET_DEBUG_TYPE\n"
+"EMC_SYSTEM_CMD_TYPE\n"
+"EMC_INIT_TYPE\n"
+"EMC_HALT_TYPE\n"
+"EMC_ABORT_TYPE\n"
+"EMC_STAT_TYPE\n"
+"EMC_EXEC_PLUGIN_CALL_TYPE\n"
+msgstr ""
+
+#. type: Title =
+#: src/code/rs274.adoc:5
+#, no-wrap
+msgid "Stand Alone Interpreter"
+msgstr ""
+
+#. type: Plain text
+#: src/code/rs274.adoc:14
+msgid "The rs274 stand alone interpreter is available for use via the command line."
+msgstr ""
+
+#. type: delimited block -
+#: src/code/rs274.adoc:20
+#, no-wrap
+msgid ""
+"Usage: rs274 [-p interp.so] [-t tool.tbl] [-v var-file.var] [-n 0|1|2]\n"
+"          [-b] [-s] [-g] [input file [output file]]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/rs274.adoc:34
+#, no-wrap
+msgid ""
+"    -p: Specify the pluggable interpreter to use\n"
+"    -t: Specify the .tbl (tool table) file to use\n"
+"    -v: Specify the .var (parameter) file to use\n"
+"    -n: Specify the continue mode:\n"
+"           0: continue\n"
+"           1: enter MDI mode\n"
+"           2: stop (default)\n"
+"    -b: Toggle the 'block delete' flag (default: OFF)\n"
+"    -s: Toggle the 'print stack' flag (default: OFF)\n"
+"    -g: Toggle the 'go (batch mode)' flag (default: OFF)\n"
+"    -i: specify the .ini file (default: no ini file)\n"
+"    -T: call task_init()\n"
+"    -l: specify the log_level (default: -1)\n"
+msgstr ""
+
+#. type: Table
+#: src/code/rs274.adoc:36 src/config/python-hal-interface.adoc:36
+#: src/config/python-hal-interface.adoc:64
+#: src/config/python-hal-interface.adoc:72
+#: src/config/python-hal-interface.adoc:87
+#: src/config/python-hal-interface.adoc:95
+#: src/config/python-hal-interface.adoc:103
+#: src/config/python-hal-interface.adoc:146
+#: src/config/python-hal-interface.adoc:218
+#: src/config/python-hal-interface.adoc:226 src/examples/gs2-example.adoc:13
+#: src/gui/qtvcp-code-snippets.adoc:50 src/gui/qtvcp-libraries.adoc:52
+#: src/gui/qtvcp-libraries.adoc:444 src/gui/qtvcp-libraries.adoc:1160
+#: src/hal/haltcl.adoc:22 src/hal/haltcl.adoc:165 src/hal/haltcl.adoc:181
+#: src/hal/haltcl.adoc:239 src/hal/twopass.adoc:66 src/hal/twopass.adoc:138
+#: src/ladder/ladder-intro.adoc:75 src/plasma/qtplasmac.adoc:4352
+#, no-wrap
+msgid "Example"
+msgstr ""
+
+#. type: Plain text
+#: src/code/rs274.adoc:41 src/man/man1/rs274.1.adoc:38
+msgid ""
+"To see the output of a loop for example we can run rs274 on the following "
+"file and see that the loop never ends. To break out of the loop use Ctrl "
+"Z. The following two files are needed to run the example."
+msgstr ""
+
+#. type: Plain text
+#: src/code/rs274.adoc:42 src/man/man1/rs274.1.adoc:42
+#, no-wrap
+msgid "test.ngc"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/rs274.adoc:46
+#, no-wrap
+msgid "#<test> = 123.352\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/rs274.adoc:51
+#, no-wrap
+msgid ""
+"o101 while [[#<test> MOD 60 ] NE 0]\n"
+"(debug,#<test>)\n"
+"    #<test> = [#<test> + 1]\n"
+"o101 endwhile\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/rs274.adoc:53 src/gcode/coordinates.adoc:467
+#, no-wrap
+msgid "M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/rs274.adoc:55 src/man/man1/rs274.1.adoc:49
+#, no-wrap
+msgid "test.tbl"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/rs274.adoc:60
+#, no-wrap
+msgid ""
+"T1 P1 Z0.511 D0.125 ;1/8 end mill\n"
+"T2 P2 Z0.1 D0.0625 ;1/16 end mill\n"
+"T3 P3 Z1.273 D0.201 ;#7 tap drill\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/rs274.adoc:62 src/man/man1/rs274.1.adoc:56
+#, no-wrap
+msgid "command"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/rs274.adoc:65 src/man/man1/rs274.1.adoc:59
+#, no-wrap
+msgid "rs274 -g test.ngc -t test.tbl\n"
+msgstr ""
+
+#. type: Title =
+#: src/code/style-guide.adoc:4
+#, no-wrap
+msgid "Coding Style"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:7
+msgid "This chapter describes the source code style preferred by the LinuxCNC team."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:8
+#, no-wrap
+msgid "Do no harm"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:13
+msgid ""
+"When making small edits to code in a style different than the one described "
+"below, observe the local coding style. Rapid changes from one coding style "
+"to another decrease code readability."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:17
+msgid ""
+"Never check in code after running \"indent\" on it. The whitespace changes "
+"introduced by indent make it more difficult to follow the revision history "
+"of the file."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:21
+msgid ""
+"Do not use an editor that makes unneeded changes to whitespace (e.g., which "
+"replaces 8 spaces with a tabstop on a line not otherwise modified, or "
+"word-wraps lines not otherwise modified)."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:22
+#, no-wrap
+msgid "Tab Stops"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:26
+msgid ""
+"A tab stop always corresponds to 8 spaces. Do not write code that displays "
+"correctly only with a differing tab stop setting."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:27
+#, no-wrap
+msgid "Indentation"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:31
+msgid ""
+"Use 4 spaces per level of indentation. Combining 8 spaces into one tab is "
+"acceptable but not required."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:32
+#, no-wrap
+msgid "Placing Braces"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:35
+msgid "Put the opening brace last on the line, and put the closing brace first:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/style-guide.adoc:41
+#, no-wrap
+msgid ""
+"if (x) {\n"
+"    // do something appropriate\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:46
+msgid ""
+"The closing brace is on a line of its own, except in the cases where it is "
+"followed by a continuation of the same statement, i.e. a 'while' in a "
+"do-statement or an 'else' in an if-statement, like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/style-guide.adoc:52
+#, no-wrap
+msgid ""
+"do {\n"
+"    // something important\n"
+"} while (x > 0);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:55 src/gui/pyvcp.adoc:271
+msgid "and"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/style-guide.adoc:65
+#, no-wrap
+msgid ""
+"if (x == y) {\n"
+"    // do one thing\n"
+"} else if (x < y) {\n"
+"    // do another thing\n"
+"} else {\n"
+"    // do a third thing\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:70
+msgid ""
+"This brace-placement also minimizes the number of empty (or almost empty) "
+"lines, which allows a greater amount of code or comments to be visible at "
+"once in a terminal of a fixed size."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:71
+#, no-wrap
+msgid "Naming"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:78
+msgid ""
+"C is a Spartan language, and so should your naming be. Unlike Modula-2 and "
+"Pascal programmers, C programmers do not use cute names like "
+"ThisVariableIsATemporaryCounter. A C programmer would call that variable "
+"'tmp', which is much easier to write, and not the least more difficult to "
+"understand."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:81
+msgid ""
+"However, descriptive names for global variables are a must. To call a global "
+"function 'foo' is a shooting offense."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:87
+#, no-wrap
+msgid ""
+"GLOBAL variables (to be used only if you *really*  need them) need to\n"
+"have descriptive names, as do global functions. If\n"
+"you have a function that counts the number of active users, you should\n"
+" call that 'count_active_users()' or similar, you should *not* call it\n"
+"'cntusr()'.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:92
+msgid ""
+"Encoding the type of a function into the name (so-called Hungarian notation) "
+"is brain damaged - the compiler knows the types anyway and can check those, "
+"and it only confuses the programmer. No wonder Microsoft makes buggy "
+"programs."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:98
+msgid ""
+"LOCAL variable names should be short, and to the point. If you have some "
+"random integer loop counter, it should probably be called 'i'.  Calling it "
+"'loop_counter' is non-productive, if there is no chance of it being "
+"misunderstood. Similarly, 'tmp' can be just about any type of variable that "
+"is used to hold a temporary value."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:102
+msgid ""
+"If you are afraid to mix up your local variable names, you have another "
+"problem, which is called the function-growth-hormone-imbalance syndrome. See "
+"next chapter."
+msgstr ""
+
+#. type: Title ===
+#: src/code/style-guide.adoc:103 src/config/core-components.adoc:200
+#: src/config/python-hal-interface.adoc:28 src/drivers/ax5214h.adoc:70
+#: src/drivers/hal_pi_gpio.adoc:85 src/drivers/hal_gpio.adoc:91
+#: src/drivers/motenc.adoc:108 src/drivers/pico-ppmc.adoc:233
+#: src/drivers/servo-to-go.adoc:117 src/gui/gstat.adoc:515
+#: src/gui/qtvcp-widgets.adoc:2384 src/hal/basic-hal.adoc:371
+#: src/hal/basic-hal.adoc:403 src/hal/basic-hal.adoc:433
+#: src/hal/basic-hal.adoc:465 src/hal/parallel-port.adoc:221
+#: src/hal/rtcomps.adoc:247 src/hal/rtcomps.adoc:347 src/hal/rtcomps.adoc:441
+#: src/hal/rtcomps.adoc:499 src/hal/rtcomps.adoc:559 src/hal/rtcomps.adoc:614
+#, no-wrap
+msgid "Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:108
+msgid ""
+"Functions should be short and sweet, and do just one thing. They should fit "
+"on one or two screenfuls of text (the ISO/ANSI screen size is 80x24, as we "
+"all know), and do one thing and do that well."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:114
+msgid ""
+"The maximum length of a function is inversely proportional to the complexity "
+"and indentation level of that function. So, if you have a conceptually "
+"simple function that is just one long (but simple)  case-statement, where "
+"you have to do lots of small things for a lot of different cases, it's OK to "
+"have a longer function."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:122
+msgid ""
+"However, if you have a complex function, and you suspect that a "
+"less-than-gifted first-year high-school student might not even understand "
+"what the function is all about, you should adhere to the maximum limits all "
+"the more closely. Use helper functions with descriptive names (you can ask "
+"the compiler to in-line them if you think it's performance-critical, and it "
+"will probably do a better job of it that you would have done)."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:129
+msgid ""
+"Another measure of the function is the number of local variables. They "
+"shouldn't exceed 5-10, or you're doing something wrong. Re-think the "
+"function, and split it into smaller pieces. A human brain can generally "
+"easily keep track of about 7 different things, anything more and it gets "
+"confused. You know you're brilliant, but maybe you'd like to understand what "
+"you did 2 weeks from now."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:130
+#, no-wrap
+msgid "Commenting"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:136
+msgid ""
+"Comments are good, but there is also a danger of over-commenting.  NEVER try "
+"to explain HOW your code works in a comment: it's much better to write the "
+"code so that the *working* is obvious, and it's a waste of time to explain "
+"badly written code."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:146
+msgid ""
+"Generally, you want your comments to tell WHAT your code does, not HOW. A "
+"boxed comment describing the function, return value, and who calls it placed "
+"above the body is good. Also, try to avoid putting comments inside a "
+"function body: if the function is so complex that you need to separately "
+"comment parts of it, you should probably re-read the Functions section "
+"again. You can make small comments to note or warn about something "
+"particularly clever (or ugly), but try to avoid excess.  Instead, put the "
+"comments at the head of the function, telling people what it does, and "
+"possibly WHY it does it."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:151
+msgid ""
+"If comments along the lines of /* Fix me */ are used, please, please, say "
+"why something needs fixing. When a change has been made to the affected "
+"portion of code, either remove the comment, or amend it to indicate a change "
+"has been made and needs testing."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:152
+#, no-wrap
+msgid "Shell Scripts & Makefiles"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:158
+msgid ""
+"Not everyone has the same tools and packages installed. Some people use vi, "
+"others emacs - A few even avoid having either package installed, preferring "
+"a lightweight text editor such as nano or the one built in to Midnight "
+"Commander."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:165
+msgid ""
+"gawk versus mawk - Again, not everyone will have gawk installed, mawk is "
+"nearly a tenth of the size and yet conforms to the POSIX AWK standard. If "
+"some obscure gawk specific command is needed that mawk does not provide, "
+"than the script will break for some users. The same would apply to mawk. In "
+"short, use the generic awk invocation in preference to gawk or mawk."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:166
+#, no-wrap
+msgid "C++ Conventions"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:172
+msgid ""
+"C++ coding styles are always likely to end up in heated debates (a bit like "
+"the emacs versus vi arguments). One thing is certain however, a common style "
+"used by everyone working on a project leads to uniform and readable code."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:176
+msgid ""
+"Naming conventions: Constants either from #defines or enumerations should be "
+"in upper case through out. Rationale: Makes it easier to spot compile time "
+"constants in the source code, e.g., EMC_MESSAGE_TYPE."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:180
+msgid ""
+"Classes and Namespaces should capitalize the first letter of each word and "
+"avoid underscores. Rationale: Identifies classes, constructors and "
+"destructors, e.g., GtkWidget."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:184
+msgid ""
+"Methods (or function names) should follow the C recommendations above and "
+"should not include the class name. Rationale: Maintains a common style "
+"across C and C++ sources, e.g., get_foo_bar()."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:189
+msgid ""
+"However, boolean methods are easier to read if they avoid underscores and "
+"use an 'is' prefix (not to be confused with methods that manipulate a "
+"boolean). Rationale: Identifies the return value as TRUE or FALSE and "
+"nothing else, e.g., isOpen, isHomed."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:192
+msgid ""
+"Do NOT use 'Not' in a boolean name, it leads only leads to confusion when "
+"doing logical tests, e.g., isNotOnLimit or is_not_on_limit are BAD."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:198
+msgid ""
+"Variable names should avoid the use of upper case and underscores except for "
+"local or private names. The use of global variables should be avoided as "
+"much as possible. Rationale: Clarifies which are variables and which are "
+"methods. Public: e.g., axislimit Private: e.g., maxvelocity_ ."
+msgstr ""
+
+#. type: Title ===
+#: src/code/style-guide.adoc:199
+#, no-wrap
+msgid "Specific method naming conventions"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:204
+msgid ""
+"The terms get and set should be used where an attribute is accessed "
+"directly. Rationale: Indicates the purpose of the function or method, e.g., "
+"get_foo set_bar."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:207
+msgid ""
+"For methods involving boolean attributes, set & reset is preferred.  "
+"Rationale: As above. e.g. set_amp_enable reset_amp_fault"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:211
+msgid ""
+"Math intensive methods should use compute as a prefix. Rationale: Shows that "
+"it is computationally intensive and will hog the CPU. e.g.  compute_PID"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:216
+msgid ""
+"Abbreviations in names should be avoided where possible - The exception is "
+"for local variable names. Rationale: Clarity of code. e.g.  pointer is "
+"preferred over ptr compute is preferred over cmp compare is again preferred "
+"over cmp."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:219
+msgid ""
+"Enumerates and other constants can be prefixed by a common type name, e.g., "
+"`enum COLOR { COLOR_RED, COLOR_BLUE };` ."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:223
+msgid ""
+"Excessive use of macros and defines should be avoided - Using simple methods "
+"or functions is preferred. Rationale: Improves the debugging process."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:230
+msgid ""
+"Include Statements Header files must be included at the top of a source file "
+"and not scattered throughout the body. They should be sorted and grouped by "
+"their hierarchical position within the system with the low level files "
+"included first. Include file paths should NEVER be absolute - Use the "
+"compiler -I flag instead to extend the search path. Rationale: Headers may "
+"not be in the same place on all systems."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:234
+msgid ""
+"Pointers and references should have their reference symbol next to the "
+"variable name rather than the type name. Rationale: Reduces confusion, e.g., "
+"`float *x` or `int &i`."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:237
+msgid ""
+"Implicit tests for zero should not be used except for boolean variables, "
+"e.g., `if (spindle_speed != 0)` NOT `if (spindle_speed)`."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:241
+#, no-wrap
+msgid ""
+"Only loop control statements must be included in a for() construct, e.g., "
+"`sum = 0; for (i=0; i<10; i++) { sum += value[i]; }`\n"
+"NOT: `for (i=0, sum=0; i<10; i++) sum += value[i];`."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:244
+msgid ""
+"Likewise, executable statements in conditionals must be avoided, e.g., `if "
+"(fd = open(file_name)` is bad."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:247
+msgid ""
+"Complex conditional statements should be avoided - Introduce temporary "
+"boolean variables instead."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:251
+msgid ""
+"Parentheses should be used in plenty in mathematical expressions - Do not "
+"rely on operator precedence when an extra parentheses would clarify things."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:256
+msgid ""
+"File names: C++ sources and headers use .cc and .hh extension. The use of .c "
+"and .h are reserved for plain C. Headers are for class, method, and "
+"structure declarations, not code (unless the functions are declared inline)."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:257
+#, no-wrap
+msgid "Python coding standards"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:261
+msgid ""
+"Use the https://www.python.org/dev/peps/pep-0008/[PEP 8] style for Python "
+"code."
+msgstr ""
+
+#. type: Title ==
+#: src/code/style-guide.adoc:262
+#, no-wrap
+msgid "Comp coding standards"
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:267
+msgid ""
+"In the declaration portion of a .comp file, begin each declaration at the "
+"first column. Insert extra blank lines when they help group related items."
+msgstr ""
+
+#. type: Plain text
+#: src/code/style-guide.adoc:269
+msgid "In the code portion of a .comp file, follow normal C coding style."
+msgstr ""
+
+#.  vim: set syntax=asciidoc:
+#. type: Title =
+#: src/code/writing-tests.adoc:2
+#, no-wrap
+msgid "Writing automated LinuxCNC tests"
+msgstr ""
+
+#. type: Title ==
+#: src/code/writing-tests.adoc:4
+#, no-wrap
+msgid "The test framework"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:8
+msgid ""
+"The code base has unit and integration tests that can be executed "
+"automatically to ensure the program works as intended.  Such tests are often "
+"written to trigger a bug and to ensure the bug is detected if it resurfaces "
+"in the future, but also to validate behavior of components and interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:12
+msgid ""
+"The tests are collected in the `tests/` directory.  The individual tests are "
+"in subdirectories of this directory.  The tests are grouped in directories."
+msgstr ""
+
+#. type: Title ==
+#: src/code/writing-tests.adoc:13
+#, no-wrap
+msgid "Running tests"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:17
+msgid ""
+"The tests are executed by the `scripts/runtests` script generated from "
+"`scripts/runtests.in` during build.  The runtests script will by default "
+"locate tests to run under `tests/`, but can be limited to only run a limited "
+"set of tests by specifying the directory of the test or tests as "
+"argument(s)."
+msgstr ""
+
+#. type: Block title
+#: src/code/writing-tests.adoc:18
+#, no-wrap
+msgid "An example running only the tests in `tests/lathe/`."
+msgstr ""
+
+#. type: delimited block -
+#: src/code/writing-tests.adoc:23
+#, no-wrap
+msgid ""
+"$ scripts/runtests tests/lathe/\n"
+"Running test: tests/lathe\n"
+"Runtest: 1 tests run, 1 successful, 0 failed + 0 expected, 0 skipped\n"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:27
+msgid ""
+"The runtests script looks for all files named `test`, `test.sh` or "
+"`test.hal` below the directories specified on the command line, or under "
+"`tests/` if no command line argument is specified.  These files represent "
+"three different ways to run the tests."
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:29
+msgid ""
+"The _runtests_ script accepts the following arguments, see the output from "
+"`scripts/runtests -h` for the authoritative list:"
+msgstr ""
+
+#. type: delimited block -
+#: src/code/writing-tests.adoc:36
+#, no-wrap
+msgid ""
+"-n  do not remove temporary files for successful tests.\n"
+"-s  stop after any failed test.\n"
+"-p  print stderr and result files.\n"
+"-c  Remove temporary files from an earlier test run.\n"
+"-u  Only run tests that require normal user access.\n"
+"-v  Show stdout and stderr (normally it's hidden).\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/writing-tests.adoc:38
+#, no-wrap
+msgid "Writing tests"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:41
+msgid ""
+"Make sure the test can run successfully without a working X11 display, "
+"i.e. with the DISPLAY environment variable unset."
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:43
+msgid "Create a folder in `tests/`."
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:44
+msgid "Provide one test script."
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:45
+msgid "Evaluate the output with one of the options below."
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:47
+msgid "These are the files considered in the directory with the individual tests:"
+msgstr ""
+
+#. type: Block title
+#: src/code/writing-tests.adoc:48
+#, no-wrap
+msgid "Test script (only one of these three)"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/writing-tests.adoc:50
+#, no-wrap
+msgid "test"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:52
+msgid ""
+"A program that is executed and its exit code and output checked using either "
+"checkresult or expected."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/writing-tests.adoc:53
+#, no-wrap
+msgid "test.sh"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:55
+msgid ""
+"A bash script that is executed and its exit code and output checked using "
+"either checkresult or expected."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/writing-tests.adoc:56
+#, no-wrap
+msgid "test.hal"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:58
+msgid ""
+"A HAL script that is executed using `halrun -f test.hal` and its exit code "
+"and output checked using either checkresult or expected."
+msgstr ""
+
+#. type: Block title
+#: src/code/writing-tests.adoc:59
+#, no-wrap
+msgid "Test evaluation"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/writing-tests.adoc:61
+#, no-wrap
+msgid "expected"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:64
+#, no-wrap
+msgid ""
+"A file whose content is compared to the output from running the test "
+"scripts.\n"
+"If the test output is identical to the content of the expected file, the "
+"test succeeds.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/writing-tests.adoc:65
+#, no-wrap
+msgid "checkresult"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:70
+msgid ""
+"An executable file to perform more complex validation than just comparing "
+"the output of a test script.  It gets the filename of the test program as "
+"its command line argument.  The exit code of this program controls the "
+"result of the test.  If both `expected` and `checkresult` exist, only "
+"`checkresult` is consulted to validate the test output."
+msgstr ""
+
+#. type: Labeled list
+#: src/code/writing-tests.adoc:71
+#, no-wrap
+msgid "xfail"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:73
+#, no-wrap
+msgid ""
+"If this file exist, a test failure is expected and does not cause runtests "
+"to return an exit code signaling an error.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/writing-tests.adoc:74
+#, no-wrap
+msgid "skip"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:76
+#, no-wrap
+msgid "If this file exist, the test is skipped and not executed at all.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/code/writing-tests.adoc:77
+#, no-wrap
+msgid "control"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:81
+#, no-wrap
+msgid ""
+"This file can be used to flag specific needs in the test.\n"
+"At the moment, the use of _sudo_ can be flagged, and tests requiring sudo "
+"can be skipped when using `runtests -u`.\n"
+"To flag such requirements, add a line with `Restrictions: sudo` to this "
+"file.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/code/writing-tests.adoc:82
+#, no-wrap
+msgid "Some testing approaches"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:86
+msgid ""
+"There are various ways to structure a test, depending on what one wants to "
+"test.  Here are a few ideas on how to do it."
+msgstr ""
+
+#. type: Title ===
+#: src/code/writing-tests.adoc:87
+#, no-wrap
+msgid "Non-interactive \"GUI\""
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:91
+msgid ""
+"If you want to test some operations in the user interface, a useful approach "
+"is is to write a custom \"GUI\" simulating the operations.  This can be done "
+"by creating a normal LinuxCNC setup and pointing the [DISPLAY] DISPLAY value "
+"to a script that does the operations needed to test the behaviour."
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:93
+msgid ""
+"Examples of this approach can be found in `tests/halui/jogging/` and "
+"`tests/interp/subroutine-return/`."
+msgstr ""
+
+#. type: Title ===
+#: src/code/writing-tests.adoc:94
+#, no-wrap
+msgid "Recording HAL pin transitions"
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:98
+msgid ""
+"Using the _sampler_ and _halsampler_ HAL components, one can set up a HAL "
+"configuration and collect pin value settings and changes and dump the result "
+"to stdout (or a file).  The end result can then be compared with the "
+"expected output to verify if HAL behaves as expected."
+msgstr ""
+
+#. type: Plain text
+#: src/code/writing-tests.adoc:99
+msgid ""
+"Examples of this approach can be found in `tests/multiclick/` and "
+"`tests/stepgen.2/`."
+msgstr ""
+
+#. type: Title =
+#: src/common/emc-history.adoc:5
+#, no-wrap
+msgid "Origin(((History)))"
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:11
+msgid ""
+"EMC (the Enhanced Machine Controller) was created by "
+"https://www.nist.gov/index.html[NIST] , the National Institute of Standards "
+"and Technology, which is an agency of the Commerce Department of the United "
+"States government."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:17
+msgid ""
+"NIST first became interested in writing a motion control package as a test "
+"platform for concepts and standards. Early sponsorship from General Motors "
+"resulted in an adaptation of the fledgling version of EMC using PMAC "
+"intelligent control boards running under a \"real time\" version of Windows "
+"NT and controlling a large milling machine."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:28
+msgid ""
+"As is required of all 'work product' of US federal government employees, the "
+"resulting software and the report about it are required to be in the public "
+"domain and a report about it was duly published, including on the "
+"Internet. It was there that Matt Shaver discovered EMC. He contacted NIST "
+"and entered into discussions with Fred Proctor about adapting the code for "
+"use in controlling less expensive hardware to be used for upgrades and "
+"replacements of CNC controls that were obsolete or just plain dead. NIST was "
+"intrigued because they too wanted something less expensive. In order to "
+"launch a cooperative effort, a formal agreement was created which guaranteed "
+"that the resulting code and design would remain in the public domain."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:45
+msgid ""
+"Early considerations focused on replacing the expensive and temperamental "
+"\"real time\" Windows NT system. It was proposed that a relatively new (at "
+"the time) real time extension of the Linux operating system be tried. This "
+"idea was pursued with success. Next up was the issue of the expensive "
+"intelligent motion control boards. By this time the processing power of a PC "
+"was considered great enough to directly take control of the motion "
+"routines.  A quick search of available hardware resulted in the selection of "
+"a https://www.servotogo.com/[Servo-To-Go] interface board as the first "
+"platform for letting the PC directly control the motors. Software for "
+"trajectory planning and PID loop control was added to the existing user "
+"interface and RS274 interpreter. Matt successfully used this version to "
+"upgrade a couple of machines with dead controls and this became the EMC "
+"system that first caught the attention of the outside world. Mention of EMC "
+"on the rec.crafts.metalworking USENET newsgroup resulted in early adopters "
+"like https://pico-systems.com/motion.html[Jon Elson] building systems to "
+"take advantage of EMC."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:55
+msgid ""
+"NIST set up a mailing list for people interested in EMC. As time went on, "
+"others outside NIST became interested in improving EMC. Many people "
+"requested or coded small improvements to the code. Ray Henry wanted to "
+"refine the user interface. Since Ray was reluctant to try tampering with the "
+"C code in which the user interface was written, a simpler method was "
+"sought. Fred Proctor of NIST suggested a scripting language and wrote code "
+"to interface the Tcl/Tk scripting language to the internal NML "
+"communications of EMC. With this tool Ray went on to write a Tcl/Tk program "
+"that became the predominant user interface for EMC at the time."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:60
+msgid ""
+"For NIST's perspective, see this "
+"https://web.archive.org/web/20120417094958/https://www.isd.mel.nist.gov/documents/shackleford/4191_05.pdf[paper] "
+"written by William Shackleford and Frederick Proctor, describing the history "
+"of EMC and its transition to open source."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:74
+msgid ""
+"By this time interest in EMC as beginning to pick up substantially. As more "
+"and more people attempted installation of EMC, the difficulty of patching a "
+"Linux kernel with the real time extensions and of compiling the EMC code "
+"became glaringly obvious. Many attempts to document the process and write "
+"scripts were attempted, some with moderate success. The problem of matching "
+"the correct version of the patches and compilers with the selected version "
+"of Linux kept cropping up. Paul Corner came to the rescue with the BDI "
+"(brain dead install) which was a CD from which a complete working system "
+"(Linux, patches, and EMC) could be installed.  The BDI approach opened the "
+"world of EMC to a much larger user community. As this community continued to "
+"grow, the EMC mailing list and code archives were moved to "
+"https://sourceforge.net/projects/emc/[SourceForge] and the LinuxCNC web site "
+"was established."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:84
+msgid ""
+"With a larger community of users participating, EMC became a major focus of "
+"interest at the on-going CNC exhibits at NAMES and NAMES became the annual "
+"meeting event for EMC. For the first couple of years, the meetings just "
+"happened because the interested parties were at NAMES. In 2003 the EMC user "
+"community had its first announced public meeting. It was held the Monday "
+"after NAMES in the lobby of the arena where the NAMES show was held.  "
+"Organization was loose, but the idea of a hardware abstraction layer (HAL) "
+"was born and the movement to restructure the code for ease of development "
+"(EMC2) was proposed."
+msgstr ""
+
+#. type: Title ==
+#: src/common/emc-history.adoc:85
+#, no-wrap
+msgid "Name Change"
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:92
+msgid ""
+"In the spring of 2011, the LinuxCNC Board of Directors was contacted by a "
+"law firm representing EMC Corporation (www.emc.com) about the use of \"EMC\" "
+"and \"EMC2\" to identify the software offered on linuxcnc.org. EMC "
+"Corporation has registered various trademarks relating to EMC and EMC² (EMC "
+"with superscripted numeral two)."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:99
+msgid ""
+"After a number of conversations with the representative of EMC Corporation, "
+"the final result is that, starting with the next major release of the "
+"software, linuxcnc.org will stop identifying the software using \"emc\" or "
+"\"EMC\", or those terms followed by digits. To the extent that the LinuxCNC "
+"Board of Directors controls the names used to identify the software offered "
+"on linuxcnc.org, the board has agreed to this."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:103
+msgid ""
+"As a result, it was necessary to choose a new name for the software. Of the "
+"options the board considered, there was consensus that \"LinuxCNC\" is the "
+"best option, as this has been our website's name for years."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:108
+msgid ""
+"In preparation for the new name, we have received a sub-license of the "
+"LINUX® trademark from the Linux Foundation (www.linuxfoundation.org), "
+"protecting our use of the LinuxCNC name. (LINUX® is the registered trademark "
+"of Linus Torvalds in the U.S. and other countries.)"
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:112
+msgid ""
+"The rebranding effort included the linuxcnc.org website, the IRC channels, "
+"and versions of the software and documentation since version 2.5.0."
+msgstr ""
+
+#. type: Title ==
+#: src/common/emc-history.adoc:113
+#, no-wrap
+msgid "Additional Info"
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:119
+msgid ""
+"NIST published a paper describing the "
+"https://www.nist.gov/node/704046[RS274NGC] language and the abstract "
+"machining center it controls, as well as an early implementation of EMC.  "
+"The paper is also available at https://linuxcnc.org/files/RS274NGCv3.pdf ."
+msgstr ""
+
+#. type: Plain text
+#: src/common/emc-history.adoc:123
+msgid ""
+"NIST also published a paper on the history of EMC and its transition to "
+"https://www.nist.gov/node/702276[open source]. The paper is also available "
+"at "
+"https://linuxcnc.org/files/Use-of-Open-Source-Distribution-for-a-Machine-Tool-Controller.pdf"
+msgstr ""
+
+#. type: Title =
+#: src/common/glossary.adoc:3
+#, no-wrap
+msgid "Glossary"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:8
+msgid ""
+"A listing of terms and what they mean. Some terms have a general meaning and "
+"several additional meanings for users, installers, and developers."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:9
+#, no-wrap
+msgid "Acme Screw"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:14
+msgid ""
+"(((acme screw))) A type of lead-screw that uses an Acme thread form. Acme "
+"threads have somewhat lower friction and wear than simple triangular "
+"threads, but ball-screws are lower yet. Most manual machine tools use acme "
+"lead-screws."
+msgstr ""
+
+#. type: Title ===
+#: src/common/glossary.adoc:15 src/config/stepper-quickstart.adoc:46
+#: src/config/stepper-quickstart.adoc:85 src/gcode/coordinates.adoc:102
+#: src/gui/halui.adoc:219 src/man/man1/halui.1.adoc:311
+#, no-wrap
+msgid "Axis"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:22
+msgid ""
+"(((axis))) One of the computer controlled movable parts of the machine. For "
+"a typical vertical mill, the table is the X axis, the saddle is the Y axis, "
+"and the quill or knee is the Z axis. Angular axes like rotary tables are "
+"referred to as A, B, and C. Additional linear axes relative to the tool are "
+"called U, V, and W respectively."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:23
+#, no-wrap
+msgid "AXIS(GUI)"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:29
+msgid ""
+"(((GUI))) One of the Graphical User Interfaces available to users of "
+"LinuxCNC. It features the modern use of menus and mouse buttons while "
+"automating and hiding some of the more traditional LinuxCNC controls. It is "
+"the only open-source interface that displays the entire tool path as soon as "
+"a file is opened."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:30
+#, no-wrap
+msgid "GMOCCAPY (GUI)"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:36
+msgid ""
+"(((GUI))) A Graphical User Interfaces available to users of LinuxCNC. It "
+"features the use and feel of an industrial control and can be used with "
+"touch screen, mouse and keyboard. It support embedded tabs and hal driven "
+"user messages, it offers a lot of hal beens to be controlled with "
+"hardware. GMOCCAPY is highly customizable."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:37
+#, no-wrap
+msgid "Backlash"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:48
+msgid ""
+"(((backlash))) The amount of \"play\" or lost motion that occurs when "
+"direction is reversed in a lead screw. or other mechanical motion driving "
+"system. It can result from nuts that are loose on leadscrews, slippage in "
+"belts, cable slack, \"wind-up\" in rotary couplings, and other places where "
+"the mechanical system is not \"tight\".  Backlash will result in inaccurate "
+"motion, or in the case of motion caused by external forces (think cutting "
+"tool pulling on the work piece) the result can be broken cutting tools. This "
+"can happen because of the sudden increase in chip load on the cutter as the "
+"work piece is pulled across the backlash distance by the cutting tool."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:49
+#, no-wrap
+msgid "Backlash Compensation"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:58
+msgid ""
+"(((backlash compensation))) Any technique that attempts to reduce the effect "
+"of backlash without actually removing it from the mechanical system. This is "
+"typically done in software in the controller. This can correct the final "
+"resting place of the part in motion but fails to solve problems related to "
+"direction changes while in motion (think circular interpolation) and motion "
+"that is caused when external forces (think cutting tool pulling on the work "
+"piece) are the source of the motion."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:59
+#, no-wrap
+msgid "Ball Screw"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:64
+msgid ""
+"(((ball screw))) A type of lead-screw that uses small hardened steel balls "
+"between the nut and screw to reduce friction.  Ball-screws have very low "
+"friction and backlash, but are usually quite expensive."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:65
+#, no-wrap
+msgid "Ball Nut"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:69
+msgid ""
+"(((ball nut))) A special nut designed for use with a ball-screw. It contains "
+"an internal passage to re-circulate the balls from one end of the screw to "
+"the other."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:70
+#, no-wrap
+msgid "CNC"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:75
+msgid ""
+"(((CNC))) Computer Numerical Control. The general term used to refer to "
+"computer control of machinery. Instead of a human operator turning cranks to "
+"move a cutting tool, CNC uses a computer and motors to move the tool, based "
+"on a part program."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:76
+#, no-wrap
+msgid "Comp"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:79
+msgid ""
+"(((comp))) A tool used to build, compile and install LinuxCNC HAL "
+"components."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:80
+#, no-wrap
+msgid "Configuration(n)"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:86
+msgid ""
+"A directory containing a set of configuration files. Custom configurations "
+"are normally saved in the users home/linuxcnc/configs directory. These files "
+"include LinuxCNC's traditional INI file and HAL files. A configuration may "
+"also contain several general files that describe tools, parameters, and NML "
+"connections."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:87
+#, no-wrap
+msgid "Configuration(v)"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:90
+msgid ""
+"The task of setting up LinuxCNC so that it matches the hardware on a machine "
+"tool."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:91
+#, no-wrap
+msgid "Coordinate Measuring Machine"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:97
+msgid ""
+"(((coordinate measuring machine))) A Coordinate Measuring Machine is used to "
+"make many accurate measurements on parts. These machines can be used to "
+"create CAD data for parts where no drawings can be found, when a hand-made "
+"prototype needs to be digitized for moldmaking, or to check the accuracy of "
+"machined or molded parts."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:98
+#, no-wrap
+msgid "Display units"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:101
+msgid "(((display units))) The linear and angular units used for onscreen display."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:102
+#, no-wrap
+msgid "DRO"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:113
+msgid ""
+"(((DRO))) A Digital Read Out is a system of position-measuring devices "
+"attached to the slides of a machine tool, which are connected to a numeric "
+"display showing the current location of the tool with respect to some "
+"reference position.  DROs are very popular on hand-operated machine tools "
+"because they measure the true tool position without backlash, even if the "
+"machine has very loose Acme screws.  Some DROs use linear quadrature "
+"encoders to pick up position information from the machine, and some use "
+"methods similar to a resolver which keeps rolling over."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:114
+#, no-wrap
+msgid "EDM"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:124
+msgid ""
+"(((EDM))) EDM is a method of removing metal in hard or difficult to machine "
+"or tough metals, or where rotating tools would not be able to produce the "
+"desired shape in a cost-effective manner. An excellent example is "
+"rectangular punch dies, where sharp internal corners are desired. Milling "
+"operations can not give sharp internal corners with finite diameter tools. A "
+"'wire' EDM machine can make internal corners with a radius only slightly "
+"larger than the wire's radius. A 'sinker' EDM can make internal corners with "
+"a radius only slightly larger than the radius on the corner of the sinking "
+"electrode."
+msgstr ""
+
+#. type: Title ===
+#: src/common/glossary.adoc:125 src/drivers/gm.adoc:563
+#, no-wrap
+msgid "EMC"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:128
+msgid ""
+"(((EMC))) The Enhanced Machine Controller. Initially a NIST project. Renamed "
+"to LinuxCNC in 2012."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:129
+#, no-wrap
+msgid "EMCIO"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:132
+msgid ""
+"(((EMCIO))) The module within LinuxCNC that handles general purpose I/O, "
+"unrelated to the actual motion of the axes."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:133
+#, no-wrap
+msgid "EMCMOT"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:137
+msgid ""
+"(((EMCMOT))) The module within LinuxCNC that handles the actual motion of "
+"the cutting tool. It runs as a real-time program and directly controls the "
+"motors."
+msgstr ""
+
+#. type: Title ===
+#: src/common/glossary.adoc:138 src/drivers/gm.adoc:152
+#: src/drivers/hostmot2.adoc:290 src/drivers/hostmot2.adoc:301
+#: src/drivers/hostmot2.adoc:312 src/drivers/hostmot2.adoc:329
+#: src/drivers/hostmot2.adoc:343 src/drivers/hostmot2.adoc:357
+#: src/drivers/hostmot2.adoc:367 src/drivers/hostmot2.adoc:379
+#: src/drivers/hostmot2.adoc:637 src/man/man9/hostmot2.9.adoc:324
+#, no-wrap
+msgid "Encoder"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:143
+msgid ""
+"(((encoder))) A device to measure position. Usually a mechanical-optical "
+"device, which outputs a quadrature signal. The signal can be counted by "
+"special hardware, or directly by the parport with LinuxCNC."
+msgstr ""
+
+#. type: Title ====
+#: src/common/glossary.adoc:144 src/man/man1/xhc-whb04b-6.1.adoc:191
+#, no-wrap
+msgid "Feed"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:147
+msgid ""
+"(((feed))) Relatively slow, controlled motion of the tool used when making a "
+"cut."
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:148 src/gcode/overview.adoc:126
+#: src/gui/qtvcp-widgets.adoc:2123 src/gui/qtvcp-widgets.adoc:2264
+#, no-wrap
+msgid "Feed rate"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:152
+msgid ""
+"(((feed rate))) The speed at which a cutting motion occurs.  In auto or MDI "
+"mode, feed rate is commanded using an F word.  F10 would mean ten machine "
+"units per minute."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:153
+#, no-wrap
+msgid "Feedback"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:156
+msgid ""
+"(((feedback))) A method (e.g., quadrature encoder signals)  by which "
+"LinuxCNC receives information about the position of motors."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:157
+#, no-wrap
+msgid "Feedrate Override"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:162
+msgid ""
+"(((feedrate override))) A manual, operator controlled change in the rate at "
+"which the tool moves while cutting. Often used to allow the operator to "
+"adjust for tools that are a little dull, or anything else that requires the "
+"feed rate to be \"tweaked\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:163
+#, no-wrap
+msgid "Floating Point Number"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:165
+msgid "A number that has a decimal point. (12.300) In HAL it is known as float."
+msgstr ""
+
+#. type: Table
+#: src/common/glossary.adoc:166 src/gcode/g-code.adoc:774
+#, no-wrap
+msgid "G-code"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:170
+msgid ""
+"(((G-code))) The generic term used to refer to the most common part "
+"programming language. There are several dialects of G-code, LinuxCNC uses "
+"RS274/NGC."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:171
+#, no-wrap
+msgid "GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:173
+msgid "(((GUI))) Graphical User Interface."
+msgstr ""
+
+#. type: Title ==
+#: src/common/glossary.adoc:173 src/gui/gmoccapy.adoc:1301
+#: src/motion/dh-parameters.adoc:24
+#, no-wrap
+msgid "General"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:177
+#, no-wrap
+msgid ""
+"A type of interface that allows communications between a computer\n"
+"and a human (in most cases) via the manipulation of icons and other\n"
+"elements (widgets) on a computer screen.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:182
+#, no-wrap
+msgid ""
+"An application that presents a graphical screen to the machine\n"
+"operator allowing manipulation of the machine and the corresponding\n"
+"controlling program.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:183
+#, no-wrap
+msgid "HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:189
+msgid ""
+"(((HAL))) Hardware Abstraction Layer. At the highest level, it is simply a "
+"way to allow a number of building blocks to be loaded and interconnected to "
+"assemble a complex system. Many of the building blocks are drivers for "
+"hardware devices.  However, HAL can do more than just configure hardware "
+"drivers."
+msgstr ""
+
+#. type: Table
+#: src/common/glossary.adoc:190 src/gui/tklinuxcnc.adoc:262
+#, no-wrap
+msgid "Home"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:194
+msgid ""
+"(((home))) A specific location in the machine's work envelope that is used "
+"to make sure the computer and the actual machine both agree on the tool "
+"position."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:195
+#, no-wrap
+msgid "INI file"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:198
+msgid ""
+"(((INI))) A text file that contains most of the information that configures "
+"LinuxCNC for a particular machine."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:199
+#, no-wrap
+msgid "Instance"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:204
+msgid ""
+"(((Instance))) One can have an instance of a class or a particular "
+"object. The instance is the actual object created at runtime. In programmer "
+"jargon, the \"Lassie\" object is an instance of the \"Dog\" class."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:205
+#, no-wrap
+msgid "Joint Coordinates"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:208
+msgid ""
+"(((joint coordinates))) These specify the angles between the individual "
+"joints of the machine. See also Kinematics"
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:209
+#, no-wrap
+msgid "Jog"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:214
+msgid ""
+"(((jog))) Manually moving an axis of a machine. Jogging either moves the "
+"axis a fixed amount for each key-press, or moves the axis at a constant "
+"speed as long as you hold down the key. In manual mode, jog speed can be set "
+"from the graphical interface."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:215
+#, no-wrap
+msgid "kernel-space"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:217
+msgid ""
+"Code running inside the kernel, as opposed to code running in userspace.  "
+"Some realtime systems (like RTAI) run realtime code in the kernel and "
+"non-realtime code in userspace, while other realtime systems (like "
+"Preempt-RT) run both realtime and non-realtime code in userspace."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:218
+#, no-wrap
+msgid "Kinematics"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:225
+msgid ""
+"(((kinematics))) The position relationship between world coordinates and "
+"joint coordinates of a machine. There are two types of kinematics. Forward "
+"kinematics is used to calculate world coordinates from joint "
+"coordinates. Inverse kinematics is used for exactly the opposite "
+"purpose. Note that kinematics does not take into account, the forces, "
+"moments etc. on the machine. It is for positioning only."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:226
+#, no-wrap
+msgid "Lead-screw"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:232
+msgid ""
+"(((lead screw))) An screw that is rotated by a motor to move a table or "
+"other part of a machine. Lead-screws are usually either ball-screws or acme "
+"screws, although conventional triangular threaded screws may be used where "
+"accuracy and long life are not as important as low cost."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:233
+#, no-wrap
+msgid "Machine units"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:237
+msgid ""
+"(((machine units))) The linear and angular units used for machine "
+"configuration. These units are specified and used in the INI file.  HAL pins "
+"and parameters are also generally in machine units."
+msgstr ""
+
+#. type: Title ===
+#: src/common/glossary.adoc:238 src/gui/axis.adoc:550 src/gui/halui.adoc:37
+#: src/gui/halui.adoc:163 src/plasma/qtplasmac.adoc:742
+#: src/plasma/qtplasmac.adoc:2555
+#, no-wrap
+msgid "MDI"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:242
+msgid ""
+"(((MDI))) Manual Data Input. This is a mode of operation where the "
+"controller executes single lines of G-code as they are typed by the "
+"operator."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:243
+#, no-wrap
+msgid "NIST"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:246
+msgid ""
+"(((NIST))) National Institute of Standards and Technology.  An agency of the "
+"Department of Commerce in the United States."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:247
+#, no-wrap
+msgid "NML"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:252
+msgid ""
+"(((NML))) Neutral Message Language provides a mechanism for handling "
+"multiple types of messages in the same buffer as well as simplifying the "
+"interface for encoding and decoding buffers in neutral format and the "
+"configuration mechanism."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:252
+#, no-wrap
+msgid "Offsets"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:262
+msgid ""
+"(((offsets)))  An arbitrary amount, added to the value of something to make "
+"it equal to some desired value. For example, G-code programs are often "
+"written around some convenient point, such as X0, Y0.  Fixture offsets can "
+"be used to shift the actual execution point of that G-code program to "
+"properly fit the true location of the vice and jaws.  Tool offsets can be "
+"used to shift the \"uncorrected\" length of a tool to equal that tool's "
+"actual length."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:263
+#, no-wrap
+msgid "Part Program"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:267
+msgid ""
+"(((part Program))) A description of a part, in a language that the "
+"controller can understand. For LinuxCNC, that language is RS-274/NGC, "
+"commonly known as G-code."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:268
+#, no-wrap
+msgid "Program Units"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:273
+msgid ""
+"(((program units))) The linear and angular units used in a part program.  "
+"The linear program units do not have to be the same as the linear machine "
+"units.  See G20 and G21 for more information. The angular program units are "
+"always measured in degrees."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:274
+#, no-wrap
+msgid "Python"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:278
+msgid ""
+"General-purpose, very high-level programming language. Used in LinuxCNC for "
+"the Axis GUI, the StepConf configuration tool, and several G-code "
+"programming scripts."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:279
+#, no-wrap
+msgid "Rapid"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:283
+msgid ""
+"(((rapid))) Fast, possibly less precise motion of the tool, commonly used to "
+"move between cuts. If the tool meets the workpiece or the fixturing during a "
+"rapid, it is probably a bad thing!"
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:284
+#, no-wrap
+msgid "Rapid rate"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:289
+msgid ""
+"(((rapid rate)))The speed at which a rapid motion occurs.  In auto or MDI "
+"mode, rapid rate is usually the maximum speed of the machine.  It is often "
+"desirable to limit the rapid rate when testing a G-code program for the "
+"first time."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:290
+#, no-wrap
+msgid "Real-time"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:292
+msgid ""
+"(((real-time))) Software that is intended to meet very strict timing "
+"deadlines. On Linux, in order to meet these requirements it is necessary to "
+"install a realtime kernel such as RTAI or Preempt-RT, and build the LinuxCNC "
+"software to run in the special real-time environment.  Realtime software can "
+"run in the kernel or in userspace, depending on the facilities offered by "
+"the system."
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:297
+msgid ""
+"(((RTAI))) Real Time Application Interface, see "
+"https://www.rtai.org/[https://www.rtai.org/], the real-time extensions for "
+"Linux that LinuxCNC can use to achieve real-time performance."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:298
+#, no-wrap
+msgid "RTLINUX"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:303
+msgid ""
+"(((RTLINUX))) See "
+"https://en.wikipedia.org/wiki/RTLinux[https://en.wikipedia.org/wiki/RTLinux], "
+"an older real-time extension for Linux that LinuxCNC used to use to achieve "
+"real-time performance.  Obsolete, replaced by RTAI."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:304
+#, no-wrap
+msgid "RTAPI"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:307
+msgid ""
+"(((RTAPI)))A portable interface to real-time operating systems including "
+"RTAI and POSIX pthreads with realtime extensions."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:308
+#, no-wrap
+msgid "RS-274/NGC"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:311
+msgid ""
+"(((RS274NGC))) The formal name for the language used by LinuxCNC part "
+"programs."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:312
+#, no-wrap
+msgid "Servo Motor"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:317
+msgid ""
+"(((servo motor))) Generally, any motor that is used with error-sensing "
+"feedback to correct the position of an actuator.  Also, a motor which is "
+"specially-designed to provide improved performance in such applications."
+msgstr ""
+
+#. type: Block title
+#: src/common/glossary.adoc:318 src/config/integrator-concepts.adoc:145
+#, no-wrap
+msgid "Servo Loop"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:321
+msgid ""
+"(((loop))) A control loop used to control position or velocity of an motor "
+"equipped with a feedback device."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:322
+#, no-wrap
+msgid "Signed Integer"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:325
+msgid ""
+"(((Signed Integer))) A whole number that can have a positive or negative "
+"sign.  In HAL it is usually a <<sub:hal-s32,s32>>, but could be also a "
+"<<sub:hal-s64,s64>>."
+msgstr ""
+
+#. type: Title ====
+#: src/common/glossary.adoc:326 src/config/core-components.adoc:208
+#: src/gui/gmoccapy.adoc:1340 src/gui/halui.adoc:300 src/gui/qtdragon.adoc:597
+#: src/man/man1/halui.1.adoc:64 src/man/man1/xhc-whb04b-6.1.adoc:161
+#, no-wrap
+msgid "Spindle"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:330
+msgid ""
+"(((spindle))) The part of a machine tool that spins to do the cutting. On a "
+"mill or drill, the spindle holds the cutting tool. On a lathe, the spindle "
+"holds the workpiece."
+msgstr ""
+
+#. type: Title ===
+#: src/common/glossary.adoc:331 src/gui/axis.adoc:573
+#, no-wrap
+msgid "Spindle Speed Override"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:336
+msgid ""
+"A manual, operator controlled change in the rate at which the tool rotates "
+"while cutting. Often used to allow the operator to adjust for chatter caused "
+"by the cutter's teeth. Spindle Speed Override assumes that the LinuxCNC "
+"software has been configured to control spindle speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:337
+#, no-wrap
+msgid "StepConf"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:342
+msgid ""
+"An LinuxCNC configuration wizard. It is able to handle many "
+"step-and-direction motion command based machines. It writes a full "
+"configuration after the user answers a few questions about the computer and "
+"machine that LinuxCNC is to run on."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:343
+#, no-wrap
+msgid "Stepper Motor"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:348
+msgid ""
+"(((stepper motor))) A type of motor that turns in fixed steps. By counting "
+"steps, it is possible to determine how far the motor has turned. If the load "
+"exceeds the torque capability of the motor, it will skip one or more steps, "
+"causing position errors."
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:352
+msgid ""
+"(((TASK))) The module within LinuxCNC that coordinates the overall execution "
+"and interprets the part program."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:353
+#, no-wrap
+msgid "Tcl/Tk"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:357
+msgid ""
+"(((Tk))) A scripting language and graphical widget toolkit with which "
+"several of LinuxCNCs GUIs and selection wizards were written."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:358
+#, no-wrap
+msgid "Traverse Move"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:361
+msgid ""
+"(((Traverse Move))) A move in a straight line from the start point to the "
+"end point."
+msgstr ""
+
+#. type: Title ===
+#: src/common/glossary.adoc:362 html/gcode.html:109
+#: src/gui/image-to-gcode.adoc:55
+#, no-wrap
+msgid "Units"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:364
+msgid "(((units))) See \"Machine Units\", \"Display Units\", or \"Program Units\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:365
+#, no-wrap
+msgid "Unsigned Integer"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:368
+msgid ""
+"(((Unsigned Integer))) A whole number that has no sign.  In HAL it is "
+"usually a <<sub:hal-u32,u32>> but could be also a <<sub:hal-u64,u64>>."
+msgstr ""
+
+#. type: Labeled list
+#: src/common/glossary.adoc:369
+#, no-wrap
+msgid "World Coordinates"
+msgstr ""
+
+#. type: Plain text
+#: src/common/glossary.adoc:374
+msgid ""
+"(((world coordinates))) This is the absolute frame of reference. It gives "
+"coordinates in terms of a fixed reference frame that is attached to some "
+"point (generally the base) of the machine tool."
+msgstr ""
+
+#. type: Title =
+#: src/common/gpld-copyright.adoc:4
+#, no-wrap
+msgid "Legal Section"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:7
+msgid ""
+"Translations of this file provided in the source tree are not legally "
+"binding."
+msgstr ""
+
+#. type: Title ==
+#: src/common/gpld-copyright.adoc:8
+#, no-wrap
+msgid "Copyright Terms"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:11
+#, no-wrap
+msgid "*`Copyright (c) 2000-2022 LinuxCNC.org`*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:18 src/common/overleaf.adoc:16
+msgid ""
+"Permission is granted to copy, distribute and/or modify this document under "
+"the terms of the GNU Free Documentation License, Version 1.1 or any later "
+"version published by the Free Software Foundation; with no Invariant "
+"Sections, no Front-Cover Texts, and no Back-Cover Texts.  A copy of the "
+"license is included in the section entitled \"GNU Free Documentation "
+"License\"."
+msgstr ""
+
+#. type: Title ==
+#: src/common/gpld-copyright.adoc:19
+#, no-wrap
+msgid "GNU Free Documentation License"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:22
+#, no-wrap
+msgid "*GNU Free Documentation License Version 1.1, March 2000*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:27
+msgid ""
+"Copyright (C) 2000 Free Software Foundation, Inc. 51 Franklin Street, Fifth "
+"Floor, Boston, MA 02110-1301 USA. Everyone is permitted to copy and "
+"distribute verbatim copies of this license document, but changing it is not "
+"allowed."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:29
+#, no-wrap
+msgid "*0. PREAMBLE*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:37
+msgid ""
+"The purpose of this License is to make a manual, textbook, or other written "
+"document \"free\" in the sense of freedom: to assure everyone the effective "
+"freedom to copy and redistribute it, with or without modifying it, either "
+"commercially or noncommercially. Secondarily, this License preserves for the "
+"author and publisher a way to get credit for their work, while not being "
+"considered responsible for modifications made by others."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:42
+msgid ""
+"This License is a kind of \"copyleft\", which means that derivative works of "
+"the document must themselves be free in the same sense. It complements the "
+"GNU General Public License, which is a copyleft license designed for free "
+"software."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:50
+msgid ""
+"We have designed this License in order to use it for manuals for free "
+"software, because free software needs free documentation: a free program "
+"should come with manuals providing the same freedoms that the software "
+"does. But this License is not limited to software manuals; it can be used "
+"for any textual work, regardless of subject matter or whether it is "
+"published as a printed book. We recommend this License principally for works "
+"whose purpose is instruction or reference."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:52
+#, no-wrap
+msgid "*1. APPLICABILITY AND DEFINITIONS*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:58
+msgid ""
+"This License applies to any manual or other work that contains a notice "
+"placed by the copyright holder saying it can be distributed under the terms "
+"of this License. The \"Document\", below, refers to any such manual or "
+"work. Any member of the public is a licensee, and is addressed as \"you\"."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:62
+msgid ""
+"A \"Modified Version\" of the Document means any work containing the "
+"Document or a portion of it, either copied verbatim, or with modifications "
+"and/or translated into another language."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:73
+msgid ""
+"A \"Secondary Section\" is a named appendix or a front-matter section of the "
+"Document that deals exclusively with the relationship of the publishers or "
+"authors of the Document to the Document's overall subject (or to related "
+"matters) and contains nothing that could fall directly within that overall "
+"subject. (For example, if the Document is in part a textbook of mathematics, "
+"a Secondary Section may not explain any mathematics.) The relationship could "
+"be a matter of historical connection with the subject or with related "
+"matters, or of legal, commercial, philosophical, ethical or political "
+"position regarding them."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:77
+msgid ""
+"The \"Invariant Sections\" are certain Secondary Sections whose titles are "
+"designated, as being those of Invariant Sections, in the notice that says "
+"that the Document is released under this License."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:81
+msgid ""
+"The \"Cover Texts\" are certain short passages of text that are listed, as "
+"Front-Cover Texts or Back-Cover Texts, in the notice that says that the "
+"Document is released under this License."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:93
+msgid ""
+"A \"Transparent\" copy of the Document means a machine-readable copy, "
+"represented in a format whose specification is available to the general "
+"public, whose contents can be viewed and edited directly and "
+"straightforwardly with generic text editors or (for images composed of "
+"pixels) generic paint programs or (for drawings) some widely available "
+"drawing editor, and that is suitable for input to text formatters or for "
+"automatic translation to a variety of formats suitable for input to text "
+"formatters. A copy made in an otherwise Transparent file format whose markup "
+"has been designed to thwart or discourage subsequent modification by readers "
+"is not Transparent. A copy that is not \"Transparent\" is called \"Opaque\"."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:102
+msgid ""
+"Examples of suitable formats for Transparent copies include plain ASCII "
+"without markup, Texinfo input format, LaTeX input format, SGML or XML using "
+"a publicly available DTD, and standard-conforming simple HTML designed for "
+"human modification. Opaque formats include PostScript, PDF, proprietary "
+"formats that can be read and edited only by proprietary word processors, "
+"SGML or XML for which the DTD and/or processing tools are not generally "
+"available, and the machine-generated HTML produced by some word processors "
+"for output purposes only."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:109
+msgid ""
+"The \"Title Page\" means, for a printed book, the title page itself, plus "
+"such following pages as are needed to hold, legibly, the material this "
+"License requires to appear in the title page. For works in formats which do "
+"not have any title page as such, \"Title Page\" means the text near the most "
+"prominent appearance of the work's title, preceding the beginning of the "
+"body of the text."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:111
+#, no-wrap
+msgid "*2. VERBATIM COPYING*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:121
+msgid ""
+"You may copy and distribute the Document in any medium, either commercially "
+"or noncommercially, provided that this License, the copyright notices, and "
+"the license notice saying this License applies to the Document are "
+"reproduced in all copies, and that you add no other conditions whatsoever to "
+"those of this License. You may not use technical measures to obstruct or "
+"control the reading or further copying of the copies you make or "
+"distribute. However, you may accept compensation in exchange for copies. If "
+"you distribute a large enough number of copies you must also follow the "
+"conditions in section 3."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:124
+msgid ""
+"You may also lend copies, under the same conditions stated above, and you "
+"may publicly display copies."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:126
+#, no-wrap
+msgid "*3. COPYING IN QUANTITY*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:138
+msgid ""
+"If you publish printed copies of the Document numbering more than 100, and "
+"the Document's license notice requires Cover Texts, you must enclose the "
+"copies in covers that carry, clearly and legibly, all these Cover Texts: "
+"Front-Cover Texts on the front cover, and Back-Cover Texts on the back "
+"cover. Both covers must also clearly and legibly identify you as the "
+"publisher of these copies. The front cover must present the full title with "
+"all words of the title equally prominent and visible.  You may add other "
+"material on the covers in addition. Copying with changes limited to the "
+"covers, as long as they preserve the title of the Document and satisfy these "
+"conditions, can be treated as verbatim copying in other respects."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:143
+msgid ""
+"If the required texts for either cover are too voluminous to fit legibly, "
+"you should put the first ones listed (as many as fit reasonably) on the "
+"actual cover, and continue the rest onto adjacent pages."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:157
+msgid ""
+"If you publish or distribute Opaque copies of the Document numbering more "
+"than 100, you must either include a machine-readable Transparent copy along "
+"with each Opaque copy, or state in or with each Opaque copy a "
+"publicly-accessible computer-network location containing a complete "
+"Transparent copy of the Document, free of added material, which the general "
+"network-using public has access to download anonymously at no charge using "
+"public-standard network protocols. If you use the latter option, you must "
+"take reasonably prudent steps, when you begin distribution of Opaque copies "
+"in quantity, to ensure that this Transparent copy will remain thus "
+"accessible at the stated location until at least one year after the last "
+"time you distribute an Opaque copy (directly or through your agents or "
+"retailers) of that edition to the public."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:161
+msgid ""
+"It is requested, but not required, that you contact the authors of the "
+"Document well before redistributing any large number of copies, to give them "
+"a chance to provide you with an updated version of the Document."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:163
+#, no-wrap
+msgid "*4. MODIFICATIONS*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:170
+msgid ""
+"You may copy and distribute a Modified Version of the Document under the "
+"conditions of sections 2 and 3 above, provided that you release the Modified "
+"Version under precisely this License, with the Modified Version filling the "
+"role of the Document, thus licensing distribution and modification of the "
+"Modified Version to whoever possesses a copy of it. In addition, you must do "
+"these things in the Modified Version:"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:211
+msgid ""
+"A. Use in the Title Page (and on the covers, if any) a title distinct from "
+"that of the Document, and from those of previous versions (which should, if "
+"there were any, be listed in the History section of the Document). You may "
+"use the same title as a previous version if the original publisher of that "
+"version gives permission. B. List on the Title Page, as authors, one or more "
+"persons or entities responsible for authorship of the modifications in the "
+"Modified Version, together with at least five of the principal authors of "
+"the Document (all of its principal authors, if it has less than "
+"five). C. State on the Title page the name of the publisher of the Modified "
+"Version, as the publisher. D. Preserve all the copyright notices of the "
+"Document. E.  Add an appropriate copyright notice for your modifications "
+"adjacent to the other copyright notices. F. Include, immediately after the "
+"copyright notices, a license notice giving the public permission to use the "
+"Modified Version under the terms of this License, in the form shown in the "
+"Addendum below. G. Preserve in that license notice the full lists of "
+"Invariant Sections and required Cover Texts given in the Document's license "
+"notice. H. Include an unaltered copy of this License. I. Preserve the "
+"section entitled \"History\", and its title, and add to it an item stating "
+"at least the title, year, new authors, and publisher of the Modified Version "
+"as given on the Title Page. If there is no section entitled \"History\" in "
+"the Document, create one stating the title, year, authors, and publisher of "
+"the Document as given on its Title Page, then add an item describing the "
+"Modified Version as stated in the previous sentence. J. Preserve the network "
+"location, if any, given in the Document for public access to a Transparent "
+"copy of the Document, and likewise the network locations given in the "
+"Document for previous versions it was based on. These may be placed in the "
+"\"History\" section. You may omit a network location for a work that was "
+"published at least four years before the Document itself, or if the original "
+"publisher of the version it refers to gives permission. K. In any section "
+"entitled \"Acknowledgements\" or \"Dedications\", preserve the section's "
+"title, and preserve in the section all the substance and tone of each of the "
+"contributor acknowledgements and/or dedications given therein. L. Preserve "
+"all the Invariant Sections of the Document, unaltered in their text and in "
+"their titles. Section numbers or the equivalent are not considered part of "
+"the section titles. M. Delete any section entitled \"Endorsements\". Such a "
+"section may not be included in the Modified Version. N. Do not retitle any "
+"existing section as \"Endorsements\" or to conflict in title with any "
+"Invariant Section."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:218
+msgid ""
+"If the Modified Version includes new front-matter sections or appendices "
+"that qualify as Secondary Sections and contain no material copied from the "
+"Document, you may at your option designate some or all of these sections as "
+"invariant. To do this, add their titles to the list of Invariant Sections in "
+"the Modified Version's license notice.  These titles must be distinct from "
+"any other section titles."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:224
+msgid ""
+"You may add a section entitled \"Endorsements\", provided it contains "
+"nothing but endorsements of your Modified Version by various parties--for "
+"example, statements of peer review or that the text has been approved by an "
+"organization as the authoritative definition of a standard."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:234
+msgid ""
+"You may add a passage of up to five words as a Front-Cover Text, and a "
+"passage of up to 25 words as a Back-Cover Text, to the end of the list of "
+"Cover Texts in the Modified Version. Only one passage of Front-Cover Text "
+"and one of Back-Cover Text may be added by (or through arrangements made by) "
+"any one entity. If the Document already includes a cover text for the same "
+"cover, previously added by you or by arrangement made by the same entity you "
+"are acting on behalf of, you may not add another; but you may replace the "
+"old one, on explicit permission from the previous publisher that added the "
+"old one."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:238
+msgid ""
+"The author(s) and publisher(s) of the Document do not by this License give "
+"permission to use their names for publicity for or to assert or imply "
+"endorsement of any Modified Version."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:240
+#, no-wrap
+msgid "*5. COMBINING DOCUMENTS*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:247
+msgid ""
+"You may combine the Document with other documents released under this "
+"License, under the terms defined in section 4 above for modified versions, "
+"provided that you include in the combination all of the Invariant Sections "
+"of all of the original documents, unmodified, and list them all as Invariant "
+"Sections of your combined work in its license notice."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:256
+msgid ""
+"The combined work need only contain one copy of this License, and multiple "
+"identical Invariant Sections may be replaced with a single copy. If there "
+"are multiple Invariant Sections with the same name but different contents, "
+"make the title of each such section unique by adding at the end of it, in "
+"parentheses, the name of the original author or publisher of that section if "
+"known, or else a unique number.  Make the same adjustment to the section "
+"titles in the list of Invariant Sections in the license notice of the "
+"combined work."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:262
+msgid ""
+"In the combination, you must combine any sections entitled \"History\" in "
+"the various original documents, forming one section entitled \"History\"; "
+"likewise combine any sections entitled \"Acknowledgements\", and any "
+"sections entitled \"Dedications\". You must delete all sections entitled "
+"\"Endorsements.\""
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:264
+#, no-wrap
+msgid "*6. COLLECTIONS OF DOCUMENTS*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:271
+msgid ""
+"You may make a collection consisting of the Document and other documents "
+"released under this License, and replace the individual copies of this "
+"License in the various documents with a single copy that is included in the "
+"collection, provided that you follow the rules of this License for verbatim "
+"copying of each of the documents in all other respects."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:277
+msgid ""
+"You may extract a single document from such a collection, and distribute it "
+"individually under this License, provided you insert a copy of this License "
+"into the extracted document, and follow this License in all other respects "
+"regarding verbatim copying of that document."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:279
+#, no-wrap
+msgid "*7. AGGREGATION WITH INDEPENDENT WORKS*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:288
+msgid ""
+"A compilation of the Document or its derivatives with other separate and "
+"independent documents or works, in or on a volume of a storage or "
+"distribution medium, does not as a whole count as a Modified Version of the "
+"Document, provided no compilation copyright is claimed for the "
+"compilation. Such a compilation is called an \"aggregate\", and this License "
+"does not apply to the other self-contained works thus compiled with the "
+"Document, on account of their being thus compiled, if they are not "
+"themselves derivative works of the Document."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:294
+msgid ""
+"If the Cover Text requirement of section 3 is applicable to these copies of "
+"the Document, then if the Document is less than one quarter of the entire "
+"aggregate, the Document's Cover Texts may be placed on covers that surround "
+"only the Document within the aggregate. Otherwise they must appear on covers "
+"around the whole aggregate."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:296
+#, no-wrap
+msgid "*8. TRANSLATION*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:307
+msgid ""
+"Translation is considered a kind of modification, so you may distribute "
+"translations of the Document under the terms of section 4.  Replacing "
+"Invariant Sections with translations requires special permission from their "
+"copyright holders, but you may include translations of some or all Invariant "
+"Sections in addition to the original versions of these Invariant "
+"Sections. You may include a translation of this License provided that you "
+"also include the original English version of this License. In case of a "
+"disagreement between the translation and the original English version of "
+"this License, the original English version will prevail."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:309
+#, no-wrap
+msgid "*9. TERMINATION*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:317
+msgid ""
+"You may not copy, modify, sublicense, or distribute the Document except as "
+"expressly provided for under this License. Any other attempt to copy, "
+"modify, sublicense or distribute the Document is void, and will "
+"automatically terminate your rights under this License. However, parties who "
+"have received copies, or rights, from you under this License will not have "
+"their licenses terminated so long as such parties remain in full compliance."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:319
+#, no-wrap
+msgid "*10. FUTURE REVISIONS OF THIS LICENSE*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:325
+msgid ""
+"The Free Software Foundation may publish new, revised versions of the GNU "
+"Free Documentation License from time to time. Such new versions will be "
+"similar in spirit to the present version, but may differ in detail to "
+"address new problems or concerns. See https://www.gnu.org/copyleft/."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:334
+msgid ""
+"Each version of the License is given a distinguishing version number.  If "
+"the Document specifies that a particular numbered version of this License "
+"\"or any later version\" applies to it, you have the option of following the "
+"terms and conditions either of that specified version or of any later "
+"version that has been published (not as a draft) by the Free Software "
+"Foundation. If the Document does not specify a version number of this "
+"License, you may choose any version ever published (not as a draft) by the "
+"Free Software Foundation."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:336
+#, no-wrap
+msgid "*ADDENDUM*: How to use this License for your documents\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:340
+msgid ""
+"To use this License in a document you have written, include a copy of the "
+"License in the document and put the following copyright and license notices "
+"just after the title page:"
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:348
+msgid ""
+"Copyright (c) YEAR YOUR NAME. Permission is granted to copy, distribute "
+"and/or modify this document under the terms of the GNU Free Documentation "
+"License, Version 1.1 or any later version published by the Free Software "
+"Foundation; with the Invariant Sections being LIST THEIR TITLES, with the "
+"Front-Cover Texts being LIST, and with the Back-Cover Texts being LIST. A "
+"copy of the license is included in the section entitled \"GNU Free "
+"Documentation License\"."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:353
+msgid ""
+"If you have no Invariant Sections, write \"with no Invariant Sections\" "
+"instead of saying which ones are invariant. If you have no Front-Cover "
+"Texts, write \"no Front-Cover Texts\" instead of \"Front-Cover Texts being "
+"LIST\"; likewise for Back-Cover Texts."
+msgstr ""
+
+#. type: Plain text
+#: src/common/gpld-copyright.adoc:358
+msgid ""
+"If your document contains nontrivial examples of program code, we recommend "
+"releasing these examples in parallel under your choice of free software "
+"license, such as the GNU General Public License, to permit their use in free "
+"software."
+msgstr ""
+
+#. type: Title =
+#: src/common/linux-faq.adoc:5
+#, no-wrap
+msgid "Linux FAQ(((Linux FAQ)))"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:10
+msgid ""
+"These are some basic Linux commands and techniques for new to Linux "
+"users. More complete information can be found on the web or by using the man "
+"pages."
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:11
+#, no-wrap
+msgid "Automatic Login(((Automatic Login)))"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:13
+#, no-wrap
+msgid "Debian"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:17
+msgid ""
+"Debian Stretch uses the Xfce desktop environment by default, with the "
+"lightDM display manager lightDM. To get automatic login with Stretch:"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:19
+msgid "In a terminal, use the command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:22
+#, no-wrap
+msgid "$ /usr/sbin/lightdm --show-config\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:25
+msgid "Make a note of the absolute path to the configuration file lightdm.conf."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:26
+msgid "Edit that file with a pure text editor (gedit, nano, etc), as root."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:27
+msgid "Find and uncomment the lines:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:31
+#, no-wrap
+msgid ""
+"#autologin-user=\n"
+"#autologin-user-timeout=0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:34
+msgid "Set autologin-user=your_user_name"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:35
+msgid "Save and reboot."
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:36 src/getting-started/updating-linuxcnc.adoc:131
+#, no-wrap
+msgid "Ubuntu"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:45
+msgid ""
+"When you install LinuxCNC with the Ubuntu LiveCD the default is to have to "
+"log in each time you turn the computer on. To enable automatic login go to "
+"'System > Administration > Login Window'. If it is a fresh install the Login "
+"Window might take a second or three to pop up. You will have to have your "
+"password that you used for the install to gain access to the Login Window "
+"Preferences window. In the Security tab check off Enable Automatic Login and "
+"pick a user name from the list (that would be you)."
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:46
+#, no-wrap
+msgid "Automatic Startup"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:52
+msgid ""
+"To have LinuxCNC start automatically with your config after turning on the "
+"computer go to 'System > Preferences > Sessions > Startup Applications', "
+"click Add. Browse to your config and select the .ini file. When the file "
+"picker dialog closes, add linuxcnc and a space in front of the path to your "
+".ini file."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:54 src/config/python-hal-interface.adoc:47
+#: src/drivers/mb2hal.adoc:169 src/gcode/overview.adoc:649
+#: src/man/man1/mb2hal.1.adoc:79
+#, no-wrap
+msgid "Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:57
+#, no-wrap
+msgid "linuxcnc /home/mill/linuxcnc/config/mill/mill.ini\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:60
+msgid "The documentation refers to your respective .ini file as INI-file."
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:62
+#, no-wrap
+msgid "Terminal"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:71
+msgid ""
+"Many things need to be done from the terminal like checking the kernel "
+"message buffer with 'dmesg'. Ubuntu and Linux Mint have a keyboard shortcut "
+"Ctrl + Alt + t.  Debian Stretch does not have any keyboard shortcuts "
+"defined.  It can be easily created with the 'Configuration Manager'.  Most "
+"modern file managers support the right key to open a terminal just make sure "
+"your right clicking on a blank area or a directory not a file name.  Most "
+"OS's have the terminal as a menu item, usually in Accessories."
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:73
+#, no-wrap
+msgid "Man Pages(((Man Pages)))"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:77
+msgid ""
+"A man page (short for manual page) is a form of software documentation "
+"usually found on a Unix or Unix-like operating system like Linux."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:80
+msgid ""
+"To view a man page open up a terminal to find out something about the find "
+"command in the terminal window type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:83
+#, no-wrap
+msgid "man find\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:87
+msgid ""
+"Use the Page Up and Page Down keys to view the man page and the Q key to "
+"quit viewing."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:92
+msgid ""
+"Viewing the man page from the terminal may not get the expected man page.  "
+"For example if you type in man abs you will get the C abs not the LinuxCNC "
+"abs. It is best to view the LinuxCNC man pages in the HTML documents."
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:93
+#, no-wrap
+msgid "List Modules"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:97
+msgid ""
+"Sometimes when troubleshooting you need to get a list of modules that are "
+"loaded. In a terminal window type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:100
+#, no-wrap
+msgid "lsmod\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:104
+msgid ""
+"If you want to send the output from lsmod to a text file in a terminal "
+"window type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:107
+#, no-wrap
+msgid "lsmod > mymod.txt\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:112
+msgid ""
+"The resulting text file will be located in the home directory if you did not "
+"change directories when you opened up the terminal window and it will be "
+"named mymod.txt or what ever you named it."
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:113
+#, no-wrap
+msgid "Editing a Root File"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:120
+msgid ""
+"When you open the file browser and you see the owner of the file is root you "
+"must do extra steps to edit that file. Editing some root files can have bad "
+"results. Be careful when editing root files. Generally, you can open and "
+"view most root files, but they will open in 'read only' mode."
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:121
+#, no-wrap
+msgid "The Command Line Way"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:124 src/getting-started/getting-linuxcnc.adoc:148
+msgid "Open a terminal and type"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:127
+#, no-wrap
+msgid "sudo gedit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:130
+msgid "Open the file with File > Open > Edit"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:131
+#, no-wrap
+msgid "The GUI Way"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:134
+msgid "Right click on the desktop and select Create Launcher"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:135
+msgid "Type a name in like sudo edit"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:137
+msgid ""
+"Type 'gksudo \"gnome-open %u\"' as the command and save the launcher to your "
+"desktop"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:138
+msgid "Drag a file onto your launcher to open and edit"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:139
+#, no-wrap
+msgid "Root Access"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:144
+msgid ""
+"In Ubuntu you can become root by typing in \"sudo -i\" in a terminal window "
+"then typing in your password. Be careful, because you can really foul things "
+"up as root if you don't know what you're doing."
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:145
+#, no-wrap
+msgid "Terminal Commands"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:147
+#, no-wrap
+msgid "Working Directory"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:151
+msgid ""
+"To find out the path to the present working directory in the terminal window "
+"type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:154 src/common/linux-faq.adoc:214
+#, no-wrap
+msgid "pwd\n"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:157
+#, no-wrap
+msgid "Changing Directories(((Changing Directories)))(((cd)))"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:160
+msgid ""
+"To change the working directory to the one one level up, i.e., the parent "
+"directory, in the terminal window type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:163
+#, no-wrap
+msgid "cd ..\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:166
+msgid "To move up two levels in the terminal window type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:169
+#, no-wrap
+msgid "cd ../..\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:172
+msgid ""
+"To move directly to your home directory, in the terrminal window use the cd "
+"command with no arguments:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:175
+#, no-wrap
+msgid "cd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:179
+msgid ""
+"To move down to the linuxcnc/configs subdirectory in the terminal window "
+"type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:182
+#, no-wrap
+msgid "cd linuxcnc/configs\n"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:184
+#, no-wrap
+msgid "Listing files in a directory"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:187
+msgid ""
+"To view a list of all the files and subdirectories in the terminal window "
+"type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:190
+#, no-wrap
+msgid "dir\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:196
+#, no-wrap
+msgid "ls\n"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:198
+#, no-wrap
+msgid "Finding a File"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:202
+msgid ""
+"The find command can be a bit confusing to a new Linux user. The basic "
+"syntax is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:205
+#, no-wrap
+msgid "find starting-directory parameters actions\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:209
+msgid ""
+"For example to find all the .ini files in your linuxcnc directory you first "
+"need to use the pwd command to find out the directory."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:211
+msgid "Open a new terminal window and type:"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:217
+msgid "And pwd might return the following result:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:220
+#, no-wrap
+msgid "/home/joe\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:223
+msgid "With this information put the command together like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:226
+#, no-wrap
+msgid "find /home/joe/linuxcnc -name \\*.ini -print\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:233
+msgid ""
+"The -name is the name of the file your looking for and the -print tells it "
+"to print out the result to the terminal window.  The \\*.ini tells find to "
+"return all files that have the .ini extension.  The backslash is needed to "
+"escape the shell meta-characters. See the find man page for more information "
+"on find."
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:234
+#, no-wrap
+msgid "Searching for Text"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:238
+#, no-wrap
+msgid "grep -irl 'text to search for' *\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:248
+msgid ""
+"This will find all the files that contain the 'text to search for' in the "
+"current directory and all the subdirectories below it, while ignoring the "
+"case. The -i is for ignore case and the -r is for recursive (include all "
+"subdirectories in the search). The -l option will return a list of the file "
+"names, if you leave the -l off you will also get the text where each "
+"occurrence of the \"text to search for\" is found.  The * is a wild card for "
+"search all files. See the grep man page for more information."
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:249
+#, no-wrap
+msgid "Diagnostic Messages"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:254
+msgid ""
+"To view the diagnostic messages use \"dmesg\" from the command window. To "
+"save the diagnostic messages to a file use the redirection operator '>', "
+"like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:257
+#, no-wrap
+msgid "dmesg > bootmsg.txt\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:261
+msgid ""
+"The contents of this file can be copied and pasted on line to share with "
+"people trying to help you diagnose your problem."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:263
+msgid "To clear the message buffer type this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:266 src/drivers/hostmot2.adoc:171
+#, no-wrap
+msgid "sudo dmesg -c\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:270
+msgid ""
+"This can be helpful to do just before launching LinuxCNC, so that there will "
+"only be a record of information related to the current launch of LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:273
+msgid ""
+"To find the built in parallel port address use grep to filter the "
+"information out of dmesg."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:275
+msgid "After boot up open a terminal and type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:278
+#, no-wrap
+msgid "dmesg|grep parport\n"
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:280
+#, no-wrap
+msgid "Convenience Items"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:282
+#, no-wrap
+msgid "Terminal Launcher"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:288
+msgid ""
+"If you want to add a terminal launcher to the panel bar on top of the screen "
+"you typically can right click on the panel at the top of the screen and "
+"select \"Add to Panel\". Select Custom Application Launcher and Add. Give it "
+"a name and put gnome-terminal in the command box."
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:289
+#, no-wrap
+msgid "Hardware Problems"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:291
+#, no-wrap
+msgid "Hardware Info"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:295
+msgid ""
+"To find out what hardware is connected to your motherboard in a terminal "
+"window type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/common/linux-faq.adoc:298 src/examples/pci-parallel-port.adoc:21
+#: src/hal/parallel-port.adoc:165
+#, no-wrap
+msgid "lspci -v\n"
+msgstr ""
+
+#. type: Title ===
+#: src/common/linux-faq.adoc:300
+#, no-wrap
+msgid "Monitor Resolution"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:305
+msgid ""
+"During installation Ubuntu attempts to detect the monitor settings. If this "
+"fails you are left with a generic monitor with a maximum resolution of "
+"800x600."
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:307
+msgid "Instructions for fixing this are located here:"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:309
+msgid "https://help.ubuntu.com/community/FixVideoResolutionHowto[https://help.ubuntu.com/community/FixVideoResolutionHowto]"
+msgstr ""
+
+#. type: Title ==
+#: src/common/linux-faq.adoc:310
+#, no-wrap
+msgid "Paths"
+msgstr ""
+
+#. type: Block title
+#: src/common/linux-faq.adoc:312 src/gui/ngcgui.adoc:513
+#, no-wrap
+msgid "Relative Paths"
+msgstr ""
+
+#. type: Plain text
+#: src/common/linux-faq.adoc:316
+msgid ""
+"Relative paths are based on the startup directory which is the directory "
+"containing the INI-file.  Using relative paths can facilitate relocation of "
+"configurations but requires a good understanding of linux path specifiers."
+msgstr ""
+
+#. type: delimited block .
+#: src/common/linux-faq.adoc:322
+#, no-wrap
+msgid ""
+"./f0        is the same as f0, e.g., a file named f0 in the startup "
+"directory\n"
+"../f1       refers to a file f1 in the parent directory\n"
+"../../f2    refers to a file f2 in the parent of the parent directory\n"
+"../../../f3 etc.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/overleaf.adoc:7
+msgid ""
+"This handbook is a work in progress. If you are able to help with writing, "
+"editing, or graphic preparation please contact any member of the writing "
+"team or join and send an email to emc-users@lists.sourceforge.net."
+msgstr ""
+
+#. type: Plain text
+#: src/common/overleaf.adoc:9
+msgid "Copyright © 2000-2020 LinuxCNC.org"
+msgstr ""
+
+#. type: Plain text
+#: src/common/overleaf.adoc:18
+msgid "If you do not find the license you may order a copy from:"
+msgstr ""
+
+#. type: Plain text
+#: src/common/overleaf.adoc:23
+#, no-wrap
+msgid ""
+"  Free Software Foundation, Inc.\n"
+"  51 Franklin Street\n"
+"  Fifth Floor\n"
+"  Boston, MA 02110-1301 USA.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/common/overleaf.adoc:25
+msgid "(The English language version is authoritative)"
+msgstr ""
+
+#. type: Plain text
+#: src/common/overleaf.adoc:30
+msgid ""
+"LINUX® is the registered trademark of Linus Torvalds in the U.S. and other "
+"countries.  The registered trademark Linux® is used pursuant to a sublicense "
+"from LMI, the exclusive licensee of Linus Torvalds, owner of the mark on a "
+"world-wide basis."
+msgstr ""
+
+#. type: Plain text
+#: src/common/overleaf.adoc:34
+msgid ""
+"The LinuxCNC project is not affiliated with Debian®.  _Debian_ is a "
+"registered trademark owned by Software in the Public Interest, Inc."
+msgstr ""
+
+#. type: Plain text
+#: src/common/overleaf.adoc:37
+msgid ""
+"The LinuxCNC project is not affiliated with UBUNTU®.  _UBUNTU_ is a "
+"registered trademark owned by Canonical Limited."
+msgstr ""
+
+#. type: Title =
+#: src/config/core-components.adoc:5
+#, no-wrap
+msgid "Core Components(((Core components)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:14
+msgid "See also the man pages 'motion(9)'."
+msgstr ""
+
+#. type: Title ==
+#: src/config/core-components.adoc:16
+#, no-wrap
+msgid "Motion (((Motion)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:19
+msgid "These pins and parameters are created by the realtime 'motmod' module."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:21
+msgid "This module provides a HAL interface for LinuxCNC's motion planner."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:25
+msgid ""
+"Basically motmod takes in a list of waypoints and generates a nice blended "
+"and constraint-limited stream of joint positions to be fed to the motor "
+"drives."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:29
+msgid ""
+"Optionally the number of Digital I/O is set with 'num_dio'.  The number of "
+"Analog I/O is set with 'num_aio', default is 4 each.  The number of Spindles "
+"is set with 'num_spindles', default is 1."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:32
+msgid ""
+"Pin and parameter names starting with 'axis.__L__' and 'joint.__N__' are "
+"read and updated by the motion-controller function."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:35
+msgid ""
+"Motion is loaded with the motmod command. A kins should be loaded before "
+"motion."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/core-components.adoc:42
+#, no-wrap
+msgid ""
+"loadrt motmod base_period_nsec=['period'] servo_period_nsec=['period']\n"
+"              traj_period_nsec=['period'] num_joints=['0-9']\n"
+"              num_dio=['1-64'] num_aio=['1-16'] "
+"unlock_joints_mask=['0xNN']\n"
+"              num_spindles=['1-8']\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:46
+msgid ""
+"'base_period_nsec = 50000' - the 'Base' task period in nanoseconds.  This is "
+"the fastest thread in the machine."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:60
+msgid ""
+"On servo-based systems, there is generally no reason for 'base_period_nsec' "
+"to be smaller than 'servo_period_nsec'.  On machines with software step "
+"generation, the 'base_period_nsec' determines the maximum number of steps "
+"per second. In the absence of long step length and step space requirements, "
+"the absolute maximum step rate is one step per 'base_period_nsec'. Thus, the "
+"'base_period_nsec' shown above gives an absolute maximum step rate of 20,000 "
+"steps per second. 50,000 ns (50 us) is a fairly conservative value.  The "
+"smallest usable value is related to the Latency Test result, the necessary "
+"step length, and the processor speed.  Choosing a 'base_period_nsec' that is "
+"too low can lead to the \"Unexpected real time delay\" message, lockups, or "
+"spontaneous reboots."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:65
+msgid ""
+"'servo_period_nsec = 1000000' - This is the 'Servo' task period in "
+"nanoseconds. This value will be rounded to an integer multiple of "
+"'base_period_nsec'. This period is used even on systems based on stepper "
+"motors."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:70
+msgid ""
+"This is the rate at which new motor positions are computed, following error "
+"is checked, PID output values are updated, and so on.  Most systems will not "
+"need to change this value. It is the update rate of the low level motion "
+"planner."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:76
+msgid ""
+"'traj_period_nsec = 100000' - This is the 'Trajectory Planner' task period "
+"in nanoseconds. This value will be rounded to an integer multiple of "
+"'servo_period_nsec'. Except for machines with unusual kinematics (e.g., "
+"hexapods) there is no reason to make this value larger than "
+"'servo_period_nsec'."
+msgstr ""
+
+#. type: Title ==
+#: src/config/core-components.adoc:77 src/config/stepconf.adoc:384
+#: src/drivers/mb2hal.adoc:46 src/gui/qtvcp.adoc:98
+#: src/gui/qtvcp-widgets.adoc:2936 src/hal/comp.adoc:215
+#: src/man/man1/xhc-hb04.1.adoc:57
+#, no-wrap
+msgid "Options"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:81
+msgid ""
+"If the number of digital I/O needed is more than the default of 4 you can "
+"add up to 64 digital I/O by using the num_dio option when loading 'motmod'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:84
+msgid ""
+"If the number of analog I/O needed is more than the default of 4 you can add "
+"up to 16 analog I/O by using the num_aio option when loading 'motmod'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:89
+msgid ""
+"The unlock_joints_mask parameter is used to create pins for a joint used as "
+"a locking indexer (typically a rotary).  The mask bits select the joint(s).  "
+"The LSB of the mask selects joint 0.  Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/core-components.adoc:93
+#, no-wrap
+msgid "unlock_joints_mask=0x38 selects joints 3,4,5\n"
+msgstr ""
+
+#. type: Title ===
+#: src/config/core-components.adoc:96
+#, no-wrap
+msgid "Pins(((motion (HAL pins))))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:100
+msgid ""
+"These pins, parameters, and functions are created by the realtime 'motmod' "
+"module."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:106
+msgid ""
+"'motion.adaptive-feed' - (float, in) When adaptive feed is enabled with 'M52 "
+"P1' , the commanded velocity is multiplied by this value. This effect is "
+"multiplicative with the NML-level feed override value and "
+"'motion.feed-hold'. As of version 2.9 of LinuxCNC it is possible to use a "
+"negative adaptive feed value to run the G-code path in reverse."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:108
+msgid ""
+"'motion.analog-in-00' - (float, in) These pins (00, 01, 02, 03 or more if "
+"configured) are controlled by M66."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:110
+msgid ""
+"'motion.analog-out-00' - (float, out) These pins (00, 01, 02, 03 or more if "
+"configured) are controlled by M67 or M68."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:112
+msgid ""
+"'motion.coord-error' - (bit, out) TRUE when motion has encountered an error, "
+"such as exceeding a soft limit"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:114
+msgid ""
+"'motion.coord-mode' - (bit, out) TRUE when motion is in 'coordinated mode', "
+"as opposed to 'teleop mode'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:115
+msgid ""
+"'motion.current-vel' - (float, out) The current tool velocity in user units "
+"per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:117
+msgid ""
+"'motion.digital-in-00' - (bit, in) These pins (00, 01, 02, 03 or more if "
+"configured) are controlled by M62-65."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:119
+msgid ""
+"'motion.digital-out-00' - (bit, out) These pins (00, 01, 02, 03 or more if "
+"configured) are controlled by the 'M62-65'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:120
+msgid ""
+"'motion.distance-to-go' - (float,out) The distance remaining in the current "
+"move."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:123
+msgid ""
+"'motion.enable' - (bit, in) If this bit is driven FALSE, motion stops, the "
+"machine is placed in the 'machine off' state, and a message is displayed for "
+"the operator. For normal motion, drive this bit TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:125
+msgid ""
+"'motion.feed-hold' - (bit, in) When Feed Stop Control is enabled with 'M53 "
+"P1', and this bit is TRUE, the feed rate is set to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:127
+msgid ""
+"'motion.feed-inhibit' - (bit, in) When this bit is TRUE, the feed rate is "
+"set to 0.  This will be delayed during spindle synch moves till the end of "
+"the move."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:128
+msgid "'motion.in-position' - (bit, out) TRUE if the machine is in position."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:129
+msgid "'motion.motion-enabled' - (bit, out) TRUE when in 'machine on' state."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:130
+msgid ""
+"'motion.motion-type' - (s32, out) These values are from "
+"src/emc/nml_intf/motion_types.h"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:131
+msgid "0: Idle (no motion)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:132 src/man/man9/motion.9.adoc:239
+msgid "1: Traverse"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:133 src/man/man9/motion.9.adoc:241
+msgid "2: Linear feed"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:134 src/man/man9/motion.9.adoc:243
+msgid "3: Arc feed"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:135 src/man/man9/motion.9.adoc:245
+msgid "4: Tool change"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:136 src/man/man9/motion.9.adoc:247
+msgid "5: Probing"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:137
+msgid "6: Rotary axis indexing"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:138 src/config/core-components.adoc:153
+msgid ""
+"'motion.on-soft-limit' - (bit, out) TRUE when the machine is on a soft "
+"limit."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:141
+msgid ""
+"'motion.probe-input' - (bit, in)  'G38.n' uses the value on this pin to "
+"determine when the probe has made contact.  TRUE for probe contact closed "
+"(touching), FALSE for probe contact open."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:143
+msgid ""
+"'motion.program-line' - (s32, out) The current program line while "
+"executing.  Zero if not running or between lines while single stepping."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:147
+msgid ""
+"'motion.requested-vel' - (float, out)  The current requested velocity in "
+"user units per second.  This value is the F-word setting from the G-code "
+"file, possibly reduced to accommodate machine velocity and acceleration "
+"limits.  The value on this pin does not reflect the feed override or any "
+"other adjustments."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:148 src/config/core-components.adoc:171
+msgid ""
+"'motion.teleop-mode' - (bit, out) TRUE when motion is in 'teleop mode', as "
+"opposed to 'coordinated mode'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:150 src/config/core-components.adoc:176
+msgid ""
+"'motion.tooloffset.x ... motion.tooloffset.w' - (float, out, one per axis) "
+"shows the tool offset in effect; it could come from the tool table ('G43' "
+"active), or it could come from the G-code ('G43.1' active)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:158
+msgid ""
+"'motion.probe-input' - (bit, in) 'G38.n' uses the value on this pin to "
+"determine when the probe has made contact.  TRUE for probe contact closed "
+"(touching), FALSE for probe contact open."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:161
+msgid ""
+"'motion.program-line' - (s32, out) The current program line while "
+"executing. Zero if not running or between lines while single stepping."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:167
+msgid ""
+"'motion.requested-vel' - (float, out) The current requested velocity in user "
+"units per second.  This value is the F-word setting from the G-code file, "
+"possibly reduced to accommodate machine velocity and acceleration "
+"limits. The value on this pin does not reflect the feed override or any "
+"other adjustments."
+msgstr ""
+
+#. type: Title ===
+#: src/config/core-components.adoc:177 src/config/iov2.adoc:117
+#: src/drivers/ax5214h.adoc:59 src/drivers/gm.adoc:107 src/drivers/gm.adoc:202
+#: src/drivers/gm.adoc:285 src/drivers/gm.adoc:391 src/drivers/gm.adoc:442
+#: src/drivers/gm.adoc:447 src/drivers/gm.adoc:470 src/drivers/gm.adoc:475
+#: src/drivers/gm.adoc:533 src/drivers/gm.adoc:538 src/drivers/gm.adoc:660
+#: src/drivers/gm.adoc:741 src/drivers/gm.adoc:797 src/drivers/gs2.adoc:81
+#: src/drivers/hal_pi_gpio.adoc:70 src/drivers/hostmot2.adoc:117
+#: src/drivers/hostmot2.adoc:432 src/drivers/hostmot2.adoc:509
+#: src/drivers/hostmot2.adoc:590 src/drivers/hostmot2.adoc:664
+#: src/drivers/hal_gpio.adoc:86 src/drivers/motenc.adoc:74
+#: src/drivers/opto22.adoc:79 src/drivers/pico-ppmc.adoc:177
+#: src/drivers/servo-to-go.adoc:97 src/drivers/vfs11.adoc:122
+#: html/gcode.html:53 src/hal/parallel-port.adoc:210 src/hal/rtcomps.adoc:233
+#: src/hal/rtcomps.adoc:340 src/hal/rtcomps.adoc:488 src/hal/rtcomps.adoc:546
+#: src/hal/rtcomps.adoc:609
+#, no-wrap
+msgid "Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:181
+msgid ""
+"Many of these parameters serve as debugging aids, and are subject to change "
+"or removal at any time."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:183
+msgid "'motion-command-handler.time' - (s32, RO)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:184
+msgid "'motion-command-handler.tmax' - (s32, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:185
+msgid "'motion-controller.time' - (s32, RO)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:186
+msgid "'motion-controller.tmax' - (s32, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:187
+msgid "'motion.debug-bit-0' - (bit, RO) This is used for debugging purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:188
+msgid "'motion.debug-bit-1' - (bit, RO) This is used for debugging purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:189
+msgid "'motion.debug-float-0' - (float, RO) This is used for debugging purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:190
+msgid "'motion.debug-float-1' - (float, RO) This is used for debugging purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:191
+msgid "'motion.debug-float-2' - (float, RO) This is used for debugging purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:192
+msgid "'motion.debug-float-3' - (float, RO) This is used for debugging purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:193
+msgid "'motion.debug-s32-0' - (s32, RO) This is used for debugging purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:194
+msgid "'motion.debug-s32-1' - (s32, RO) This is used for debugging purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:198
+msgid ""
+"'motion.servo.last-period' - (u32, RO) The number of CPU cycles between "
+"invocations of the servo thread. Typically, this number divided by the CPU "
+"speed gives the time in seconds, and can be used to determine whether the "
+"realtime motion controller is meeting its timing constraints"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:199
+msgid "'motion.servo.last-period-ns' - (float, RO)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:204 src/man/man9/motion.9.adoc:536
+msgid ""
+"Generally, these functions are both added to the servo-thread in the order "
+"shown."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:206
+msgid "'motion-command-handler' - Receives and processes motion commands"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:207
+msgid "'motion-controller' - Runs the LinuxCNC motion controller"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:213
+msgid ""
+"LinuxCNC can control upto eight spindles.  Motion will produce the following "
+"pins: The __N__ (integer between 0 and 7) substitutes the spindle number."
+msgstr ""
+
+#. type: Title ===
+#: src/config/core-components.adoc:215
+#, no-wrap
+msgid "Pins(((spindle (HAL pins))))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:219
+msgid ""
+"'spindle.__N__.at-speed' - (bit, in)  Motion will pause until this pin is "
+"TRUE, under the following conditions:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:220
+msgid "before the first feed move after each spindle start or speed change;"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:221
+msgid "before the start of every chain of spindle-synchronized moves;"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:229
+msgid ""
+"and if in CSS mode, at every rapid to feed transition.  This input can be "
+"used to ensure that the spindle is up to speed before starting a cut, or "
+"that a lathe spindle in CSS mode has slowed down after a large to small "
+"facing pass before starting the next pass at the large diameter.  Many VFDs "
+"have an 'at speed' output.  Otherwise, it is easy to generate this signal "
+"with the 'HAL near' component, by comparing requested and actual spindle "
+"speeds."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:230
+msgid ""
+"'spindle.__N__.brake' - (bit, out) TRUE when the spindle brake should be "
+"applied."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:231
+msgid ""
+"'spindle.__N__.forward' - (bit, out) TRUE when the spindle should rotate "
+"forward."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:233
+msgid ""
+"'spindle.__N__.index-enable' - (bit, I/O) For correct operation of spindle "
+"synchronized moves, this pin must be hooked to the index-enable pin of the "
+"spindle encoder."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:234
+msgid ""
+"'spindle.__N__.inhibit' - (bit, in) When this bit is TRUE, the spindle speed "
+"is set to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:235
+msgid "'spindle.__N__.on' - (bit, out) TRUE when spindle should rotate."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:236
+msgid ""
+"'spindle.__N__.reverse' - (bit, out) TRUE when the spindle should rotate "
+"backward"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:240
+msgid ""
+"'spindle.__N__.revs' - (float, in) For correct operation of spindle "
+"synchronized moves, this signal must be hooked to the position pin of the "
+"spindle encoder. The spindle encoder position should be scaled such that "
+"spindle-revs increases by 1.0 for each rotation of the spindle in the "
+"clockwise ('M3') direction."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:245
+msgid ""
+"'spindle.__N__.speed-in' - (float, in) Feedback of actual spindle speed in "
+"rotations per second.  This is used by feed-per-revolution motion ('G95').  "
+"If your spindle encoder driver does not have a velocity output, you can "
+"generate a suitable one by sending the spindle position through a 'ddt' "
+"component.  If you do not have a spindle encoder, you can loop back "
+"'spindle.__N__.speed-out-rps'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:247
+msgid ""
+"'spindle.__N__.speed-out' - (float, out) Commanded spindle speed in "
+"rotations per minute. Positive for spindle forward ('M3'), negative for "
+"spindle reverse ('M4')."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:249
+msgid ""
+"'spindle.__N__.speed-out-abs' - (float, out) Commanded spindle speed in "
+"rotations per minute. This will always be a positive number."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:251
+msgid ""
+"'spindle.__N__.speed-out-rps' - (float, out) Commanded spindle speed in "
+"rotations per second. Positive for spindle forward ('M3'), negative for "
+"spindle reverse ('M4')."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:253
+msgid ""
+"'spindle.__N__.speed-out-rps-abs' - (float, out) Commanded spindle speed in "
+"rotations per second. This will always be a positive number."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:255
+msgid ""
+"'spindle.__N__.orient-angle' - (float,out) Desired spindle orientation for "
+"M19. Value of the M19 R word parameter plus the value of the "
+"[RS274NGC]ORIENT_OFFSET INI parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:256
+msgid ""
+"'spindle.__N__.orient-mode' - (s32,out) Desired spindle rotation mode "
+"M19. Default 0."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:260
+msgid ""
+"'spindle.__N__.orient' - (out,bit)  Indicates start of spindle orient "
+"cycle. Set by M19. Cleared by any of M3, M4, or M5.  If spindle-orient-fault "
+"is not zero during spindle-orient true, the M19 command fails with an error "
+"message."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:263
+msgid ""
+"'spindle.__N__.is-oriented' - (in, bit) Acknowledge pin for "
+"spindle-orient. Completes orient cycle.  If spindle-orient was true when "
+"spindle-is-oriented was asserted, the spindle-orient pin is cleared and the "
+"spindle-locked pin is asserted. Also, the spindle-brake pin is asserted."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:265
+msgid ""
+"'spindle.__N__.orient-fault' - (s32, in) Fault code input for orient "
+"cycle. Any value other than zero will cause the orient cycle to abort."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:266
+msgid ""
+"'spindle.__N__.lock' - (bit, out) Spindle orient complete pin. Cleared by "
+"any of M3, M4, or M5."
+msgstr ""
+
+#. type: Block title
+#: src/config/core-components.adoc:267
+#, no-wrap
+msgid "HAL pin usage for M19 orient spindle"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:269
+msgid "Conceptually the spindle is in one of the following modes:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:271
+msgid "rotation mode (the default)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:272
+msgid "searching for desired orientation mode"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:273
+msgid "orientation complete mode."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:278
+msgid ""
+"When an M19 is executed, the spindle changes to 'searching for desired "
+"orientation', and the `spindle.__N__.orient` HAL pin is asserted.  The "
+"desired target position is specified by the `spindle.__N__.orient-angle` and "
+"`spindle.__N__.orient-fwd` pins and driven by the M19 R and P parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:282
+msgid ""
+"The HAL support logic is expected to react to `spindle.__N__.orient` by "
+"moving the spindle to the desired position. When this is complete, the HAL "
+"logic is expected to acknowledge this by asserting the "
+"`spindle.__N__.is-oriented` pin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:286
+msgid ""
+"Motion then acknowledges this by deasserting the `spindle.__N__.orient` pin "
+"and asserts the `spindle.__N__.locked` pin to indicate 'orientation "
+"complete' mode.  It also raises the `spindle.__N__.brake` pin. The spindle "
+"now is in 'orientation complete' mode."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:292
+msgid ""
+"If, during `spindle.__N__.orient` being true, and "
+"`spindle.__N__.is-oriented` not yet asserted the "
+"`spindle.__N__.orient-fault` pin has a value other than zero, the M19 "
+"command is aborted, a message including the fault code is displayed, and the "
+"motion queue is flushed.  The spindle reverts to rotation mode."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:296
+msgid ""
+"Also, any of the M3, M4 or M5 commands cancel either 'searching for desired "
+"orientation' or 'orientation complete' mode.  This is indicated by "
+"deasserting both the `spindle-orient` and `spindle-locked` pins."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:299
+msgid ""
+"The `spindle-orient-mode` pin reflects the M19 P word and shall be "
+"interpreted as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:301
+msgid "0: rotate clockwise or counterclockwise for smallest angular movement"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:302
+msgid "1: always rotate clockwise"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:303
+msgid "2: always rotate counterclockwise"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:307
+msgid ""
+"It can be used with the `orient` HAL component which provides a PID command "
+"value based on spindle encoder position, `spindle-orient-angle` and "
+"`spindle-orient-mode`."
+msgstr ""
+
+#. type: Title ==
+#: src/config/core-components.adoc:308
+#, no-wrap
+msgid "Axis and Joint Pins and Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:314
+msgid ""
+"These pins and parameters are created by the realtime 'motmod' module.  [In "
+"'trivial kinematics' machines, there is a one-to-one correspondence between "
+"joints and axes.] They are read and updated by the 'motion-controller' "
+"function."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:316
+msgid "See the motion man page 'motion(9)' for details on the pins and parameters."
+msgstr ""
+
+#. type: Title ==
+#: src/config/core-components.adoc:317
+#, no-wrap
+msgid "iocontrol"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:320
+msgid "iocontrol - accepts non-realtime I/O commands via NML, interacts with HAL ."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:322
+msgid ""
+"iocontrol's HAL pins are turned on and off in non-realtime context.  If you "
+"have strict timing requirements or simply need more I/O, consider using the "
+"realtime synchronized I/O provided by <<sec:motion,motion>> instead."
+msgstr ""
+
+#. type: Title ===
+#: src/config/core-components.adoc:323
+#, no-wrap
+msgid "Pins (((iocontrol (HAL pins))))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:326 src/config/iov2.adoc:67
+msgid "'iocontrol.0.coolant-flood' (bit, out) TRUE when flood coolant is requested."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:327 src/config/iov2.adoc:68
+msgid "'iocontrol.0.coolant-mist' (bit, out) TRUE when mist coolant is requested."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:328
+msgid ""
+"'iocontrol.0.emc-enable-in' (bit, in) Should be driven FALSE when an "
+"external E-Stop condition exists."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:329
+msgid "'iocontrol.0.tool-change' (bit, out) TRUE when a tool change is requested."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:330 src/config/iov2.adoc:71
+msgid ""
+"'iocontrol.0.tool-changed' (bit, in) Should be driven TRUE when a tool "
+"change is completed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:331
+msgid "'iocontrol.0.tool-number' (s32, out) The current tool number."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:332
+msgid ""
+"'iocontrol.0.tool-prep-number' (s32, out) The number of the next tool, from "
+"the RS274NGC T-word."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:333
+msgid "'iocontrol.0.tool-prepare' (bit, out) TRUE when a tool prepare is requested."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:334 src/config/iov2.adoc:76
+msgid ""
+"'iocontrol.0.tool-prepared' (bit, in) Should be driven TRUE when a tool "
+"prepare is completed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:335
+msgid ""
+"'iocontrol.0.user-enable-out' (bit, out) FALSE when an internal E-Stop "
+"condition exists."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:336
+msgid ""
+"'iocontrol.0.user-request-enable' (bit, out) TRUE when the user has "
+"requested that E-Stop be cleared."
+msgstr ""
+
+#. type: Title ====
+#: src/config/core-components.adoc:337 src/gui/axis.adoc:34
+#: src/gui/qtvcp-widgets.adoc:3101
+#, no-wrap
+msgid "INI settings"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:340
+msgid "A number of INI settings are made available as HAL input pins."
+msgstr ""
+
+#. type: Title ===
+#: src/config/core-components.adoc:341
+#, no-wrap
+msgid "Pins (((INI settings (HAL pins))))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:344
+msgid "_N_ refers to a joint number, _L_ refers to an axis letter."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:346
+msgid "'ini.__N__.ferror' - (float, in) [JOINT_N]FERROR"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:347
+msgid "'ini.__N__.min_ferror' - (float, in) [JOINT_N]MIN_FERROR"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:348
+msgid "'ini.__N__.backlash' - (float, in) [JOINT_N]BACKLASH"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:349
+msgid "'ini.__N__.min_limit' - (float, in) [JOINT_N]MIN_LIMIT"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:350
+msgid "'ini.__N__.max_limit' - (float, in) [JOINT_N]MAX_LIMIT"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:351
+msgid "'ini.__N__.max_velocity' - (float, in) [JOINT_N]MAX_VELOCITY"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:352
+msgid "'ini.__N__.max_acceleration' - (float, in) [JOINT_N]MAX_ACCELERATION"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:353
+msgid "'ini.__N__.home' - (float, in) [JOINT_N]HOME"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:354
+msgid "'ini.__N__.home_offset' - (float, in) [JOINT_N]HOME_OFFSET"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:355
+msgid "'ini.__N__.home_offset' - (s32, in) [JOINT_N]HOME_SEQUENCE"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:356
+msgid "'ini.__L__.min_limit' - (float, in) [AXIS_L]MIN_LIMIT"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:357
+msgid "'ini.__L__.max_limit' - (float, in) [AXIS_L]MAX_LIMIT"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:358
+msgid "'ini.__L__.max_velocity' - (float, in) [AXIS_L]MAX_VELOCITY"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:359
+msgid "'ini.__L__.max_acceleration' - (float, in) [AXIS_L]MAX_ACCELERATION"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:369
+msgid ""
+"The per-axis min_limit and max_limit pins are honored continuously after "
+"homing.  The per-axis ferror and min_ferror pins are honored when the "
+"machine is on and not in position.  The per-axis max_velocity and "
+"max_acceleration pins are sampled when the machine is on and the "
+"motion_state is free (homing or jogging) but are not sampled when in a "
+"program is running (auto mode) or in MDI mode.  Consequently, changing the "
+"pin values when a program is running will not have effect until the program "
+"is stopped and the motion_state is again free."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:371
+msgid "'ini.traj_arc_blend_enable' - (bit, in) [TRAJ]ARC_BLEND_ENABLE"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:372
+msgid ""
+"'ini.traj_arc_blend_fallback_enable' - (bit, in) "
+"[TRAJ]ARC_BLEND_FALLBACK_ENABLE"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:373
+msgid "'ini.traj_arc_blend_gap_cycles' - (float, in) [TRAJ]ARC_BLEND_GAP_CYCLES"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:374
+msgid ""
+"'ini.traj_arc_blend_optimization_depth' - (float, in) "
+"[TRAJ]ARC_BLEND_OPTIMIZATION_DEPTH"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:375
+msgid "'ini.traj_arc_blend_ramp_freq' - (float, in) [TRAJ]ARC_BLEND_RAMP_FREQ"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:380
+msgid ""
+"The traj_arc_blend pins are sampled continuously but changing pin values "
+"while a program is running may not have immediate effect due to queueing of "
+"commands."
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:382
+msgid "'ini.traj_default_acceleration' - (float, in) [TRAJ]DEFAULT_ACCELERATION"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:383
+msgid "'ini.traj_default_velocity' - (float, in) [TRAJ]DEFAULT_VELOCITY"
+msgstr ""
+
+#. type: Plain text
+#: src/config/core-components.adoc:384
+msgid "'ini.traj_max_acceleration' - (float, in) [TRAJ]MAX_ACCELERATION"
+msgstr ""
+
+#. type: Title =
+#: src/config/ini-config.adoc:5
+#, no-wrap
+msgid "INI Configuration(((INI Configuration)))"
+msgstr ""
+
+#. type: Title ==
+#: src/config/ini-config.adoc:13
+#, no-wrap
+msgid "The INI File Components(((INI File,Components)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:16
+msgid "A typical INI file follows a rather simple layout that includes;"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:18
+msgid "comments"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:19
+msgid "sections"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:20
+msgid "variables"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:23
+msgid ""
+"Each of these elements is separated on single lines.  Each end of line or "
+"newline character creates a new element."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:24
+#, no-wrap
+msgid "Comments(((INI File,Components,Comments)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:29
+msgid ""
+"A comment line is started with a ; or a # mark.  When the INI reader sees "
+"either of these marks at the start a line, the rest of the line is ignored "
+"by the software.  Comments can be used to describe what an INI element will "
+"do."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:34
+#, no-wrap
+msgid ""
+"; This is my mill configuration file.\n"
+"# I set it up on January 12, 2012\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:38
+msgid ""
+"Comments can also be used to 'turn off' a variable.  This makes it easier to "
+"pick between different variables."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:43
+#, no-wrap
+msgid ""
+"DISPLAY = axis\n"
+"# DISPLAY = touchy\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:47
+msgid ""
+"In this list, the DISPLAY variable will be set to axis because the other one "
+"is commented out.  If someone carelessly edits a list like this and leaves "
+"two of the lines uncommented, the first one encountered will be used."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:49
+msgid ""
+"Note that inside a variable, the \"#\" and \";\" characters do not denote "
+"comments:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:53
+#, no-wrap
+msgid "INCORRECT = value     # and a comment\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:56
+#, no-wrap
+msgid ""
+"# Correct Comment\n"
+"CORRECT = value\n"
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:59
+#, no-wrap
+msgid "Sections(((INI File,Components,Sections)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:65
+msgid ""
+"Related parts of an INI file are separated into sections.  A section name is "
+"enclosed in brackets like this: `[THIS_SECTION]`.  The order of sections is "
+"unimportant.  Sections begin at the section name and end at the next section "
+"name."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:67
+msgid "The following sections are used by LinuxCNC:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:69
+msgid "<<sub:ini:sec:emc,`[EMC]`>> general information"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:70
+msgid ""
+"<<sub:ini:sec:display,`[DISPLAY]`>> settings related to the graphical user "
+"interface"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:71
+msgid "<<sub:ini:sec:filter,`[FILTER]`>> settings input filter programs"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:72
+msgid ""
+"<<sub:ini:sec:rs274ngc,`[RS274NGC]`>> settings used by the G-code "
+"interpreter"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:73
+msgid ""
+"<<sub:ini:sec:emcmot,`[EMCMOT]`>> settings used by the real time motion "
+"controller"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:74
+msgid "<<sub:ini:sec:task,`[TASK]`>> settings used by the task controller"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:75
+msgid "<<sub:ini:sec:hal,`[HAL]`>> specifies .hal files"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:76
+msgid "<<sub:ini:sec:halui,`[HALUI]`>> MDI commands used by HALUI"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:77
+msgid ""
+"<<sub:ini:sec:applications,`[APPLICATIONS]`>> Other applications to be "
+"started by LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:78
+msgid ""
+"<<sub:ini:sec:traj,`[TRAJ]`>> additional settings used by the real time "
+"motion controller"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:79
+msgid "<<sub:ini:sec:joint-num,`[JOINT_n]`>> individual joint variables"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:80
+msgid "<<sub:ini:sec:axis-letter,`[AXIS_l]`>> individual axis variables"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:81
+msgid "<<sub:ini:sec:kins,`[KINS]`>> kinematics variables"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:82
+msgid "<<sub:ini:sec:emcio,`[EMCIO]`>> settings used by the I/O Controller"
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:84
+#, no-wrap
+msgid "Variables(((INI File,Components,Variables)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:90
+msgid ""
+"A variable line is made up of a variable name, an equals sign (`=`), and a "
+"value.  Everything from the first non-white space character after the `=` up "
+"to the end of the line is passed as the value, so you can embed spaces in "
+"string symbols if you want to or need to.  A variable name is often called a "
+"keyword."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:91
+#, no-wrap
+msgid "Variable Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:95
+#, no-wrap
+msgid "MACHINE = My Machine\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:100
+msgid ""
+"A variable line may be extended to multiple lines with a terminal backslash "
+"(\\) character.  A maximum of `MAX_EXTEND_LINES` (==20) are allowed.  There "
+"must be no whitespace following the trailing backslash character."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:102
+msgid "Section identifiers may not be extended to multiple lines."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:103
+#, no-wrap
+msgid "Variable with Line extends Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:113
+#, no-wrap
+msgid ""
+"APP = sim_pin \\\n"
+"ini.0.max_acceleration \\\n"
+"ini.1.max_acceleration \\\n"
+"ini.2.max_acceleration \\\n"
+"ini.0.max_velocity \\\n"
+"ini.1.max_velocity \\\n"
+"ini.2.max_velocity\n"
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:115
+#, no-wrap
+msgid "Boolean Variables"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:118
+msgid ""
+"Boolean values can be on one of `TRUE`, `YES` or `1` for true/enabled and "
+"one of `FALSE`, `NO` or `0` for false/disabled. The case is ignored."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:120
+msgid ""
+"The following sections detail each section of the configuration file, using "
+"sample values for the configuration lines."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:122
+msgid ""
+"Variables that are used by LinuxCNC must always use the section names and "
+"variable names as shown."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:124
+#, no-wrap
+msgid ""
+"Custom Sections and Variables(((INI File,Components,Custom sections and "
+"variables)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:127
+msgid ""
+"Most sample configurations use custom sections and variables to put all of "
+"the settings into one location for convenience."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:129
+msgid ""
+"To add a custom variable to an existing LinuxCNC section, simply include the "
+"variable in that section."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:130
+#, no-wrap
+msgid ""
+"Custom Variable Example, assigning the value 'LINEAR' to the variable "
+"'TYPE', and the value '16000' to the variable 'SCALE'."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:137
+#, no-wrap
+msgid ""
+"[JOINT_0]\n"
+"TYPE = LINEAR\n"
+"...\n"
+"SCALE = 16000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:140
+msgid ""
+"To introduce a custom section with its own variables, add the section and "
+"variables to the INI file."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:141
+#, no-wrap
+msgid "Custom Section Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:148
+#, no-wrap
+msgid ""
+"[PROBE]\n"
+"Z_FEEDRATE = 50\n"
+"Z_OFFSET = 12\n"
+"Z_SAFE_DISTANCE = -10\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:151
+msgid ""
+"To use the custom variables in your HAL file, put the section and variable "
+"name in place of the value."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:152
+#, no-wrap
+msgid "HAL Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:157
+#, no-wrap
+msgid ""
+"setp offset.1.offset [PROBE]Z_OFFSET\n"
+"setp stepgen.0.position-scale [JOINT_0]SCALE\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:161
+msgid ""
+"The value stored in the variable must match the type specified by the "
+"component pin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:164
+msgid ""
+"To use the custom variables in G-code, use the global variable syntax "
+"`#<_ini[section]variable>`.  The following example shows a simple Z-axis "
+"touch-off routine for a router or mill using a probe plate."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:165
+#, no-wrap
+msgid "G-code Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:173
+#, no-wrap
+msgid ""
+"G91\n"
+"G38.2 Z#<_ini[probe]z_safe_distance> F#<_ini[probe]z_feedrate>\n"
+"G90\n"
+"G1 Z#5063\n"
+"G10 L20 P0 Z#<_ini[probe]z_offset>\n"
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:176
+#, no-wrap
+msgid "Include Files(((INI File,Components,Include)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:179
+msgid ""
+"An INI file may include the contents of another file by using a #INCLUDE "
+"directive."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:180
+#, no-wrap
+msgid "#INCLUDE Format"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:184
+#, no-wrap
+msgid "#INCLUDE filename\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:187
+msgid "The filename can be specified as:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:189
+msgid "a file in the same directory as the INI file"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:190
+msgid "a file located relative to the working directory"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:191
+msgid "an absolute file name (starts with a /)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:192
+msgid "a user-home-relative file name (starts with a ~)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:194
+msgid "Multiple #INCLUDE directives are supported."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:195
+#, no-wrap
+msgid "#INCLUDE Examples"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:203
+#, no-wrap
+msgid ""
+"#INCLUDE joint_0.inc\n"
+"#INCLUDE ../parallel/joint_1.inc\n"
+"#INCLUDE below/joint_2.inc\n"
+"#INCLUDE /home/myusername/myincludes/display.inc\n"
+"#INCLUDE ~/linuxcnc/myincludes/rs274ngc.inc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:208
+msgid ""
+"The #INCLUDE directives are supported for one level of expansion only -- an "
+"included file may not include additional files.  The recommended file "
+"extension is '.inc'.  Do _not_ use a file extension of '.ini' for included "
+"files."
+msgstr ""
+
+#. type: Title ==
+#: src/config/ini-config.adoc:210
+#, no-wrap
+msgid "INI File Sections(((INI File,Sections)))"
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:213
+#, no-wrap
+msgid "[EMC] Section(((INI File,Sections,[EMC] Section)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:217
+msgid ""
+"`VERSION = 1.1` - The format version of this configuration.  Any value other "
+"than 1.1 will cause the configuration checker to run and try to update the "
+"configuration to the new style joint axes type of configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:219
+msgid ""
+"`MACHINE = My Controller` - This is the name of the controller, which is "
+"printed out at the top of most graphical interfaces.  You can put whatever "
+"you want here as long as you make it a single line long."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:221
+msgid ""
+"`DEBUG = 0` - Debug level 0 means no messages will be printed when LinuxCNC "
+"is run from a <<faq:terminal,terminal>>.  Debug flags are usually only "
+"useful to developers. See src/emc/nml_intf/debugflags.h for other settings."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:223
+msgid ""
+"`RCS_DEBUG = 1` RCS debug messages to show. Print only errors (1) by default "
+"if EMC_DEBUG_RCS and EMC_DEBUG_RCS bits in `DEBUG` are unset, otherwise "
+"print all (-1). Use this to select RCS debug messages. See "
+"src/libnml/rcs/rcs_print.hh for all MODE flags."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:224
+msgid ""
+"`RCS_DEBUG_DEST = STDOUT` - how to output RCS_DEBUG messages (NULL, STDOUT, "
+"STDERR, FILE, LOGGER, MSGBOX)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:225
+msgid ""
+"`RCS_MAX_ERR = -1` - Number after which RCS errors are not reported anymore "
+"(-1 = infinite)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:226
+msgid ""
+"`NML_FILE = /usr/share/linuxcnc/linuxcnc.nml` - Set this if you want to use "
+"a non-default NML configuration file."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:228
+#, no-wrap
+msgid "[DISPLAY] Section(((INI File,Sections,[DISPLAY] Section)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:235
+msgid ""
+"Different user interface programs use different options, and not every "
+"option is supported by every user interface.  There are several interfaces, "
+"like AXIS, GMOCCAPY, Touchy, QtVCP's QtDragon and Gscreen.  AXIS is an "
+"interface for use with normal computer and monitor, Touchy is for use with "
+"touch screens.  GMOCCAPY can be used both ways and offers also many "
+"connections for hardware controls.  Descriptions of the interfaces are in "
+"the Interfaces section of the User Manual."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:238
+msgid ""
+"`DISPLAY = axis` - The file name of the executable providing the user "
+"interface to use.  Prominent valid options are (all in lower case): `axis`, "
+"`touchy`, `gmoccapy`, `gscreen`, `tklinuxcnc`, `qtvcp`, `qtvcp-qtdragon` or "
+"`qtvcp-qtplasmac`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:240
+msgid ""
+"`POSITION_OFFSET = RELATIVE` - The coordinate system (`RELATIVE` or "
+"`MACHINE`) to show on the DRO when the user interface starts.  The RELATIVE "
+"coordinate system reflects the G92 and G5__x__ coordinate offsets currently "
+"in effect."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:245
+msgid ""
+"`POSITION_FEEDBACK = COMMANDED` - The coordinate value (`COMMANDED` or "
+"`ACTUAL`) to show on the DRO when the user interface starts.  In AXIS this "
+"can be changed from the View menu.  The COMMANDED position is the position "
+"requested by LinuxCNC.  The ACTUAL position is the feedback position of the "
+"motors if they have feedback like most servo systems.  Typically the "
+"COMMANDED value is used."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:249
+msgid ""
+"`DRO_FORMAT_MM = %+08.6f` - Override the default DRO formatting in metric "
+"mode (normally 3 decimal places, padded with spaces to 6 digits to the "
+"left).  The example above will pad with zeros, display 6 decimal digits and "
+"force display of a + sign for positive numbers.  Formatting follows Python "
+"practice: "
+"https://docs.python.org/2/library/string.html#format-specification-mini-language "
+".  An error will be raised if the format can not accept a floating-point "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:253
+msgid ""
+"`DRO_FORMAT_IN = % 4.1f` - Override the default DRO formatting in imperial "
+"mode (normally 4 decimal places, padded with spaces to 6 digits to the "
+"left).  The example above will display only one decimal digit.  Formatting "
+"follows Python practice: "
+"https://docs.python.org/2/library/string.html#format-specification-mini-language "
+".  An error will be raised if the format can not accept a floating-point "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:254
+msgid ""
+"`CONE_BASESIZE = .25` - Override the default cone/tool base size of .5 in "
+"the graphics display."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:256
+msgid ""
+"`MAX_FEED_OVERRIDE = 1.2` - The maximum feed override the user may select.  "
+"1.2 means 120% of the programmed feed rate."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:258
+msgid ""
+"`MIN_SPINDLE_OVERRIDE = 0.5` - The minimum spindle override the user may "
+"select.  0.5 means 50% of the programmed spindle speed. (This is used to set "
+"the minimum spindle speed.)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:261
+msgid ""
+"`MIN_SPINDLE_0_OVERRIDE = 0.5` - The minimum spindle override the user may "
+"select.  0.5 means 50% of the programmed spindle speed.  (This is used to "
+"set the minimum spindle speed.)  On multi spindle machine there will be "
+"entries for each spindle number. Only used by the QtVCP based user "
+"interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:262
+msgid ""
+"`MAX_SPINDLE_OVERRIDE = 1.0` - The maximum spindle override the user may "
+"select. 1.0 means 100% of the programmed spindle speed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:265
+msgid ""
+"`MAX_SPINDLE_0_OVERRIDE = 1.0` - The maximum feed override the user may "
+"select.  1.2 means 120% of the programmed feed rate.  On multi spindle "
+"machine there will be entries for each spindle number. Only used by the "
+"QtVCP based user interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:267
+msgid ""
+"`DEFAULT_SPINDLE_SPEED = 100` - The default spindle RPM when the spindle is "
+"started in manual mode.  If this setting is not present, this defaults to "
+"1 RPM for AXIS and 300 RPM for GMOCCAPY."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:268
+msgid "_deprecated_ - use the [SPINDLE_n] section instead"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:270
+msgid ""
+"`DEFAULT_SPINDLE_0_SPEED = 100` - The default spindle RPM when the spindle "
+"is started in manual mode.  On multi spindle machine there will be entries "
+"for each spindle number. Only used by the QtVCP-based user interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:271 src/config/ini-config.adoc:273
+#: src/config/ini-config.adoc:276 src/config/ini-config.adoc:279
+msgid "_deprecated_ - use the [SPINDLE_n] section instead."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:272
+msgid ""
+"`SPINDLE_INCREMENT = 200` - The increment used when clicking "
+"increase/decrease buttons. Only used by the QtVCP based user interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:275
+msgid ""
+"`MIN_SPINDLE_0_SPEED = 1000` - The minimum RPM that can be manually "
+"selected.  On multi spindle machine there will be entries for each spindle "
+"number. Only used by the QtVCP-based user interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:278
+msgid ""
+"`MAX_SPINDLE_0_SPEED = 20000` - The maximum RPM that can be manually "
+"selected.  On multi spindle machine there will be entries for each spindle "
+"number. Only used by the QtVCP-based user interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:281
+msgid ""
+"`PROGRAM_PREFIX = ~/linuxcnc/nc_files` - The default directory for G-code "
+"files, named subroutines, and user-defined M-codes.  The `PROGRAM_PREFIX` "
+"directory is searched before the directories listed in "
+"`[RS274]SUBROUTINE_PATH` and `[RS274]USER_M_PATH`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:282
+msgid "`INTRO_GRAPHIC = emc2.gif` - The image shown on the splash screen."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:283
+msgid "`INTRO_TIME = 5` - The maximum time to show the splash screen, in seconds."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:290
+msgid ""
+"`CYCLE_TIME = 100` - Cycle time of the display GUI.  Depending on the "
+"screen, this can be in seconds or ms (ms preferred).  This is often the "
+"update rate rather then sleep time between updates.  If the update time is "
+"not set right the screen can become unresponsive or very jerky.  A value of "
+"100 ms (0.1 s) is a common setting though a range of 50 - 200 ms (.05 - "
+".2 s) may be useable.  An under powered CPU may see improvement with a "
+"longer setting.  Usually the default is fine."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:291
+msgid ""
+"`PREVIEW_TIMEOUT = 5` - Timeout (in seconds) for loading graphical preview "
+"of G-code. Currently AXIS only."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:292
+msgid ""
+"`HOMING_PROMPT = TRUE` - Show prompt message with homing request, when the "
+"Power On button is pressed in AXIS GUI. Pressing the \"Ok\" button in prompt "
+"message is equivalent to pressing the \"Home All\" button(or the Ctrl-HOME "
+"key)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:293
+msgid "`FOAM_W = 1.5` sets the foam W height."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:294
+msgid "`FOAM_Z = 0` sets the foam Z height."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:295
+msgid ""
+"`GRAPHICAL_MAX_FILE_SIZE = 20` largest size (in mega bytes) that will be "
+"displayed graphically. If the program is bigger then this setting, a "
+"bounding box will be displayed. By default this setting is 20 MB or 1/4 of "
+"the system memory, which ever is smaller. Setting negative will set no "
+"limit."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:299
+msgid ""
+"The following [DISPLAY] items are used by GladeVCP and PyVCP, see the "
+"<<gladevcp:embedding-tab,embedding a tab>> section of the GladeVCP Chapter "
+"or the <<cha:pyvcp,PyVCP Chapter>> for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:301
+msgid "`EMBED_TAB_NAME = GladeVCP demo`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:302
+msgid ""
+"`EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -x "
+"\\{XID\\} -u ./gladevcp/hitcounter.py ./gladevcp/manual-example.ui`"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:308
+msgid ""
+"Different user interface programs use different options, and not every "
+"option is supported by every user interface.  See <<cha:axis-gui,AXIS GUI>> "
+"document for AXIS details.  See <<cha:gmoccapy,GMOCCAPY>> document for "
+"GMOCCAPY details."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:311
+msgid ""
+"`DEFAULT_LINEAR_VELOCITY = .25` - The default velocity for linear jogs, in "
+"<<sub:ini:sec:traj,machine units>> per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:312
+msgid "`MIN_VELOCITY = .01` - The approximate lowest value the jog slider."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:313
+msgid ""
+"`MAX_LINEAR_VELOCITY = 1.0` - The maximum velocity for linear jogs, in "
+"machine units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:314
+msgid "`MIN_LINEAR_VELOCITY = .01` - The approximate lowest value the jog slider."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:315
+msgid ""
+"`DEFAULT_ANGULAR_VELOCITY = .25` - The default velocity for angular jogs, in "
+"machine units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:316
+msgid ""
+"`MIN_ANGULAR_VELOCITY = .01` - The approximate lowest value the angular jog "
+"slider."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:317
+msgid ""
+"`MAX_ANGULAR_VELOCITY = 1.0` - The maximum velocity for angular jogs, in "
+"machine units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:322
+msgid ""
+"`INCREMENTS = 1 mm, .5 in, ...` - Defines the increments available for "
+"incremental jogs.  The INCREMENTS can be used to override the default.  The "
+"values can be decimal numbers (e.g., 0.1000) or fractional numbers (e.g., "
+"1/16), optionally followed by a unit (cm, mm, um, inch, in or mil).  If a "
+"unit is not specified the machine unit is assumed.  Metric and imperial "
+"distances may be mixed: INCREMENTS = 1 inch, 1 mil, 1 cm, 1 mm, 1 um is a "
+"valid entry."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:324
+msgid ""
+"`GRIDS = 10 mm, 1 in, ...` - Defines the preset values for grid lines.  The "
+"value is interpreted the same way as `INCREMENTS`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:327
+msgid ""
+"`OPEN_FILE = /full/path/to/file.ngc` - The file to show in the preview plot "
+"when AXIS starts.  Use a blank string \"\" and no file will be loaded at "
+"start up.  GMOCCAPY will not use this setting, as it offers a corresponding "
+"entry on its settings page."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:331
+msgid ""
+"`EDITOR = gedit` - The editor to use when selecting File > Edit to edit the "
+"G-code from the AXIS menu.  This must be configured for this menu item to "
+"work.  Another valid entry is `gnome-terminal -e vim`.  This entry does not "
+"apply to GMOCCAPY, as GMOCCAPY has an integrated editor."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:335
+msgid ""
+"`TOOL_EDITOR = tooledit` - The editor to use when editing the tool table "
+"(for example by selecting \"File > Edit tool table...\" in AXIS).  Other "
+"valid entries are `gedit`, `gnome-terminal -e vim`, and `gvim`.  This entry "
+"does not apply to GMOCCAPY, as GMOCCAPY has an integrated editor."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:337
+msgid ""
+"`PYVCP = /filename.xml` - The PyVCP panel description file.  See the "
+"<<cha:pyvcp,PyVCP Chapter>>for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:340
+msgid ""
+"`PYVCP_POSITION = BOTTOM` - The placement of the PyVCP panel in the AXIS "
+"user interface.  If this variable is omitted the panel will default to the "
+"right side.  The only valid alternative is `BOTTOM`. See the "
+"<<cha:pyvcp,PyVCP Chapter>> for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:341
+msgid ""
+"`LATHE = 1` - Any non-empty value (including \"0\") causes axis to use "
+"\"lathe mode\" with a top view and with Radius and Diameter on the DRO."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:342
+msgid ""
+"`BACK_TOOL_LATHE = 1` - Any non-empty value (including \"0\") causes axis to "
+"use \"back tool lathe mode\" with inverted X axis."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:343
+msgid ""
+"`FOAM = 1` - Any non-empty value (including \"0\") causes axis to change the "
+"display for foam-cutter mode."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:345
+msgid ""
+"`GEOMETRY = XYZABCUVW` - Controls the *preview* and *backplot* of motion.  "
+"This item consists of a sequence of axis letters and control characters, "
+"optionally preceded with a \"-\" sign:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:347
+msgid "The letters X, Y, Z specify translation along the named coordinate."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:348
+msgid "The letters A, B, C specify rotation about the corresponding axes X, Y, Z."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:349
+msgid "The letters U, V, W specify translation along the related axes X, Y, Z."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:350
+msgid "Each letter specified must occur in `[TRAJ]COORDINATES` to have an effect."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:351
+msgid ""
+"A \"*-*\" character preceding any letter inverts the direction of the "
+"operation."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:354
+msgid ""
+"The translation and rotation operations are evaluated *right-to-left*.  So "
+"using `GEOMETRY=XYZBC` specifies a C rotation followed by a B rotation "
+"followed by Z, Y, X translations.  The ordering of consecutive translation "
+"letters is immaterial."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:357
+msgid ""
+"The proper GEOMETRY string depends on the machine configuration and the "
+"kinematics used to control it.  The order of the letters is important.  For "
+"example, rotating around C then B is different than rotating around B then "
+"C."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:359
+msgid ""
+"Rotations are by default applied with respect to the machine origin.  "
+"Example: `GEOMETRY=CXYZ` first translates the control point to X, Y, Z and "
+"then performs a C rotation about the Z axis centered at the machine origin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:360
+msgid ""
+"UVW translation example: `GEOMETRY=XYZUVW` causes UVW to move in the "
+"coordinate system of the tool and XYZ to move in the coordinate system of "
+"the material."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:362
+msgid ""
+"Foam-cutting machines (`FOAM = 1`) should specify \"XY;UV\" or leave the "
+"value blank even though this value is presently ignored in foam-cutter "
+"mode.  A future version may define what \";\" means, but if it does "
+"\"XY;UV\" will mean the same as the current foam default."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:367
+msgid ""
+"Experimental: If the exclamation mark (`!`) character is included in the "
+"GEOMETRY string, display points for A, B, C rotations respect the X, Y, Z "
+"offsets set by G5x, G92 codes.  Example: Using `GEOMETRY = !CXZ` for a "
+"machine with `[TRAJ]COORDINATES=XZC`.  This provision applies for liveplots "
+"only -- G-code previews should be done with zero G5x, G92 offsets.  This can "
+"be facilitated by setting offsets in programs only when task is running as "
+"indicated by #<_task> == 1.  If nonzero offsets exist at startup due to "
+"persistence, offsets should be zeroed and preview reloaded."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:371
+msgid ""
+"If no `[DISPLAY]GEOMETRY` is included in the INI file, a default is provided "
+"by the `[DISPLAY]DISPLAY` GUI program (typically \"XYZABCUVW\")."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:377
+msgid ""
+"`ARCDIVISION = 64` - Set the quality of preview of arcs.  Arcs are previewed "
+"by dividing them into a number of straight lines; a semicircle is divided "
+"into *ARCDIVISION* parts.  Larger values give a more accurate preview, but "
+"take longer to load and result in a more sluggish display.  Smaller values "
+"give a less accurate preview, but take less time to load and may result in a "
+"faster display.  The default value of 64 means a circle of up to 3 inches "
+"will be displayed to within 1 mil (.03%)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:380
+msgid ""
+"`MDI_HISTORY_FILE =` - The name of a local MDI history file.  If this is not "
+"specified, AXIS will save the MDI history in *.axis_mdi_history* in the "
+"user`s home directory.  This is useful if you have multiple configurations "
+"on one computer."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:383
+msgid ""
+"`JOG_AXES =` - The order in which jog keys are assigned to axis letters.  "
+"The left and right arrows are assigned to the first axis letter, up and down "
+"to the second, page up/page down to the third, and left and right bracket to "
+"the fourth.  If unspecified, the default is determined from the "
+"`[TRAJ]COORDINATES`, `[DISPLAY]LATHE` and `[DISPLAY]FOAM` values."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:385
+msgid ""
+"`JOG_INVERT =` - For each axis letter, the jog direction is inverted.  The "
+"default is \"X\" for lathes and blank otherwise."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:389
+msgid ""
+"The settings for `JOG_AXES` and `JOG_INVERT` apply to world mode jogging by "
+"axis coordinate letter and are in effect while in world mode after "
+"successful homing.  When operating in joint mode prior to homing, keyboard "
+"jog keys are assigned in a fixed sequence: left/right: joint0, up/down: "
+"joint1, page up/page down: joint2, left/right bracket: joint3"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:391
+msgid ""
+"`USER_COMMAND_FILE = mycommands.py` - The name of an optional, "
+"configuration-specific Python file sourced by the AXIS GUI instead of the "
+"user-specific file `~/.axisrc`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:394
+msgid "The following `[DISPLAY]` item is used by the TKLinuxCNC interface only."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:396
+msgid "`HELP_FILE = tklinucnc.txt` - Path to help file."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:398
+#, no-wrap
+msgid "[FILTER] Section(((INI File,Sections,[FILTER] Section)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:408
+msgid ""
+"AXIS and GMOCCAPY have the ability to send loaded files through a filter "
+"program.  This filter can do any desired task: Something as simple as making "
+"sure the file ends with M2, or something as complicated as detecting whether "
+"the input is a depth image, and generating G-code to mill the shape it "
+"defines.  The `[FILTER]` section of the INI file controls how filters work.  "
+"First, for each type of file, write a `PROGRAM_EXTENSION`-line.  Then, "
+"specify the program to execute for each type of file.  This program is given "
+"the name of the input file as its first argument, and must write RS274NGC "
+"code to standard output.  This output is what will be displayed in the text "
+"area, previewed in the display area, and executed by LinuxCNC when Run."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:410
+msgid "`PROGRAM_EXTENSION = .extension Description`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:412
+msgid ""
+"If your post processor outputs files in all caps you might want to add the "
+"following line:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:416
+#, no-wrap
+msgid "PROGRAM_EXTENSION = .NGC XYZ Post Processor\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:419
+msgid ""
+"The following lines add support for the image-to-G-code converter included "
+"with LinuxCNC."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:426
+#, no-wrap
+msgid ""
+"PROGRAM_EXTENSION = .png,.gif,.jpg # Greyscale Depth Image\n"
+"  png = image-to-gcode\n"
+"  gif = image-to-gcode\n"
+"  jpg = image-to-gcode\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:429
+msgid "An example of a custom G-code converter located in the linuxcnc directory."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:434
+#, no-wrap
+msgid ""
+"PROGRAM_EXTENSION = .gcode 3D Printer\n"
+"  gcode = /home/mill/linuxcnc/convert.py\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:437
+msgid ""
+"The program file associated with an extension must have either the full path "
+"to the program or be located in a directory that is on the system path."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:439 src/gui/axis.adoc:829
+#: src/gui/filter-programs.adoc:40
+msgid "It is also possible to specify an interpreter:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:444
+#, no-wrap
+msgid ""
+"PROGRAM_EXTENSION = .py Python Script\n"
+"  py = python\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:450
+msgid ""
+"In this way, any Python script can be opened, and its output is treated as "
+"G-code.  One such example script is available at nc_files/holecircle.py.  "
+"This script creates G-code for drilling a series of holes along the "
+"circumference of a circle.  Many more G-code generators are on the LinuxCNC "
+"Wiki site https://wiki.linuxcnc.org/[https://wiki.linuxcnc.org/]."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:452
+msgid "Python filters should use the print function to output the result to AXIS."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:455
+msgid ""
+"This example program filters a file and adds a W axis to match the Z axis.  "
+"It depends on there being a space between each axis word to work."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:459 src/gui/filter-programs.adoc:103
+#: src/gui/gstat.adoc:55 src/gui/gstat.adoc:103 src/gui/gstat.adoc:147
+#: src/gui/qtvcp-custom-widgets.adoc:100 src/gui/qtvcp-custom-widgets.adoc:170
+#: src/gui/qtvcp-custom-widgets.adoc:251 src/gui/qtvcp-custom-widgets.adoc:661
+#: src/gui/qtvcp-custom-widgets.adoc:706 src/gui/qtvcp-custom-widgets.adoc:757
+#: src/gui/qtvcp-vismach.adoc:113 src/gui/vismach.adoc:41
+#, no-wrap
+msgid "#!/usr/bin/env python3\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:461
+#, no-wrap
+msgid "import sys\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:463
+#, no-wrap
+msgid "def main(argv):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:467
+#, no-wrap
+msgid ""
+"  openfile = open(argv[0], 'r')\n"
+"  file_in = openfile.readlines()\n"
+"  openfile.close()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:486
+#, no-wrap
+msgid ""
+"  file_out = []\n"
+"  for line in file_in:\n"
+"    # print(line)\n"
+"    if line.find('Z') != -1:\n"
+"      words = line.rstrip('\\n')\n"
+"      words = words.split(' ')\n"
+"      newword = ''\n"
+"      for i in words:\n"
+"        if i[0] == 'Z':\n"
+"          newword = 'W'+ i[1:]\n"
+"      if len(newword) > 0:\n"
+"        words.append(newword)\n"
+"        newline = ' '.join(words)\n"
+"        file_out.append(newline)\n"
+"    else:\n"
+"      file_out.append(line)\n"
+"  for item in file_out:\n"
+"    print(\"%s\" % item)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:489
+#, no-wrap
+msgid ""
+"if __name__ == \"__main__\":\n"
+"  main(sys.argv[1:])\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:494
+#, no-wrap
+msgid ""
+"`FILTER_PROGRESS=%d`\n"
+"If the environment variable AXIS_PROGRESS_BAR is set, then lines written to "
+"stderr of the form above sets the AXIS progress bar to the given "
+"percentage. This feature should be used by any filter that runs for a long "
+"time."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:496
+#, no-wrap
+msgid "[RS274NGC] Section(((INI File,Sections,[RS274NGC] Section)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:500
+msgid ""
+"`PARAMETER_FILE = myfile.var` - (((PARAMETER FILE)))  The file located in "
+"the same directory as the INI file which contains the parameters used by the "
+"interpreter (saved between runs)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:503
+msgid ""
+"`ORIENT_OFFSET = 0` - (((ORIENT OFFSET)))  A float value added to the R word "
+"parameter of an <<mcode:m19,M19 Orient Spindle>> operation.  Used to define "
+"an arbitrary zero position regardless of encoder mount orientation."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:507
+msgid ""
+"`RS274NGC_STARTUP_CODE = G17 G20 G40 G49 G64 P0.001 G80 G90 G92.1 G94 G97 "
+"G98` - (((RS274NGC STARTUP CODE)))  A string of NC codes that the "
+"interpreter is initialized with.  This is not a substitute for specifying "
+"modal G-codes at the top of each NGC file, because the modal codes of "
+"machines differ, and may be changed by G-code interpreted earlier in the "
+"session."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:514
+msgid ""
+"`SUBROUTINE_PATH = ncsubroutines:/tmp/testsubs:lathesubs:millsubs` - "
+"(((SUBROUTINE PATH)))  Specifies a colon (:) separated list of up to 10 "
+"directories to be searched when single-file subroutines are specified in "
+"G-code.  These directories are searched after searching "
+"`[DISPLAY]PROGRAM_PREFIX` (if it is specified) and before searching "
+"`[WIZARD]WIZARD_ROOT` (if specified).  The paths are searched in the order "
+"that they are listed.  The first matching subroutine file found in the "
+"search is used.  Directories are specified relative to the current directory "
+"for the INI file or as absolute paths.  The list must contain no intervening "
+"whitespace."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:515
+msgid "`CENTER_ARC_RADIUS_TOLERANCE_INCH =` _n_ (Default: 0.00005)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:516
+msgid "`CENTER_ARC_RADIUS_TOLERANCE_MM =` _n_ (Default: 0.00127)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:520
+msgid ""
+"`USER_M_PATH = myfuncs:/tmp/mcodes:experimentalmcodes` - (((USER M PATH)))  "
+"Specifies a list of colon (:) separated directories for user defined "
+"functions.  Directories are specified relative to the current directory for "
+"the INI file or as absolute paths.  The list must contain no intervening "
+"whitespace."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:522
+msgid ""
+"A search is made for each possible user defined function, typically "
+"(M100-M199). The search order is:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:524
+msgid "`[DISPLAY]PROGRAM_PREFIX` (if specified)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:525
+msgid ""
+"If `[DISPLAY]PROGRAM_PREFIX` is not specified, search the default location: "
+"nc_files"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:526
+msgid "Then search each directory in the list `[RS274NGC]USER_M_PATH`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:528
+msgid "The first executable M1__xx__ found in the search is used for each M1__xx__."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:532
+msgid ""
+"The maximum number of `USER_M_PATH` directories is defined at compile time "
+"(typ: `USER_DEFINED_FUNCTION_MAX_DIRS == 5`)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:536
+#, no-wrap
+msgid ""
+"`INI_VARS = 1` (Default: 1)\n"
+"Allows G-code programs to read values from the INI file using the format "
+"#<_ini[section]name>. See <<sec:overview-parameters,G-code Parameters>>."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:540
+#, no-wrap
+msgid ""
+"`HAL_PIN_VARS = 1` (Default: 1)\n"
+"Allows G-code programs to read the values of HAL pins using the format "
+"#<_hal[HAL item]>. Variable access is read-only. See "
+"<<sec:overview-parameters,G-code Parameters>> for more details and an "
+"important caveat."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:543
+#, no-wrap
+msgid ""
+"`RETAIN_G43 = 0` (Default: 0)\n"
+"When set, you can  turn on G43 after loading the first tool, and then not "
+"worry about it through the program. When you finally unload the last tool, "
+"G43 mode is canceled."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:545
+#, no-wrap
+msgid ""
+"`OWORD_NARGS = 0` (Default: 0)\n"
+"If this feature is enabled then a called subroutine can determine the number "
+"of actual positional parameters passed by inspecting the +#<n_args>+ "
+"parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:547
+#, no-wrap
+msgid ""
+"`NO_DOWNCASE_OWORD = 0` (Default: 0)\n"
+"Preserve case in O-word names within comments if set, enables reading of "
+"mixed-case HAL items in structured comments like `(debug, "
+"#<_hal[MixedCaseItem])`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:549
+#, no-wrap
+msgid ""
+"`OWORD_WARNONLY = 0` (Default: 0)\n"
+"Warn rather than error in case of errors in O-word subroutines."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:551
+msgid ""
+"`DISABLE_G92_PERSISTENCE = 0` (Default: 0)  Allow to clear the G92 offset "
+"automatically when config start-up."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:553
+msgid ""
+"`DISABLE_FANUC_STYLE_SUB = 0` (Default: 0)  If there is reason to disable "
+"Fanuc subroutines set it to 1."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:555
+msgid ""
+"'PARAMETER_G73_PECK_CLEARANCE = .020' (default: Metric machine: 1mm, "
+"imperial machine: .050 inches)  Chip breaking back-off distance in machine "
+"units"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:557
+msgid ""
+"'PARAMETER_G83_PECK_CLEARANCE = .020' (default: Metric machine: 1mm, "
+"imperial machine: .050 inches)  Clearance distance from last feed depth when "
+"machine rapids back to bottom of hole, in machine units."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:563
+#, no-wrap
+msgid ""
+"The above six options were controlled by the `FEATURES` bitmask in versions "
+"of LinuxCNC prior to 2.8. This INI tag will no longer work.\n"
+"For reference:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:570
+#, no-wrap
+msgid ""
+"FEATURES & 0x1  -> RETAIN_G43\n"
+"FEATURES & 0x2  -> OWORD_NARGS\n"
+"FEATURES & 0x4  -> INI_VARS\n"
+"FEATURES & 0x8  -> HAL_PIN_VARS\n"
+"FEATURES & 0x10 -> NO_DOWNCASE_OWORD\n"
+"FEATURES & 0x20 -> OWORD_WARNONLY\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:575
+msgid ""
+"`[WIZARD]WIZARD_ROOT` is a valid search path but the Wizard has not been "
+"fully implemented and the results of using it are unpredictable."
+msgstr ""
+
+#. FIXME: Inconsistent
+#. type: delimited block =
+#: src/config/ini-config.adoc:578
+msgid "`LOG_LEVEL = 0` Specify the log_level (default: 0)"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:581
+#, no-wrap
+msgid ""
+"`LOG_FILE = file-name.log`\n"
+"For specify the file used for log the data."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:583
+msgid ""
+"`REMAP=M400 modalgroup=10 argspec=Pq ngc=myprocedure` See <<cha:remap,Remap "
+"Extending G-code>> chapter for details."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:585
+msgid ""
+"`ON_ABORT_COMMAND=O <on_abort> call` See <<cha:remap,Remap Extending "
+"G-code>> chapter for details."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:587
+#, no-wrap
+msgid "[EMCMOT] Section(((INI File,Sections,[EMCMOT] Section)))"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:592
+msgid ""
+"This section is a custom section and is not used by LinuxCNC directly.  Most "
+"configurations use values from this section to load the motion controller.  "
+"For more information on the motion controller see the <<sec:motion,Motion>> "
+"section."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:594
+msgid "`EMCMOT = motmod` - the motion controller name is typically used here."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:595
+msgid "`BASE_PERIOD = 50000` - the 'Base' task period in nanoseconds."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:596
+msgid "`SERVO_PERIOD = 1000000` - This is the \"Servo\" task period in nanoseconds."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:597
+msgid ""
+"`TRAJ_PERIOD = 100000` - This is the 'Trajectory Planner' task period in "
+"nanoseconds."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:598
+msgid ""
+"`COMM_TIMEOUT = 1.0` - Number of seconds to wait for Motion (the realtime "
+"part of the motion controller) to acknowledge receipt of messages from Task "
+"(the non-realtime part of the motion controller)."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:602
+msgid ""
+"`HOMEMOD =` _alternate_homing_module_ [home_parms=value] The HOMEMOD "
+"variable is optional.  If specified, use a specified (user-built) module "
+"instead of the default (homemod).  Module parameters (home_parms) may be "
+"included if supported by the named module.  The setting may be overridden "
+"from the command line using the -m option ($ linuxcnc -h)."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:604
+#, no-wrap
+msgid "[TASK] Section(((INI File,Sections,[TASK] Section)))"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:609
+msgid ""
+"`TASK = milltask` - Specifies the name of the 'task' executable.  The 'task' "
+"executable does various things, such as"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:610
+msgid "communicate with the UIs over NML,"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:611
+msgid "communicate with the realtime motion planner over non-HAL shared memory, and"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:612
+msgid "interpret G-code."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:613
+msgid ""
+"Currently there is only one task executable that makes sense for 99.9% of "
+"users, milltask."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:617
+msgid ""
+"`CYCLE_TIME = 0.010` - The period, in seconds, at which TASK will run.  This "
+"parameter affects the polling interval when waiting for motion to complete, "
+"when executing a pause instruction, and when accepting a command from a user "
+"interface.  There is usually no need to change this number."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:619
+#, no-wrap
+msgid "[HAL] section(((INI File,Sections,[HAL] Section)))"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:622
+msgid "`HALFILE = example.hal` - Execute the file 'example.hal' at start up."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:628
+msgid ""
+"If `HALFILE` is specified multiple times, the files are interpreted in the "
+"order they appear in the INI file.  HAL files are descriptive, the execution "
+"of what is described in HAL files is triggered by the threads in which "
+"functions are embedded, not by the reading of the HAL file.  Almost all "
+"configurations will have at least one `HALFILE`, and stepper systems "
+"typically have two such files, i.e., one which specifies the generic stepper "
+"configuration ('core_stepper.hal') and one which specifies the machine pin "
+"out ('xxx_pinout.hal')."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:632
+msgid ""
+"HAL files specified in the `HALFILES` variable are found using a search.  If "
+"the named file is found in the directory containing the INI file, it is "
+"used.  If the named file is not found in this INI file directory, a search "
+"is made using a system library of HAL files."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:635
+msgid ""
+"If LinuxCNC is started with the `linuxcnc` script using the \"`-H` "
+"_dirname_\" option, the specified dirname is prepended to the search "
+"described above so that _dirname_ is searched first.  The \"`-H` _dirname_\" "
+"option may be specified more than once, directories are prepended in order."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:638
+msgid ""
+"A HALFILE may also be specified as an absolute path (when the name starts "
+"with a '/' character).  Absolute paths are not recommended as their use may "
+"limit relocation of configurations."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:642
+msgid ""
+"`HALFILE = texample.tcl` [_arg1_ [_arg2_] ...] - Execute the tcl file "
+"'texample.tcl' at start up with arg1, arg2, etc. as argv list.  Files with a "
+".tcl suffix are processed as above but use haltcl for processing.  See the "
+"<<cha:haltcl,HALTCL Chapter>> for more information."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:644
+msgid ""
+"`HALFILE = LIB:sys_example.hal` - Execute the system library file "
+"_sys_example.hal_ at start up.  Explicit use of the LIB: prefix causes use "
+"of the system library HALFILE without searching the INI file directory."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:646
+msgid ""
+"`HALFILE = LIB:sys_texample.tcl` [_arg1_ [_arg2_ ...]] - Execute the system "
+"library file _sys_texample.tcl_ at start up.  Explicit use of the LIB: "
+"prefix causes use of the system library HALFILE without searching the INI "
+"file directory."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:649
+msgid ""
+"HALFILE items specify files that loadrt HAL components and make signal "
+"connections between component pins.  Common mistakes are"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:651
+msgid ""
+"omission of the addf statement needed to add a component's function(s) to a "
+"thread,"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:652
+msgid "incomplete signal (net) specifiers."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:656
+msgid ""
+"Omission of required addf statements is almost always an error.  Signals "
+"usually include one or more input connections and a single output (but both "
+"are not strictly required).  A system library file is provided to make "
+"checks for these conditions and report to stdout and in a pop-up GUI:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:660
+#, no-wrap
+msgid "HALFILE = LIB:halcheck.tcl [nopopup]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:666
+msgid ""
+"The LIB:halcheck.tcl line should be the last [HAL]HALFILE.  Specify the "
+"'nopopup' option to suppress the popup message and allow immediate "
+"starting.  Connections made using a POSTGUI_HALFILE are not checked."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:673
+msgid ""
+"`TWOPASS = ON` - Use twopass processing for loading HAL components.  With "
+"TWOPASS processing, lines of files specified in `[HAL]HALFILE` are processed "
+"in two passes.  In the first pass (pass0), all HALFILES are read and "
+"multiple appearances of loadrt and loadusr commands are accumulated.  These "
+"accumulated load commands are executed at the end of pass0.  This "
+"accumulation allows load lines to be specified more than once for a given "
+"component (provided the names= names used are unique on each use).  In the "
+"second pass (pass1), the HALFILES are reread and all commands except the "
+"previously executed load commands are executed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:676
+msgid ""
+"`TWOPASS = nodelete verbose` - The `TWOPASS` feature can be activated with "
+"any non-null string including the keywords verbose and nodelete.  The "
+"verbose keyword causes printing of details to stdout.  The nodelete keyword "
+"preserves temporary files in /tmp."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:678
+msgid "For more information see the <<cha:hal-twopass,HAL TWOPASS>> chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:682
+msgid ""
+"`HALCMD =` _command_ - Execute _command_ as a single HAL command.  If "
+"`HALCMD` is specified multiple times, the commands are executed in the order "
+"they appear in the INI file.  `HALCMD`-lines are executed after all "
+"`HALFILE`-lines."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:686
+msgid ""
+"`SHUTDOWN = shutdown.hal` - Execute the file 'shutdown.hal' when LinuxCNC is "
+"exiting.  Depending on the hardware drivers used, this may make it possible "
+"to set outputs to defined values when LinuxCNC is exited normally.  However, "
+"because there is no guarantee this file will be executed (for instance, in "
+"the case of a computer crash), it is not a replacement for a proper physical "
+"e-stop chain or other protections against software failure."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:690
+#, no-wrap
+msgid ""
+"`POSTGUI_HALFILE = example2.hal` - Execute 'example2.hal' after the GUI has "
+"created its HAL pins. Some GUIs create HAL pins and support the use of a "
+"postgui halfile to use them. GUIs that support postgui HAL files include "
+"Touchy, AXIS, Gscreen, and GMOCCAPY.\n"
+"See section <<sec:pyvcp-with-axis,PyVCP with AXIS>> for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:692
+#, no-wrap
+msgid ""
+"`HALUI = halui` - adds the HAL user interface pins.\n"
+"For more information see the <<cha:hal-user-interface,HAL User Interface>> "
+"chapter."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:694
+#, no-wrap
+msgid "[HALUI] section(((INI File,Sections,[HALUI] Section)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:699
+msgid ""
+"`MDI_COMMAND = G53 G0 X0 Y0 Z0` - An MDI command can be executed by using "
+"`halui.mdi-command-00`. Increment the number for each command listed in the "
+"[HALUI] section.  It is also possible to start subroutines. `MDI_COMMAND = "
+"o<yoursub> CALL [#<yourvariable>]`"
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:701
+#, no-wrap
+msgid "[APPLICATIONS] Section(((INI File,Sections,[APPLICATIONS] Section)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:705
+msgid ""
+"LinuxCNC can start other applications before the specified GUI is started.  "
+"The applications can be started after a specified delay to allow for "
+"GUI-dependent actions (like creating GUI-specific HAL pins)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:708
+msgid ""
+"`DELAY =` _value_ - seconds to wait before starting other applications.  A "
+"delay may be needed if an application has dependencies on "
+"`[HAL]POSTGUI_HALFILE` actions or GUI-created HAL pins (default `DELAY=0`)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:714
+#, no-wrap
+msgid ""
+"`APP =` _appname_ [arg1 [arg2 ...]]' - Application to be started. This "
+"specification can be included multiple times. The appname can be explicitly "
+"named as an absolute or tilde specified filename (first character is / or "
+"~), a relative filename (first characters of filename are ./), or as a file "
+"in the INI file directory. If no executable file is found using these names, "
+"then the user search PATH is used to find the application.\n"
+"Examples:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:715
+msgid ""
+"Simulate inputs to HAL pins for testing (using sim_pin -- a simple GUI to "
+"set inputs to parameters, unconnected pins, or signals with no writers):"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:719
+#, no-wrap
+msgid "APP = sim_pin motion.probe-input halui.abort motion.analog-in-00\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:722
+msgid ""
+"Invoke halshow with a previuosly saved watchlist.  Since LinuxCNC sets the "
+"working directory to the directory for the INI file, you can refer to files "
+"in that directory (example: my.halshow):"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:726
+#, no-wrap
+msgid "APP = halshow my.halshow\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:728
+msgid ""
+"Alternatively, a watchlist file identified with a full pathname could be "
+"specified:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:732
+#, no-wrap
+msgid "APP = halshow ~/saved_shows/spindle.halshow\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:734
+msgid "Open halscope using a previously saved configuration:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:738
+#, no-wrap
+msgid "APP = halscope -i my.halscope\n"
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:741
+#, no-wrap
+msgid "[TRAJ] Section(((INI File,Sections,[TRAJ] Section)))"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:752
+#, no-wrap
+msgid ""
+"The new Trajectory Planner (TP) is on by default. If you have no TP settings "
+"in your [TRAJ] section - LinuxCNC defaults to:\n"
+"ARC_BLEND_ENABLE = 1\n"
+"ARC_BLEND_FALLBACK_ENABLE = 0\n"
+"ARC_BLEND_OPTIMIZATION_DEPTH = 50\n"
+"ARC_BLEND_GAP_CYCLES = 4\n"
+"ARC_BLEND_RAMP_FREQ = 100"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:755
+msgid ""
+"The [TRAJ] section contains general parameters for the trajectory planning "
+"module in 'motion'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:758
+msgid ""
+"`ARC_BLEND_ENABLE = 1` - Turn on new TP.  If set to 0 TP uses parabolic "
+"blending (1 segment look ahead) (Default: 1)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:760
+msgid ""
+"`ARC_BLEND_FALLBACK_ENABLE = 0` - Optionally fall back to parabolic blends "
+"if the estimated speed is faster.  However, this estimate is rough, and it "
+"seems that just disabling it gives better performance (Default: 0)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:761
+msgid ""
+"`ARC_BLEND_OPTIMIZATION_DEPTH = 50` - Look ahead depth in number of "
+"segments."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:764
+msgid ""
+"To expand on this a bit, you can choose this value somewhat arbitrarily.  "
+"Here's a formula to estimate how much 'depth' you need for a particular "
+"config:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:772
+#, no-wrap
+msgid ""
+"# n = v_max / (2.0 * a_max * t_c)\n"
+"# where:\n"
+"# n = optimization depth\n"
+"# v_max = max axis velocity (UU / sec)\n"
+"# a_max = max axis acceleration (UU / sec)\n"
+"# t_c = servo period (seconds)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:775
+msgid ""
+"So, a machine with a maximum axis velocity of 10 IPS, a max acceleration of "
+"100 IPS^2^, and a servo period of 0.001 s would need:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:777
+msgid ""
+"10 / (2.0 * 100 * 0.001) = 50 segments to always reach maximum velocity "
+"along the fastest axis."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:780
+msgid ""
+"In practice, this number isn't that important to tune, since the look ahead "
+"rarely needs the full depth unless you have lots of very short segments.  If "
+"during testing, you notice strange slowdowns and can't figure out where they "
+"come from, first try increasing this depth using the formula above."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:784
+msgid ""
+"If you still see strange slowdowns, it may be because you have short "
+"segments in the program.  If this is the case, try adding a small tolerance "
+"for Naive CAM detection.  A good rule of thumb is this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:790
+#, no-wrap
+msgid ""
+"# min_length ~= v_req * t_c\n"
+"# where:\n"
+"# v_req = desired velocity in UU / sec\n"
+"# t_c = servo period (seconds)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:796
+msgid ""
+"If you want to travel along a path at 1 IPS = 60 IPM, and your servo period "
+"is 0.001 s, then any segments shorter than min_length will slow the path "
+"down.  If you set Naive CAM tolerance to around this min length, overly "
+"short segments will be combined together to eliminate this bottleneck.  Of "
+"course, setting the tolerance too high means big path deviations, so you "
+"have to play with it a bit to find a good value.  I'd start at 1/2 of the "
+"min_length, then work up as needed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:797
+msgid ""
+"`ARC_BLEND_GAP_CYCLES = 4` How short the previous segment must be before the "
+"trajectory planner 'consumes' it."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:804
+msgid ""
+"Often, a circular arc blend will leave short line segments in between the "
+"blends.  Since the geometry has to be circular, we can't blend over all of a "
+"line if the next one is a little shorter.  Since the trajectory planner has "
+"to touch each segment at least once, it means that very tiny segments will "
+"slow things down significantly.  My fix to this way to \"consume\" the short "
+"segment by making it a part of the blend arc.  Since the line+blend is one "
+"segment, we don't have to slow down to hit the very short segment.  Likely, "
+"you won't need to touch this setting."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:805
+msgid ""
+"`ARC_BLEND_RAMP_FREQ = 20` - This is a 'cutoff' frequency for using ramped "
+"velocity."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:814
+msgid ""
+"'Ramped velocity' in this case just means constant acceleration over the "
+"whole segment.  This is less optimal than a trapezoidal velocity profile, "
+"since the acceleration is not maximized.  However, if the segment is short "
+"enough, there isn't enough time to accelerate much before we hit the next "
+"segment.  Recall the short line segments from the previous example.  Since "
+"they're lines, there's no cornering acceleration, so we're free to "
+"accelerate up to the requested speed.  However, if this line is between two "
+"arcs, then it will have to quickly decelerate again to be within the maximum "
+"speed of the next segment.  This means that we have a spike of acceleration, "
+"then a spike of deceleration, causing a large jerk, for very little "
+"performance gain.  This setting is a way to eliminate this jerk for short "
+"segments."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:817
+msgid ""
+"Basically, if a segment will complete in less time than 1 / "
+"ARC_BLEND_RAMP_FREQ, we don't bother with a trapezoidal velocity profile on "
+"that segment, and use constant acceleration.  (Setting `ARC_BLEND_RAMP_FREQ "
+"= 1000` is equivalent to always using trapezoidal acceleration, if the servo "
+"loop is 1 kHz)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:819
+msgid ""
+"You can characterize the worst-case loss of performance by comparing the "
+"velocity that a trapezoidal profile reaches vs. the ramp:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:826
+#, no-wrap
+msgid ""
+"# v_ripple = a_max / (4.0 * f)\n"
+"# where:\n"
+"# v_ripple = average velocity \"loss\" due to ramping\n"
+"# a_max = max axis acceleration\n"
+"# f = cutoff frequency from INI\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:833
+msgid ""
+"For the aforementioned machine, the ripple for a 20 Hz cutoff frequency is "
+"100 / (4 * 20) = 1.25 IPS.  This seems high, but keep in mind that it is "
+"only a worst-case estimate.  In reality, the trapezoidal motion profile is "
+"limited by other factors, such as normal acceleration or requested velocity, "
+"and so the actual performance loss should be much smaller.  Increasing the "
+"cutoff frequency can squeeze out more performance, but make the motion "
+"rougher due to acceleration discontinuities.  A value in the range 20 Hz to "
+"200 Hz should be reasonable to start."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:835
+msgid ""
+"Finally, no amount of tweaking will speed up a tool path with lots of small, "
+"tight corners, since you're limited by cornering acceleration."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:837
+msgid ""
+"`SPINDLES = 3` - The number of spindles to support. It is imperative that "
+"this number matches the \"num_spindles\" parameter passed to the motion "
+"module."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:843
+msgid ""
+"`COORDINATES = X Y Z` - The names of the axes being controlled.  Only X, Y, "
+"Z, A, B, C, U, V, W are valid.  Only axes named in `COORDINATES` are "
+"accepted in G-code.  It is permitted to write an axis name more than once "
+"(e.g., X Y Y Z for a gantry machine).  For the common 'trivkins kinematics', "
+"joint numbers are assigned in sequence according to the trivkins parameter "
+"'coordinates='.  So, for trivkins 'coordinates=xz', joint0 corresponds to X "
+"and joint1 corresponds to Z.  See the kinematics man page ('$ man kins') for "
+"information on trivkins and other kinematics modules."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:846
+msgid ""
+"`LINEAR_UNITS =` <units>_ - (((LINEAR UNITS))) Specifies the 'machine units' "
+"for linear axes.  Possible choices are mm or inch.  This does not affect the "
+"linear units in NC code (the G20 and G21 words do this)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:849
+msgid ""
+"`ANGULAR_UNITS =` _<units>_ - (((ANGULAR UNITS))) Specifies the 'machine "
+"units' for rotational axes.  Possible choices are 'deg', 'degree' (360 per "
+"circle), 'rad', 'radian' (2*π per circle), 'grad', or 'gon' (400 per "
+"circle).  This does not affect the angular units of NC code. In RS274NGC, "
+"A-, B- and C- words are always expressed in degrees."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:851
+msgid ""
+"`DEFAULT_LINEAR_VELOCITY = 0.0167` - The initial rate for jogs of linear "
+"axes, in machine units per second.  The value shown in 'AXIS' equals machine "
+"units per minute."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:852
+msgid ""
+"`DEFAULT_LINEAR_ACCELERATION = 2.0` - In machines with nontrivial "
+"kinematics, the acceleration used for \"teleop\" (Cartesian space) jogs, in "
+"'machine units' per second per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:854
+msgid ""
+"`MAX_LINEAR_VELOCITY = 5.0` - (((MAX VELOCITY))) The maximum velocity for "
+"any axis or coordinated move, in 'machine units' per second.  The value "
+"shown equals 300 units per minute."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:855
+msgid ""
+"`MAX_LINEAR_ACCELERATION = 20.0` - (((MAX ACCELERATION))) The maximum "
+"acceleration for any axis or coordinated axis move, in 'machine units' per "
+"second per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:862
+msgid ""
+"`POSITION_FILE =` _position.txt_ - If set to a non-empty value, the joint "
+"positions are stored between runs in this file.  This allows the machine to "
+"start with the same coordinates it had on shutdown.  This assumes there was "
+"no movement of the machine while powered off.  If unset, joint positions are "
+"not stored and will begin at 0 each time LinuxCNC is started.  This can help "
+"on smaller machines without home switches.  If using the Mesa resolver "
+"interface this file can be used to emulate absolute encoders and eliminate "
+"the need for homing (with no loss of accuracy).  See the hostmot2 manpage "
+"for more details."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:866
+msgid ""
+"`NO_FORCE_HOMING = 1` - The default behavior is for LinuxCNC to force the "
+"user to home the machine before any MDI command or a program is run.  "
+"Normally, only jogging is allowed before homing.  For configurations using "
+"identity kinematics, setting `NO_FORCE_HOMING = 1` allows the user to make "
+"MDI moves and run programs without homing the machine first.  Interfaces "
+"using identity kinematics without homing ability will need to have this "
+"option set to 1."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:870
+msgid ""
+"LinuxCNC will not know your joint travel limits when using `NO_FORCE_HOMING "
+"= 1`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:877
+msgid ""
+"`HOME = 0 0 0 0 0 0 0 0 0` - World home position needed for kinematics "
+"modules that compute world coordinates using kinematicsForward() when "
+"switching from joint to teleop mode.  Up to nine coordinate values (X Y Z A "
+"B C U V W) may be specified, unused trailing items may be omitted.  This "
+"value is only used for machines with nontrivial kinematics.  On machines "
+"with trivial kinematics (mill, lathe, gantry types) this value is ignored.  "
+"Note: The sim hexapod config requires a non-zero value for the Z coordinate."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:881
+#, no-wrap
+msgid ""
+"`TPMOD =` _alternate_trajectory_planning module_ [tp_parms=value]\n"
+"The `TPMOD` variable is optional.  If specified, use a specified "
+"(user-built) module instead of the default (tpmod). Module parameters "
+"(tp_parms) may be included if supported by the named module. The setting may "
+"be overridden from the command line using the -t option ($ linuxcnc -h)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:882
+msgid ""
+"`NO_PROBE_JOG_ERROR = 0` - Allow to bypass probe tripped check when you jog "
+"manually."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:883
+msgid ""
+"`NO_PROBE_HOME_ERROR = 0` - Allow to bypass probe tripped check when homing "
+"is in progress."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:886
+#, no-wrap
+msgid "[KINS] Section(((INI File,Sections,KINS Section)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:892
+msgid ""
+"`JOINTS = 3` - Specifies the number of joints (motors) in the system.  For "
+"example, a trivkins XYZ machine with a single motor for each axis has 3 "
+"joints.  A gantry machine with one motor on each of two of the axes, and two "
+"motors on the third axis, has 4 joints.  (This config variable may be used "
+"by a GUI to set the number of joints (num_joints) specified to the motion "
+"module (motmod).)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:895
+msgid ""
+"`KINEMATICS = trivkins` - Specify a kinematics module for the motion "
+"module.  GUIs may use this variable to specify the `loadrt`-line in HAL "
+"files for the motmod module.  For more information on kinematics modules see "
+"the manpage: `$ man kins`."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:897
+#, no-wrap
+msgid "[AXIS_<letter>] Section(((INI File,Sections,[AXIS_<letter>] Sections)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:900
+msgid "The _<letter>_ specifies one of: X Y Z A B C U V W"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:906
+msgid ""
+"`TYPE = LINEAR` - The type of this axis, either `LINEAR` or `ANGULAR`.  "
+"Required if this axis is not a default axis type.  The default axis types "
+"are X,Y,Z,U,V,W = LINEAR and A,B,C = ANGULAR.  This setting is effective "
+"with the AXIS GUI but note that other GUI's may handle things differently."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:907
+msgid ""
+"`MAX_VELOCITY = 1.2` - Maximum velocity for this axis in "
+"<<sub:ini:sec:traj,machine units>> per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:908
+msgid ""
+"`MAX_ACCELERATION = 20.0` - Maximum acceleration for this axis in machine "
+"units per second squared."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:912
+msgid ""
+"`MIN_LIMIT = -1000` - (((MIN LIMIT))) The minimum limit (soft limit) for "
+"axis motion, in machine units.  When this limit is exceeded, the controller "
+"aborts axis motion.  The axis must be homed before `MIN_LIMIT` is in force.  "
+"For a rotary axis (A,B,C typ)  with unlimited rotation having no `MIN_LIMIT` "
+"for that axis in the `[AXIS_`<letter>`]` section a value of -1e99 is used."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:916
+msgid ""
+"`MAX_LIMIT = 1000` - (((MAX LIMIT))) The maximum limit (soft limit) for axis "
+"motion, in machine units.  When this limit is exceeded, the controller "
+"aborts axis motion.  The axis must be homed before MAX_LIMIT is in force.  "
+"For a rotary axis (A,B,C typ) with unlimited rotation having no `MAX_LIMIT` "
+"for that axis in the `[AXIS_`<letter>`]` section a value of 1e99 is used."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:918
+msgid ""
+"`WRAPPED_ROTARY = 1` - When this is set to 1 for an ANGULAR axis the axis "
+"will move 0-359.999 degrees.  Positive Numbers will move the axis in a "
+"positive direction and negative numbers will move the axis in the negative "
+"direction."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:924
+msgid ""
+"`LOCKING_INDEXER_JOINT = 4` - This value selects a joint to use for a "
+"locking indexer for the specified axis _<letter>_.  In this example, the "
+"joint is 4 which would correspond to the B axis for a XYZAB system with "
+"trivkins (identity) kinematics.  When set, a G0 move for this axis will "
+"initiate an unlock with the `joint.4.unlock pin` then wait for the "
+"`joint.4.is-unlocked` pin then move the joint at the rapid rate for that "
+"joint.  After the move the `joint.4.unlock` will be false and motion will "
+"wait for `joint.4.is-unlocked` to go false.  Moving with other joints is not "
+"allowed when moving a locked rotary joint.  To create the unlock pins, use "
+"the motmod parameter:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:928
+#, no-wrap
+msgid "unlock_joints_mask=jointmask\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:931
+msgid "The jointmask bits are: (LSB)0:joint0, 1:joint1, 2:joint2, ..."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:933
+msgid ""
+"Example: `loadrt motmod ... unlock_joints_mask=0x38` creates unlock-pins for "
+"joints 3,4,5."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:935
+msgid ""
+"`OFFSET_AV_RATIO = 0.1` - If nonzero, this item enables the use of HAL input "
+"pins for external axis offsets:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:941
+#, no-wrap
+msgid ""
+"axis.<letter>.eoffset-enable\n"
+"axis.<letter>.eoffset-count\n"
+"axis.<letter>.eoffset-scale\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:944
+msgid ""
+"See the chapter: <<cha:external-offsets,'External Axis Offsets'>> for usage "
+"information."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:946
+#, no-wrap
+msgid "[JOINT_<num>] Sections(((INI File,Sections,[JOINT_<num>] Sections)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:950
+msgid ""
+"The _<num>_ specifies the joint number 0 ... (num_joints-1)  The value of "
+"'num_joints' is set by `[KINS]JOINTS=`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:953
+msgid ""
+"The `[JOINT_0]`, `[JOINT_1]`, etc. sections contains general parameters for "
+"the individual components in the joint control module.  The joint section "
+"names begin numbering at 0, and run through the number of joints specified "
+"in the `[KINS]JOINTS` entry minus 1."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:955
+msgid ""
+"Typically (for systems using 'trivkins kinematics', there is a 1:1 "
+"correspondence between a joint and an axis coordinate letter):"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:957 src/config/ini-config.adoc:970
+msgid "JOINT_0 = X"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:958
+msgid "JOINT_1 = Y"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:959
+msgid "JOINT_2 = Z"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:960
+msgid "JOINT_3 = A"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:961
+msgid "JOINT_4 = B"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:962
+msgid "JOINT_5 = C"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:963
+msgid "JOINT_6 = U"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:964
+msgid "JOINT_7 = V"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:965
+msgid "JOINT_8 = W"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:968
+msgid ""
+"Other kinematics modules with identity kinematics are available to support "
+"configurations with partial sets of axes.  For example, using trivkins with "
+"`coordinates=XZ`, the joint-axes relationships are:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:971
+msgid "JOINT_1 = Z"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:973
+msgid ""
+"For more information on kinematics modules see the manpage 'kins' (on the "
+"UNIX terminal type `man kins`)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:975
+msgid "`TYPE = LINEAR` - The type of joint, either `LINEAR` or `ANGULAR`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:978
+msgid ""
+"`UNITS = INCH` - (((UNITS)))  If specified, this setting overrides the "
+"related `[TRAJ] UNITS` setting, e.g., `[TRAJ]LINEAR_UNITS` if the `TYPE` of "
+"this joint is `LINEAR`, `[TRAJ]ANGULAR_UNITS` if the `TYPE` of this joint is "
+"`ANGULAR`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:979
+msgid ""
+"`MAX_VELOCITY = 1.2` - Maximum velocity for this joint in "
+"<<sub:ini:sec:traj,machine units>> per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:980
+msgid ""
+"`MAX_ACCELERATION = 20.0` - Maximum acceleration for this joint in machine "
+"units per second squared."
+msgstr ""
+
+#.  add a link to machine units
+#. type: Plain text
+#: src/config/ini-config.adoc:985
+msgid ""
+"`BACKLASH = 0.0000` - (((Backlash))) Backlash in machine units.  Backlash "
+"compensation value can be used to make up for small deficiencies in the "
+"hardware used to drive an joint.  If backlash is added to an joint and you "
+"are using steppers the `STEPGEN_MAXACCEL` must be increased to 1.5 to 2 "
+"times the `MAX_ACCELERATION` for the joint.  Excessive backlash compensation "
+"can cause an joint to jerk as it changes direction.  If a COMP_FILE is "
+"specified for a joint BACKLASH is not used."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:996
+msgid ""
+"`COMP_FILE =` _file.extension_ - (((Compensation)))  The compensation file "
+"consists of map of position information for the joint.  Compensation file "
+"values are in machine units.  Each set of values are are on one line "
+"separated by a space.  The first value is the nominal value (the commanded "
+"position).  The second and third values depend on the setting of "
+"`COMP_FILE_TYPE`.  Points in between nominal values are interpolated between "
+"the two nominals.  Compensation files must start with the smallest nominal "
+"and be in ascending order to the largest value of nominals.  File names are "
+"case sensitive and can contain letters and/or numbers.  Currently the limit "
+"inside LinuxCNC is for 256 triplets per joint."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:998
+msgid "If `COMP_FILE` is specified for a joint, `BACKLASH` is not used."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1002
+#, no-wrap
+msgid ""
+"`COMP_FILE_TYPE = 0` or `1` - Specifies the type of compensation file. The "
+"first value is the nominal (commanded) position for both types.\n"
+"A `COMP_FILE_TYPE` must be specified for each `COMP_FILE`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1004
+msgid ""
+"'Type 0:' The second value specifies the actual position as the joint is "
+"moving in the positive direction (increasing value).  The third value "
+"specifies the actual position as the joint is moving in the negative "
+"direction (decreasing value)."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:1005
+#, no-wrap
+msgid "Type 0 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:1010
+#, no-wrap
+msgid ""
+"-1.000 -1.005 -0.995\n"
+"0.000 0.002 -0.003\n"
+"1.000 1.003 0.998\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1014
+msgid ""
+"'Type 1:' The second value specifies positive offset from nominal while "
+"traveling in the positive direction.  The third value specifies the negative "
+"offset from nominal while traveling in a negative direction."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:1015
+#, no-wrap
+msgid "Type 1 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-config.adoc:1020
+#, no-wrap
+msgid ""
+"-1.000 0.005 -0.005\n"
+"0.000 0.002 -0.003\n"
+"1.000 0.003 -0.004\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1026
+msgid ""
+"`MIN_LIMIT = -1000` - (((MIN LIMIT)))  The minimum limit for joint motion, "
+"in machine units.  When this limit is reached, the controller aborts joint "
+"motion.  For a rotary joint with unlimited rotation having no `MIN_LIMIT` "
+"for that joint in the `[JOINT_N]` section a the value -1e99 is used."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1030
+msgid ""
+"`MAX_LIMIT = 1000` - (((MAX LIMIT)))  The maximum limit for joint motion, in "
+"machine units.  When this limit is reached, the controller aborts joint "
+"motion.  For a rotary joint with unlimited rotation having no `MAX_LIMIT` "
+"for that joint in the `[JOINT_N]` section a the value 1e99 is used."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:1035
+msgid ""
+"For *identity* kinematics, the `[JOINT_N]MIN_LIMIT`/`MAX_LIMIT` settings "
+"must equal or exceed the corresponding (one-to-one identity) `[AXIS_L]` "
+"limits.  These settings are verified at startup when the trivkins kinematics "
+"modules is specified."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/ini-config.adoc:1046
+msgid ""
+"The `[JOINT_N]MIN_LIMIT`/`MAX_LIMIT` settings are enforced while jogging in "
+"joint mode prior to homing.  After homing, `[AXIS_L]MIN_LIMIT`/`MAX_LIMIT` "
+"coordinate limits are used as constraints for axis (coordinate letter) "
+"jogging and by the trajectory planning used for G-code moves (programs and "
+"MDI commands).  The trajectory planner works in Cartesian space (XYZABCUVW) "
+"and has no information about the motion of joints implemented by *any* "
+"kinematics module.  It is possible for joint limit violations to occur for "
+"G-code that obeys trajectory planning position limits when non identity "
+"kinematics are used.  The motion module always detects joint position limit "
+"violations and faults if they occur during the execution of G-code "
+"commands.  See also related "
+"https://github.com/LinuxCNC/linuxcnc/issues/97[GitHub issue #97]."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1053
+msgid ""
+"`MIN_FERROR = 0.010` - (((MIN FERROR)))  This is the value in machine units "
+"by which the joint is permitted to deviate from commanded position at very "
+"low speeds.  If MIN_FERROR is smaller than FERROR, the two produce a ramp of "
+"error trip points.  You could think of this as a graph where one dimension "
+"is speed and the other is permitted following error.  As speed increases the "
+"amount of following error also increases toward the `FERROR` value."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1061
+msgid ""
+"`FERROR = 1.0` - (((FERROR))) `FERROR` is the maximum allowable following "
+"error, in machine units.  If the difference between commanded and sensed "
+"position exceeds this amount, the controller disables servo calculations, "
+"sets all the outputs to 0.0, and disables the amplifiers. If `MIN_FERROR` is "
+"present in the INI file, velocity-proportional following errors are used.  "
+"Here, the maximum allowable following error is proportional to the speed, "
+"with `FERROR` applying to the rapid rate set by `[TRAJ]MAX_VELOCITY`, and "
+"proportionally smaller following errors for slower speeds.  The maximum "
+"allowable following error will always be greater than `MIN_FERROR`.  This "
+"prevents small following errors for stationary axes from inadvertently "
+"aborting motion.  Small following errors will always be present due to "
+"vibration, etc."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1062
+msgid "`LOCKING_INDEXER = 1` - Indicates the joint is used as a locking indexer."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1066
+msgid ""
+"These parameters are Homing related, for a better explanation read the "
+"<<cha:homing-configuration,Homing Configuration>> Chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1068
+msgid ""
+"`HOME = 0.0` - The position that the joint will go to upon completion of the "
+"homing sequence."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1073
+msgid ""
+"`HOME_OFFSET = 0.0` - The joint position of the home switch or index pulse, "
+"in <<sub:ini:sec:traj,machine units>>.  When the home point is found during "
+"the homing process, this is the position that is assigned to that point.  "
+"When sharing home and limit switches and using a home sequence that will "
+"leave the home/limit switch in the toggled state, the home offset can be "
+"used define the home switch position to be other than 0 if your HOME "
+"position is desired to be 0."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1077
+msgid ""
+"`HOME_SEARCH_VEL = 0.0` - (((HOME SEARCH VEL))) Initial homing velocity in "
+"machine units per second.  Sign denotes direction of travel.  A value of "
+"zero means assume that the current location is the home position for the "
+"machine.  If your machine has no home switches you will want to leave this "
+"value at zero."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1080
+msgid ""
+"`HOME_LATCH_VEL = 0.0` - Homing velocity in machine units per second to the "
+"home switch latch position.  Sign denotes direction of travel."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1084
+msgid ""
+"`HOME_FINAL_VEL = 0.0` - Velocity in machine units per second from home "
+"latch position to home position.  If left at 0 or not included in the joint "
+"rapid velocity is used.  Must be a positive number."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1088
+msgid ""
+"`HOME_USE_INDEX = NO` - If the encoder used for this joint has an index "
+"pulse, and the motion card has provision for this signal you may set it to "
+"yes.  When it is yes, it will affect the kind of home pattern used.  "
+"Currently, you can't home to index with steppers unless you're using StepGen "
+"in velocity mode and PID."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1091
+msgid ""
+"`HOME_INDEX_NO_ENCODER_RESET = NO` - Use YES if the encoder used for this "
+"joint does not reset its counter when an index pulse is detected after "
+"assertion of the joint `index_enable` HAL pin.  Applicable only for "
+"`HOME_USE_INDEX = YES`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1095
+msgid ""
+"`HOME_IGNORE_LIMITS = NO` - When you use the limit switch as a home switch "
+"and the limit switch this should be set to YES.  When set to YES the limit "
+"switch for this joint is ignored when homing.  You must configure your "
+"homing so that at the end of your home move the home/limit switch is not in "
+"the toggled state you will get a limit switch error after the home move."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1098
+msgid ""
+"`HOME_IS_SHARED =` _<n>_ - If the home input is shared by more than one "
+"joint set _<n>_ to 1 to prevent homing from starting if the one of the "
+"shared switches is already closed.  Set _<n>_ to 0 to permit homing if a "
+"switch is closed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1102
+msgid ""
+"`HOME_ABSOLUTE_ENCODER = 0` | `1` | `2` - Used to indicate the joint uses an "
+"absolute encoder.  At a request for homing, the current joint value is set "
+"to the `HOME_OFFSET` value.  If the `HOME_ABSOLUTE_ENCODER` setting is 1, "
+"the machine makes the usual final move to the `HOME` value.  If the "
+"`HOME_ABSOLUTE_ENCODER` setting is 2, no final move is made."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1110
+msgid ""
+"`HOME_SEQUENCE =` _<n>_ - Used to define the \"Home All\" sequence.  _<n>_ "
+"must start at `0` or `1` or `-1`.  Additional sequences may be specified "
+"with numbers increasing by 1 (in absolute value).  Skipping of sequence "
+"numbers is not allowed.  If a `HOME_SEQUENCE` is omitted, the joint will not "
+"be homed by the \"Home All\" function.  More than one joint can be homed at "
+"the same time by specifying the same sequence number for more than one "
+"joint.  A negative sequence number is used to defer the final move for all "
+"joints having that (negative or positive) sequence number.  For additional "
+"info, see: <<sec:homing-section,HOME SEQUENCE>>."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1113
+msgid ""
+"`VOLATILE_HOME = 0` - When enabled (set to `1`) this joint will be unhomed "
+"if the Machine Power is off or if E-Stop is on.  This is useful if your "
+"machine has home switches and does not have position feedback such as a step "
+"and direction driven machine."
+msgstr ""
+
+#. type: Title ====
+#: src/config/ini-config.adoc:1114
+#, no-wrap
+msgid "Servos"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1117
+msgid "These parameters are relevant to joints controlled by servos."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1123
+msgid ""
+"The following are custom INI file entries that you may find in a sample INI "
+"file or a wizard generated file.  These are not used by the LinuxCNC "
+"software.  They are only there to put all the settings in one place.  For "
+"more information on custom INI file entries see the <<sub:ini:custom,Custom "
+"Sections and Variables>> subsection."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1125
+msgid ""
+"The following items might be used by a PID component and the assumption is "
+"that the output is volts."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1127
+msgid ""
+"`DEADBAND = 0.000015` - How close is close enough to consider the motor in "
+"position, in <<sub:ini:sec:traj,machine units>>."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1134
+msgid ""
+"This is often set to a distance equivalent to 1, 1.5, 2, or 3 encoder "
+"counts, but there are no strict rules.  Looser (larger) settings allow less "
+"servo 'hunting' at the expense of lower accuracy.  Tighter (smaller) "
+"settings attempt higher accuracy at the expense of more servo 'hunting'.  Is "
+"it really more accurate if it's also more uncertain? As a general rule, it's "
+"good to avoid, or at least limit, servo 'hunting' if you can."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1138
+msgid ""
+"Be careful about going below 1 encoder count, since you may create a "
+"condition where there is no place that your servo is happy.  This can go "
+"beyond 'hunting' (slow) to 'nervous' (rapid), and even to 'squealing' which "
+"is easy to confuse with oscillation caused by improper tuning.  Better to be "
+"a count or two loose here at first, until you've been through 'gross tuning' "
+"at least."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1140
+msgid ""
+"Example of calculating machine units per encoder pulse to use in deciding "
+"`DEADBAND` value:"
+msgstr ""
+
+#. latexmath:[ \frac{X\, inches}{1\, encoder\, count} =
+#. \frac{1\, revolution}{1000\, encoder\, lines} \times
+#. \frac{1\, encoder\, line}{4\, quadrature\, counts} \times
+#. \frac{0.200\, inches}{1\, revolution} =
+#. \frac{0.200\, inches}{4000\, encoder\, counts} =
+#. \frac{0.000050\, inches}{1\, encoder\, count} ]
+#. type: Target for macro image
+#: src/config/ini-config.adoc:1150
+#, no-wrap
+msgid "images/encoder-counts-math.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1159
+msgid ""
+"`BIAS = 0.000` - This is used by hm2-servo and some others.  Bias is a "
+"constant amount that is added to the output.  In most cases it should be "
+"left at zero.  However, it can sometimes be useful to compensate for offsets "
+"in servo amplifiers, or to balance the weight of an object that moves "
+"vertically.  Bias is turned off when the PID loop is disabled, just like all "
+"other components of the output."
+msgstr ""
+
+#. latexmath:[$\frac{volt}{mu}$].
+#. type: Plain text
+#: src/config/ini-config.adoc:1162
+msgid ""
+"`P = 50` - The proportional gain for the joint servo.  This value multiplies "
+"the error between commanded and actual position in machine units, resulting "
+"in a contribution to the computed voltage for the motor amplifier.  The "
+"units on the P gain are volts per machine unit, e.g., "
+"image:images/p-term.png[height=25]"
+msgstr ""
+
+#. latexmath:[$\frac{volt}{mu\, s}$].
+#. type: Plain text
+#: src/config/ini-config.adoc:1166
+msgid ""
+"`I = 0` - The integral gain for the joint servo.  The value multiplies the "
+"cumulative error between commanded and actual position in machine units, "
+"resulting in a contribution to the computed voltage for the motor "
+"amplifier.  The units on the I gain are volts per machine unit second, e.g., "
+"image:images/i-term.png[height=25]"
+msgstr ""
+
+#.  latexmath:[$\frac{volt}{mu/s}$].
+#. type: Plain text
+#: src/config/ini-config.adoc:1170
+msgid ""
+"`D = 0` - The derivative gain for the joint servo.  The value multiplies the "
+"difference between the current and previous errors, resulting in a "
+"contribution to the computed voltage for the motor amplifier.  The units on "
+"the D gain are volts per machine unit per second, e.g., "
+"image:images/i-term.png[height=25]"
+msgstr ""
+
+#.  latexmath:[$\frac{volt}{mu}$].
+#. type: Plain text
+#: src/config/ini-config.adoc:1174
+msgid ""
+"`FF0 = 0` - The 0^th^ order feed forward gain.  This number is multiplied by "
+"the commanded position, resulting in a contribution to the computed voltage "
+"for the motor amplifier.  The units on the FF0 gain are volts per machine "
+"unit, e.g., image:images/p-term.png[height=25]"
+msgstr ""
+
+#.  latexmath:[$\frac{volt}{mu\, s}$].
+#. type: Plain text
+#: src/config/ini-config.adoc:1178
+msgid ""
+"`FF1 = 0` - The 1^st^ order feed forward gain.  This number is multiplied by "
+"the change in commanded position per second, resulting in a contribution to "
+"the computed voltage for the motor amplifier.  The units on the FF1 gain are "
+"volts per machine unit per second, e.g., image:images/i-term.png[height=25]"
+msgstr ""
+
+#.  latexmath:[$\frac{volt}{mu\, s^{2}}$].
+#. type: Plain text
+#: src/config/ini-config.adoc:1182
+msgid ""
+"`FF2 = 0` - The 2^nd^ order feed forward gain.  This number is multiplied by "
+"the change in commanded position per second per second, resulting in a "
+"contribution to the computed voltage for the motor amplifier.  The units on "
+"the FF2 gain are volts per machine unit per second per second, e.g., "
+"image:images/ff2.png[height=25]"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1184
+msgid "`OUTPUT_SCALE = 1.000`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1185
+msgid "`OUTPUT_OFFSET = 0.000`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1188
+msgid ""
+"These two values are the scale and offset factors for the joint output to "
+"the motor amplifiers."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1195
+msgid ""
+"The second value (offset) is subtracted from the computed output (in volts), "
+"and divided by the first value (scale factor), before being written to the "
+"D/A converters.  The units on the scale value are in true volts per DAC "
+"output volts.  The units on the offset value are in volts.  These can be "
+"used to linearize a DAC.  Specifically, when writing outputs, the LinuxCNC "
+"first converts the desired output in quasi-SI units to raw actuator values, "
+"e.g., Volts for an amplifier DAC.  This scaling looks like: "
+"image:images/output-offset.png[]"
+msgstr ""
+
+#.  latexmath:[raw=\frac{output-offset}{scale}]
+#. type: Plain text
+#: src/config/ini-config.adoc:1200
+msgid ""
+"The value for scale can be obtained analytically by doing a unit analysis, "
+"i.e., units are [output SI units]/[actuator units].  For example, on a "
+"machine with a velocity mode amplifier such that 1 V results in 250 mm/s "
+"velocity."
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/ini-config.adoc:1201
+#, no-wrap
+msgid "images/scale-math.png"
+msgstr ""
+
+#.  latexmath:[$ amplifier [volts] = (output [\frac{mm}{sec}]
+#.  - offset [\frac{mm}{sec}]) / 250 \frac{mm}{sec\, volt} ] $]
+#. type: Plain text
+#: src/config/ini-config.adoc:1209
+msgid ""
+"Note that the units of the offset are in machine units, e.g. mm/s, and they "
+"are pre-subtracted from the sensor readings.  The value for this offset is "
+"obtained by finding the value of your output which yields 0.0 for the "
+"actuator output.  If the DAC is linearized, this offset is normally 0.0."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1211
+msgid ""
+"The scale and offset can be used to linearize the DAC as well, resulting in "
+"values that reflect the combined effects of amplifier gain, DAC "
+"non-linearity, DAC units, etc."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1213
+msgid "To do this, follow this procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1215
+msgid ""
+"Build a calibration table for the output, driving the DAC with a desired "
+"voltage and measuring the result."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1216
+msgid ""
+"Do a least-squares linear fit to get coefficients a, b such that "
+"image:images/calibration-1.png[]"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1217 src/config/pncconf.adoc:429
+msgid ""
+"Note that we want raw output such that our measured result is identical to "
+"the commanded output. This means"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1218
+msgid "image:images/calibration-2.png[]"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1219
+msgid "image:images/calibration-3.png[]"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1220 src/config/pncconf.adoc:432
+msgid ""
+"As a result, the a and b coefficients from the linear fit can be used as the "
+"scale and offset for the controller directly."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1222
+msgid "See the following table for an example of voltage measurements."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-config.adoc:1227 src/config/pncconf.adoc:415
+#, no-wrap
+msgid "Output Voltage Measurements"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1230 src/config/pncconf.adoc:418
+#, no-wrap
+msgid "Raw"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1231 src/config/pncconf.adoc:419
+#, no-wrap
+msgid "Measured"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1231 src/config/pncconf.adoc:419
+#, no-wrap
+msgid "-10"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1232 src/config/pncconf.adoc:420
+#, no-wrap
+msgid "-9.93"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1232 src/config/pncconf.adoc:420
+#, no-wrap
+msgid "-9"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1233 src/config/pncconf.adoc:421
+#, no-wrap
+msgid "-8.83"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1233 src/config/ini-homing.adoc:117
+#: src/config/ini-homing.adoc:118 src/config/pncconf.adoc:421
+#: src/config/stepconf.adoc:359 src/config/stepconf.adoc:360
+#: src/drivers/hostmot2.adoc:291 src/drivers/hostmot2.adoc:292
+#: src/drivers/hostmot2.adoc:293 src/drivers/hostmot2.adoc:302
+#: src/drivers/hostmot2.adoc:303 src/drivers/hostmot2.adoc:305
+#: src/drivers/hostmot2.adoc:306 src/drivers/hostmot2.adoc:313
+#: src/drivers/hostmot2.adoc:314 src/drivers/hostmot2.adoc:316
+#: src/drivers/hostmot2.adoc:317 src/drivers/hostmot2.adoc:319
+#: src/drivers/hostmot2.adoc:320 src/drivers/hostmot2.adoc:322
+#: src/drivers/hostmot2.adoc:323 src/drivers/hostmot2.adoc:330
+#: src/drivers/hostmot2.adoc:331 src/drivers/hostmot2.adoc:333
+#: src/drivers/hostmot2.adoc:334 src/drivers/hostmot2.adoc:336
+#: src/drivers/hostmot2.adoc:344 src/drivers/hostmot2.adoc:345
+#: src/drivers/hostmot2.adoc:347 src/drivers/hostmot2.adoc:348
+#: src/drivers/hostmot2.adoc:350 src/drivers/hostmot2.adoc:358
+#: src/drivers/hostmot2.adoc:359 src/drivers/hostmot2.adoc:360
+#: src/drivers/hostmot2.adoc:368 src/drivers/hostmot2.adoc:369
+#: src/drivers/hostmot2.adoc:370 src/drivers/hostmot2.adoc:371
+#: src/drivers/hostmot2.adoc:372 src/drivers/hostmot2.adoc:380
+#: src/drivers/hostmot2.adoc:381 src/drivers/hostmot2.adoc:382
+#: src/drivers/hostmot2.adoc:383 src/drivers/motenc.adoc:95
+#: src/gcode/g-code.adoc:774 src/gui/qtvcp-widgets.adoc:1207
+#: src/hal/basic-hal.adoc:551 src/hal/rtcomps.adoc:642 src/hal/rtcomps.adoc:643
+#: src/hal/rtcomps.adoc:644 src/hal/rtcomps.adoc:645 src/hal/rtcomps.adoc:646
+#: src/hal/rtcomps.adoc:647 src/hal/rtcomps.adoc:648 src/hal/rtcomps.adoc:649
+#: src/hal/rtcomps.adoc:650 src/hal/rtcomps.adoc:651 src/hal/rtcomps.adoc:652
+#: src/hal/rtcomps.adoc:653 src/hal/rtcomps.adoc:654 src/hal/rtcomps.adoc:655
+#: src/hal/rtcomps.adoc:656 src/hal/rtcomps.adoc:657 src/hal/rtcomps.adoc:658
+#: src/hal/rtcomps.adoc:659 src/hal/rtcomps.adoc:660 src/hal/rtcomps.adoc:661
+#: src/hal/rtcomps.adoc:662 src/hal/rtcomps.adoc:663 src/hal/rtcomps.adoc:664
+#: src/hal/rtcomps.adoc:665 src/hal/rtcomps.adoc:666 src/hal/rtcomps.adoc:667
+#: src/hal/rtcomps.adoc:668 src/hal/rtcomps.adoc:669 src/hal/rtcomps.adoc:670
+#: src/hal/rtcomps.adoc:671 src/hal/rtcomps.adoc:672 src/hal/rtcomps.adoc:683
+#: src/hal/rtcomps.adoc:684 src/hal/rtcomps.adoc:685 src/hal/rtcomps.adoc:686
+#: src/integrator/stepper-timing.adoc:48 src/plasma/qtplasmac.adoc:98
+#: src/plasma/qtplasmac.adoc:966 src/plasma/qtplasmac.adoc:967
+#: src/plasma/qtplasmac.adoc:1492 src/plasma/qtplasmac.adoc:1769
+#: src/plasma/qtplasmac.adoc:3936
+#, no-wrap
+msgid "0"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1234 src/config/pncconf.adoc:423
+#, no-wrap
+msgid "-0.03"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1234 src/config/pncconf.adoc:422
+#: src/config/stepconf.adoc:361 src/config/stepper-quickstart.adoc:61
+#: src/drivers/gm.adoc:64 src/drivers/gm.adoc:125 src/drivers/gm.adoc:495
+#: src/drivers/hal_pi_gpio.adoc:30 src/drivers/motenc.adoc:95
+#: src/drivers/motenc.adoc:96 src/gcode/g-code.adoc:775
+#: src/gcode/g-code.adoc:1590 src/gui/qtvcp-widgets.adoc:1208
+#: src/hal/basic-hal.adoc:543 src/hal/parallel-port.adoc:109
+#: src/hal/rtcomps.adoc:643 src/hal/rtcomps.adoc:644 src/hal/rtcomps.adoc:645
+#: src/hal/rtcomps.adoc:646 src/hal/rtcomps.adoc:647 src/hal/rtcomps.adoc:648
+#: src/hal/rtcomps.adoc:649 src/hal/rtcomps.adoc:650 src/hal/rtcomps.adoc:651
+#: src/hal/rtcomps.adoc:652 src/hal/rtcomps.adoc:653 src/hal/rtcomps.adoc:654
+#: src/hal/rtcomps.adoc:655 src/hal/rtcomps.adoc:656 src/hal/rtcomps.adoc:657
+#: src/hal/rtcomps.adoc:658 src/hal/rtcomps.adoc:659 src/hal/rtcomps.adoc:660
+#: src/hal/rtcomps.adoc:661 src/hal/rtcomps.adoc:662 src/hal/rtcomps.adoc:663
+#: src/hal/rtcomps.adoc:664 src/hal/rtcomps.adoc:665 src/hal/rtcomps.adoc:666
+#: src/hal/rtcomps.adoc:667 src/hal/rtcomps.adoc:668 src/hal/rtcomps.adoc:669
+#: src/hal/rtcomps.adoc:670 src/hal/rtcomps.adoc:671 src/hal/rtcomps.adoc:672
+#: src/hal/rtcomps.adoc:673 src/hal/rtcomps.adoc:684 src/hal/rtcomps.adoc:685
+#: src/hal/rtcomps.adoc:686 src/hal/rtcomps.adoc:687
+#: src/plasma/qtplasmac.adoc:99 src/plasma/qtplasmac.adoc:1495
+#: src/plasma/qtplasmac.adoc:1770 src/plasma/qtplasmac.adoc:3937
+#, no-wrap
+msgid "1"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1235
+#, no-wrap
+msgid "0.96"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1235 src/config/pncconf.adoc:423
+#: src/config/stepper-quickstart.adoc:69 src/drivers/gm.adoc:63
+#: src/drivers/gm.adoc:133 src/drivers/gm.adoc:494
+#: src/drivers/hal_pi_gpio.adoc:37 src/gcode/g-code.adoc:783
+#: src/gcode/g-code.adoc:1598 src/gui/qtvcp-widgets.adoc:1223
+#: src/hal/parallel-port.adoc:117 src/plasma/qtplasmac.adoc:3945
+#, no-wrap
+msgid "9"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1236 src/config/pncconf.adoc:424
+#, no-wrap
+msgid "9.87"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1236 src/config/pncconf.adoc:424
+#: src/config/stepper-quickstart.adoc:61 src/drivers/gm.adoc:69
+#: src/drivers/gm.adoc:134 src/drivers/gm.adoc:500
+#: src/drivers/hal_pi_gpio.adoc:38 src/drivers/hal_pi_gpio.adoc:44
+#: src/gcode/overview.adoc:471 src/gui/qtvcp-widgets.adoc:1224
+#: src/hal/basic-hal.adoc:542 src/hal/basic-hal.adoc:543
+#: src/hal/basic-hal.adoc:544 src/hal/basic-hal.adoc:545
+#: src/hal/basic-hal.adoc:546 src/hal/basic-hal.adoc:547
+#: src/hal/basic-hal.adoc:548 src/hal/basic-hal.adoc:549
+#: src/hal/basic-hal.adoc:550 src/hal/basic-hal.adoc:551
+#: src/hal/basic-hal.adoc:552 src/hal/parallel-port.adoc:118
+#: src/ladder/classic-ladder.adoc:87 src/ladder/classic-ladder.adoc:88
+#: src/ladder/classic-ladder.adoc:89 src/ladder/classic-ladder.adoc:90
+#: src/ladder/classic-ladder.adoc:94 src/ladder/classic-ladder.adoc:96
+#: src/ladder/classic-ladder.adoc:97 src/ladder/classic-ladder.adoc:98
+#: src/ladder/classic-ladder.adoc:99 src/plasma/qtplasmac.adoc:3946
+#: src/remap/remap.adoc:1803
+#, no-wrap
+msgid "10"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-config.adoc:1237
+#, no-wrap
+msgid "10.87"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1244
+msgid ""
+"`MAX_OUTPUT = 10` - The maximum value for the output of the PID compensation "
+"that is written to the motor amplifier, in volts.  The computed output value "
+"is clamped to this limit.  The limit is applied before scaling to raw output "
+"units.  The value is applied symmetrically to both the plus and the minus "
+"side."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1245
+msgid "`INPUT_SCALE = 20000` - in Sample configs"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1246
+msgid "`ENCODER_SCALE = 20000` - in PnCconf built configs"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1252
+msgid ""
+"Specifies the number of pulses that corresponds to a move of one machine "
+"unit as set in the `[TRAJ]` section.  For a linear joint one machine unit "
+"will be equal to the setting of `LINEAR_UNITS`.  For an angular joint one "
+"unit is equal to the setting in `ANGULAR_UNITS`.  A second number, if "
+"specified, is ignored.  For example, on a 2000 counts per rev encoder, and "
+"10 revs/inch gearing, and desired units of inch, we have:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/ini-config.adoc:1253 src/config/ini-config.adoc:1298
+#, no-wrap
+msgid "images/encoder-scale.png"
+msgstr ""
+
+#. latexmath:[ INPUT\_SCALE =
+#. \frac{2000\, counts}{rev} \times \frac{10\, rev}{inch} =
+#. \frac{20000\, counts}{inch} ]
+#. type: Title ====
+#: src/config/ini-config.adoc:1259
+#, no-wrap
+msgid "Stepper"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1262
+msgid "These parameters are relevant to joints controlled by steppers."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1267
+msgid ""
+"The following are custom INI file entries that you may find in a sample INI "
+"file or a wizard generated file.  These are not used by the LinuxCNC "
+"software and meant only to put all the settings in one place.  For more "
+"information on custom INI file entries see the <<sub:ini:custom,Custom "
+"Sections and Variables>> subsection."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1269
+msgid "The following items might be used by a StepGen component."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1271
+msgid "`SCALE = 4000` - in Sample configs"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1272
+msgid "`STEP_SCALE = 4000` - in PnCconf built configs"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1279
+msgid ""
+"Specifies the number of pulses that corresponds to a move of one machine "
+"unit as set in the `[TRAJ]` section.  For stepper systems, this is the "
+"number of step pulses issued per machine unit.  For a linear joint one "
+"machine unit will be equal to the setting of `LINEAR_UNITS`.  For an angular "
+"joint one unit is equal to the setting in `ANGULAR_UNITS`.  For servo "
+"systems, this is the number of feedback pulses per machine unit.  A second "
+"number, if specified, is ignored."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1281
+msgid ""
+"For example, on a 1.8 degree stepper motor with half-stepping, and 10 "
+"revs/inch gearing, and desired <<sub:ini:sec:traj,machine units>> of inch, "
+"we have:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/ini-config.adoc:1282
+#, no-wrap
+msgid "images/stepper-scale.png"
+msgstr ""
+
+#. latexmath:[ scale =
+#. \frac{2\, steps}{1.8\, degree} \times \frac{360\, degree}{rev} \times \frac{10\, rev}{inch} =
+#. \frac{4000\, steps}{inch} ]
+#. type: Plain text
+#: src/config/ini-config.adoc:1290
+msgid "Old INI and HAL files used `INPUT_SCALE` for this value."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1297
+msgid ""
+"`ENCODER_SCALE = 20000` (Optionally used in PnCconf built configs) - "
+"Specifies the number of pulses that corresponds to a move of one machine "
+"unit as set in the `[TRAJ]` section.  For a linear joint one machine unit "
+"will be equal to the setting of `LINEAR_UNITS`.  For an angular joint one "
+"unit is equal to the setting in `ANGULAR_UNITS`.  A second number, if "
+"specified, is ignored.  For example, on a 2000 counts per rev encoder, and "
+"10 revs/inch gearing, and desired units of inch, we have:"
+msgstr ""
+
+#. latexmath:[ ENCODER\_SCALE =
+#. \frac{2000\, counts}{rev} \times \frac{10\, rev}{inch} =
+#. \frac{20000\, counts}{inch} ]
+#. type: Plain text
+#: src/config/ini-config.adoc:1308
+msgid ""
+"`STEPGEN_MAXACCEL = 21.0` - Acceleration limit for the step generator.  This "
+"should be 1% to 10% larger than the joint `MAX_ACCELERATION`.  This value "
+"improves the tuning of StepGen's \"position loop\".  If you have added "
+"backlash compensation to an joint then this should be 1.5 to 2 times greater "
+"than `MAX_ACCELERATION`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1311
+msgid ""
+"`STEPGEN_MAXVEL = 1.4` - Older configuration files have a velocity limit for "
+"the step generator as well.  If specified, it should also be 1% to 10% "
+"larger than the joint `MAX_VELOCITY`.  Subsequent testing has shown that use "
+"of `STEPGEN_MAXVEL` does not improve the tuning of StepGen's position loop."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:1313
+#, no-wrap
+msgid "[SPINDLE_<num>] Section(s)(((INI File,Sections,[SPINDLE_<num>] Section(s))))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1321
+#, no-wrap
+msgid ""
+"The _<num>_ specifies the spindle number 0 ... (num_spindles-1)\n"
+"The value of _num_spindles_ is set by `[TRAJ]SPINDLES=` .\n"
+"By default maximum velocity of the spindle in forward and reverse is "
+"approximately 2147483000 RPM.\n"
+"By default minimum velocity of the spindle in forward and reverse is 0 "
+"RPM.\n"
+"By default the increment is 100 RPM.\n"
+"You change these default by setting the following INI variables:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1325
+msgid ""
+"These settings are for the motion controller component.  Control screens can "
+"limit these settings further."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1329
+msgid ""
+"`MAX_FORWARD_VELOCITY = 20000` The maximum spindle speed (in rpm) for the "
+"specified spindle. Optional.  This will also set MAX_REVERSE_VELOCITY to the "
+"negative value unless overridden."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1333
+msgid ""
+"`MIN_FORWARD_VELOCITY = 3000` The minimum spindle speed (in rpm) for the "
+"specified spindle. Optional.  Many spindles have a minimum speed below which "
+"they should not be run.  Any spindle speed command below this limit will be "
+"/increased/ to this limit."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1338
+msgid ""
+"`MAX_REVERSE_VELOCITY = 20000` This setting will default to "
+"`MAX_FORWARD_VELOCITY` if omitted.  It can be used in cases where the "
+"spindle speed is limited in reverse.  Set to zero for spindles which must "
+"not be run in reverse.  In this context \"max\" refers to the absolute "
+"magnitude of the spindle speed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1341
+msgid ""
+"`MIN_REVERSE_VELOCITY = 3000`` This setting is equivalent to "
+"`MIN_FORWARD_VELOCITY` but for reverse spindle rotation.  It will default to "
+"the MIN_FORWARD_VELOCITY if omitted."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1346
+msgid ""
+"`INCREMENT = 200` Sets the step size for spindle speed increment / decrement "
+"commands.  This can have a different value for each spindle.  This setting "
+"is effective with AXIS and Touchy but note that some control screens may "
+"handle things differently."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1350
+msgid ""
+"`HOME_SEARCH_VELOCITY = 100` - FIXME: Spindle homing not yet working.  Sets "
+"the homing speed (rpm) for the spindle.  The spindle will rotate at this "
+"velocity during the homing sequence until the spindle index is located, at "
+"which point the spindle position will be set to zero.  Note that it makes no "
+"sense for the spindle home position to be any value other than zero, and so "
+"there is no provision to do so."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1353
+msgid ""
+"`HOME_SEQUENCE = 0` - FIXME: Spindle homing not yet working Controls where "
+"in the general homing sequence the spindle homing rotations occur.  Set the "
+"`HOME_SEARCH_VELOCITY` to zero to avoid spindle rotation during the homing "
+"sequence."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-config.adoc:1355
+#, no-wrap
+msgid "[EMCIO] Section(((INI File,Sections,[EMCIO] Section)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1358
+msgid ""
+"`TOOL_TABLE = tool.tbl` - The file which contains tool information, "
+"described in the User Manual."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1360
+msgid ""
+"`DB_PROGRAM = db_program` - Path to an executable program that manages tool "
+"data.  When a DB_PROGRAM is specified, a TOOL_TABLE entry is ignored."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1366
+msgid ""
+"`TOOL_CHANGE_POSITION = 0 0 2` - Specifies the XYZ location to move to when "
+"performing a tool change if three digits are used.  Specifies the XYZABC "
+"location when 6 digits are used.  Specifies the XYZABCUVW location when 9 "
+"digits are used.  Tool Changes can be combined.  For example if you combine "
+"the quill up with change position you can move the Z first then the X and Y."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1369
+msgid ""
+"`TOOL_CHANGE_WITH_SPINDLE_ON = 1` - The spindle will be left on during the "
+"tool change when the value is 1.  Useful for lathes or machines where the "
+"material is in the spindle, not the tool."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1372
+msgid ""
+"`TOOL_CHANGE_QUILL_UP = 1` - The Z axis will be moved to machine zero prior "
+"to the tool change when the value is 1.  This is the same as issuing a `G0 "
+"G53 Z0`."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1375
+msgid ""
+"`TOOL_CHANGE_AT_G30 = 1` - The machine is moved to reference point defined "
+"by parameters 5181-5186 for G30 if the value is 1.  For more information see "
+"<<sec:overview-parameters,G-code Parameters>> and <<gcode:g30-g30.1,G-code "
+"G30-G30.1>>."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-config.adoc:1378
+msgid ""
+"`RANDOM_TOOLCHANGER = 1` - This is for machines that cannot place the tool "
+"back into the pocket it came from.  For example, machines that exchange the "
+"tool in the active pocket with the tool in the spindle."
+msgstr ""
+
+#. type: Title =
+#: src/config/ini-homing.adoc:5
+#, no-wrap
+msgid "Homing Configuration"
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:13 src/config/stepper.adoc:152
+#: src/gcode/overview.adoc:16 src/gcode/tool-compensation.adoc:287
+#: src/gui/gscreen.adoc:62 src/gui/gstat.adoc:15 src/gui/ngcgui.adoc:16
+#: src/gui/qtdragon.adoc:940 src/gui/qtvcp.adoc:508 src/gui/qtvcp.adoc:720
+#: src/gui/qtvcp.adoc:1072 src/gui/qtvcp-custom-widgets.adoc:7
+#: src/gui/qtvcp-development.adoc:7 src/gui/tooledit.adoc:13
+#: src/remap/remap.adoc:587
+#, no-wrap
+msgid "Overview"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:22
+msgid ""
+"Homing sets the zero origin of the G53 machine coordinates.  Soft limits are "
+"defined relative to the machine origin.  The soft limits automatically "
+"decelerate and stop the axes before they hit the limits switches A properly "
+"configured and functioning machine will not move beyond soft(ware) limits "
+"and will have the machine origin set as repeatable as the home switch/index "
+"mechanism is.  Linuxcnc can be homed by eye (alignment marks), with "
+"switches, with switches and an encoder index, or by using absolute "
+"encoders.  Homing seems simple enough - just move each joint to a known "
+"location, and set LinuxCNC's internal variables accordingly.  However, "
+"different machines have different requirements, and homing is actually quite "
+"complicated."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:26
+msgid ""
+"While it is possible to use LinuxCNC without homing switches/home procedures "
+"or limit switches, It defeats the extra security of the soft limits."
+msgstr ""
+
+#. type: Title ==
+#: src/config/ini-homing.adoc:27
+#, no-wrap
+msgid "Prerequisite"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:30
+msgid "Homing relies on some fundamental machine assumptions."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:33
+msgid ""
+"The negative and positive directions are based on "
+"<<sec:machine-configurations,Tool Movement>> which can be different from the "
+"actual machine movement.  I.e., on a mill typically the table moves rather "
+"then the tool."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:34
+msgid ""
+"Everything is referenced from the G53 machine zero origin, the origin can be "
+"anywhere (even outside where you can move)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:35
+msgid ""
+"The G53 machine zero origin is typically inside the soft limits area but not "
+"necessarily."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:36
+msgid ""
+"The homing switch offset sets where the origin is, but even it is referenced "
+"from the origin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:37
+msgid ""
+"When using encoder index homing, the home switch offset is calculated from "
+"the encoder reference position, after the home switch has been tripped."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:39
+msgid ""
+"The negative soft(ware) limits are the most you can move in the negative "
+"direction after homing.  (but they might not be negative in the absolute "
+"sense)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:41
+msgid ""
+"The positive soft(ware) limits are the most you can move in the positive "
+"direction after homing.  (but they might not be positive in the absolute "
+"sense, though it is usual to set it as a positive number)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:42
+msgid "Soft(ware) limits are inside the limit switch area."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:43
+msgid "(Final) Homed Position is inside the soft limit area"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:45
+msgid ""
+"(If using switch based homing) the homing switch(es) either utilize the "
+"limit switches (shared home / limit switch), or when using a separate home "
+"switch, are inside the limit switch area."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:50
+msgid ""
+"If using a separate homing switch, it is possible to start homing on the "
+"wrong side of the home switch, which combined with HOME_IGNORE_LIMITS option "
+"will lead to a hard crash.  You can avoid this by making the home switch "
+"toggle its state when the trip dog is on a particular side until it returns "
+"passed the trip point again.  Said another way, the home switch state must "
+"represent the position of the dog relative to the switch (i.e. _before_ or "
+"_after_ the switch), and must stay that way even if the dog coasts past the "
+"switch in the same direction."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:54
+msgid ""
+"While it is possible to use LinuxCNC with the G53 machine origin outside the "
+"soft machine limits, if you use G28 or G30 without setting the parameters it "
+"goes to the origin by default.  This would trip the limit switches before "
+"getting to position."
+msgstr ""
+
+#. type: Title ==
+#: src/config/ini-homing.adoc:55
+#, no-wrap
+msgid "Separate Home Switch Example Layout"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:58
+msgid ""
+"This example shows minimum and maximum limit switches with a separate home "
+"switch."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-homing.adoc:59
+#, no-wrap
+msgid "Demonstrative Separate Switch Layout"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/ini-homing.adoc:60
+#, no-wrap
+msgid "Example Homing Switch layout"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/ini-homing.adoc:60
+#, no-wrap
+msgid "images/HomeAxisTravel_V2.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:63
+msgid "A is the negative soft limit"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:64
+msgid "B is the G53 machine coordinate Origin"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:65
+msgid "C is the home switch trip point"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:66
+msgid "D is the positive soft limit"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:67
+msgid "H is the final home position (HOME) = 0 units"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:68
+msgid "The -L and +L are the limit switches trip points"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:69
+msgid "A<->B is the negative soft limits (MIN_LIMITS) = -3 units"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:70
+msgid "B<->C is the home_offset (HOME_OFFSET) = -2.3 units"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:71
+msgid "B<->D is the positive soft limits (MAX_LIMITS) = 7 units"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:72
+msgid "A<->D is the total travel = 10 units"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:73
+msgid ""
+"The distance between the limit switches and soft limits (-L<->A and D<-+L) "
+"is magnified in this example"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:74 src/config/ini-homing.adoc:99
+msgid ""
+"Note that there is distance between the limit switches and actual physical "
+"hard contact for coasting after the amplifier is disabled."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:79
+msgid ""
+"Homing sets the G53 coordinate system, while the machine origin (zero point) "
+"can be anywhere, setting the zero point at the negative soft limit makes all "
+"G53 coordinates positive, which is probably easiest to remember. Do this by "
+"setting MIN_LIMIT = 0 and make sure MAX_LIMIT is positive."
+msgstr ""
+
+#. type: Title ==
+#: src/config/ini-homing.adoc:80
+#, no-wrap
+msgid "Shared Limit/Home Switch Example Layout"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:83
+msgid ""
+"This example shows a maximum limit switch and a combined minimum limit/home "
+"switch."
+msgstr ""
+
+#. type: Block title
+#: src/config/ini-homing.adoc:84
+#, no-wrap
+msgid "Demonstrative Shared Switch Layout"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/ini-homing.adoc:85
+#, no-wrap
+msgid "Example shared Home Limit Switch layout"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/ini-homing.adoc:85
+#, no-wrap
+msgid "images/HomeAxisTravel_V3.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:88
+msgid "A is the negative soft limit."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:89
+msgid "B is the G53 machine coordinate Origin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:90
+msgid "C is the home switch trip point shared with (-L) minimum limit trip."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:91
+msgid "D is the positive soft limit."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:92
+msgid "H is the final home position (HOME) = 3 units."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:93
+msgid "The -L and +L are the limit switch trip points."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:94
+msgid "A<->B is the negative soft limits (MIN_LIMITS) = 0 units."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:95
+msgid "B<->C is the home_offset (HOME_OFFSET) = -0.7 units."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:96
+msgid "B<->D is the positive soft limits (MAX_LIMITS) 10 units."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:97
+msgid "A<->D is the total travel = 10 units."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:98
+msgid ""
+"The distance between the limits switches and soft limits (-L<->A and D<->+L) "
+"is magnified in this example."
+msgstr ""
+
+#. type: Title ==
+#: src/config/ini-homing.adoc:100
+#, no-wrap
+msgid "Homing Sequence"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:105
+msgid ""
+"There are four possible homing sequences defined by the sign of "
+"HOME_SEARCH_VEL and HOME_LATCH_VEL, along with the associated configuration "
+"parameters as shown in the following table.  Two basic conditions exist, "
+"HOME_SEARCH_VEL and HOME_LATCH_VEL are the same sign or they are opposite "
+"signs.  For a more detailed description of what each configuration parameter "
+"does, see the following section."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/ini-homing.adoc:106 src/config/ini-homing.adoc:107
+#, no-wrap
+msgid "Homing Sequences"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/ini-homing.adoc:107
+#, no-wrap
+msgid "images/emc2-motion-homing-diag.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:113
+msgid ""
+"The following determines exactly how the home sequence behaves.  They are "
+"defined in an [JOINT_n] section of the INI file."
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:116
+#, no-wrap
+msgid "Homing Type"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:116
+#, no-wrap
+msgid "HOME_SEARCH_VEL"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:116
+#, no-wrap
+msgid "HOME_LATCH_VEL"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:117
+#, no-wrap
+msgid "HOME_USE_INDEX"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:117
+#, no-wrap
+msgid "Immediate"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:118 src/config/ini-homing.adoc:120
+#, no-wrap
+msgid "NO"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:118
+#, no-wrap
+msgid "Index-only"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:118 src/config/ini-homing.adoc:119
+#: src/config/ini-homing.adoc:120
+#, no-wrap
+msgid "nonzero"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:119 src/config/ini-homing.adoc:121
+#, no-wrap
+msgid "YES"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:119
+#, no-wrap
+msgid "Switch-only"
+msgstr ""
+
+#. type: Table
+#: src/config/ini-homing.adoc:120
+#, no-wrap
+msgid "Switch and Index"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:125
+msgid "Any other combinations may result in an error."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:126
+#, no-wrap
+msgid "HOME_SEARCH_VEL(((HOME SEARCH VEL)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:129 src/config/ini-homing.adoc:146
+#: src/config/ini-homing.adoc:160
+msgid "This variable has units of machine-units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:132
+msgid ""
+"The default value is zero. A value of zero causes LinuxCNC to assume that "
+"there is no home switch; the search stage of homing is skipped."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:142
+msgid ""
+"If HOME_SEARCH_VEL is non-zero, then LinuxCNC assumes that there is a home "
+"switch.  It begins by checking whether the home switch is already tripped.  "
+"If tripped it backs off the switch at HOME_SEARCH_VEL.  The direction of the "
+"back-off is opposite the sign of HOME_SEARCH_VEL.  Then it searches for the "
+"home switch by moving in the direction specified by the sign of "
+"HOME_SEARCH_VEL, at a speed determined by its absolute value.  When the home "
+"switch is detected, the joint will stop as fast as possible, but there will "
+"always be some overshoot.  The amount of overshoot depends on the speed.  If "
+"it is too high, the joint might overshoot enough to hit a limit switch or "
+"crash into the end of travel.  On the other hand, if HOME_SEARCH_VEL is too "
+"low, homing can take a long time."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:143
+#, no-wrap
+msgid "HOME_LATCH_VEL(((HOME LATCH VEL)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:156
+msgid ""
+"Specifies the speed and direction that LinuxCNC uses when it makes its final "
+"accurate determination of the home switch (if present) and index pulse "
+"location (if present).  It will usually be slower than the search velocity "
+"to maximize accuracy.  If HOME_SEARCH_VEL and HOME_LATCH_VEL have the same "
+"sign, then the latch phase is done while moving in the same direction as the "
+"search phase.  (In that case, LinuxCNC first backs off the switch, before "
+"moving towards it again at the latch velocity.)  If HOME_SEARCH_VEL and "
+"HOME_LATCH_VEL have opposite signs, the latch phase is done while moving in "
+"the opposite direction from the search phase.  That means LinuxCNC will "
+"latch the first pulse after it moves off the switch.  If HOME_SEARCH_VEL is "
+"zero (meaning there is no home switch), and this parameter is nonzero, "
+"LinuxCNC goes ahead to the index pulse search.  If HOME_SEARCH_VEL is "
+"non-zero and this parameter is zero, it is an error and the homing operation "
+"will fail.  The default value is zero."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:157
+#, no-wrap
+msgid "HOME_FINAL_VEL"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:165
+msgid ""
+"It specifies the speed that LinuxCNC uses when it makes its move from "
+"HOME_OFFSET to the HOME position. If the HOME_FINAL_VEL is missing from the "
+"INI file, then the maximum joint speed is used to make this move.  The value "
+"must be a positive number."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:166
+#, no-wrap
+msgid "HOME_IGNORE_LIMITS(((HOME IGNORE LIMITS)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:174
+msgid ""
+"Can hold the values YES / NO. The default value for this parameter is NO.  "
+"This flag determines whether LinuxCNC will ignore the limit switch input for "
+"this joint while homing.  This setting will not ignore limit inputs for "
+"other joints.  If you do not have a separate home switch set this to YES and "
+"connect the limit switch signal to the joint home switch input in HAL.  "
+"LinuxCNC will ignore the limit switch input for this joint while homing.  To "
+"use only one input for all homing and limits you will have to block the "
+"limit signals of the joints not homing in HAL and home one joint at a time."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:175
+#, no-wrap
+msgid "HOME_USE_INDEX(((HOME USE INDEX)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:181
+msgid ""
+"Specifies whether or not there is an index pulse.  If the flag is true "
+"(HOME_USE_INDEX = YES), LinuxCNC will latch on the rising edge of the index "
+"pulse.  If false, LinuxCNC will latch on either the rising or falling edge "
+"of the home switch (depending on the signs of HOME_SEARCH_VEL and "
+"HOME_LATCH_VEL).  The default value is NO."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:184
+msgid ""
+"HOME_USE_INDEX requires connections in your HAL file to "
+"`joint.n.index-enable` from the `encoder.n.index-enable`."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:185
+#, no-wrap
+msgid "HOME_INDEX_NO_ENCODER_RESET(((HOME INDEX NO ENCODER RESET)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:190
+msgid ""
+"Default is NO.  Use YES if the encoder used for this joint does not reset "
+"its counter when an index pulse is detected after assertion of the joint "
+"index_enable HAL pin.  Applicable only for HOME_USE_INDEX = YES."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:191
+#, no-wrap
+msgid "HOME_OFFSET(((HOME OFFSET)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:197
+msgid ""
+"This defines the location of the origin zero point of the G53 machine "
+"coordinate system.  It is the distance (offset), in joint units, from the "
+"machine origin to the home switch trip point or index pulse.  After "
+"detecting the switch trip point/index pulse, LinuxCNC sets the joint "
+"coordinate position to HOME_OFFSET, thus defining the origin, which the soft "
+"limits references from.  The default value is zero."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:200
+msgid ""
+"The home switch location, as indicated by the HOME_OFFSET variable, can be "
+"inside or outside the soft limits.  They will be shared with or inside the "
+"hard limit switches."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:201
+#, no-wrap
+msgid "HOME(((HOME)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:210
+msgid ""
+"The position that the joint will go to upon completion of the homing "
+"sequence.  After detecting the home switch or home switch then index pulse "
+"(depending on configuration), and setting the coordinate of that point to "
+"HOME_OFFSET, LinuxCNC makes a move to HOME as the final step of the homing "
+"process.  The default value is zero.  Note that even if this parameter is "
+"the same as HOME_OFFSET, the joint will slightly overshoot the latched "
+"position as it stops.  Therefore there will always be a small move at this "
+"time (unless HOME_SEARCH_VEL is zero, and the entire search/latch stage was "
+"skipped).  This final move will be made at the joint's maximum velocity "
+"unless HOME_FINAL_VEL has been set."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:214
+msgid ""
+"The distinction between 'HOME_OFFSET' and 'HOME' is that 'HOME_OFFSET' first "
+"establishes the origin location and scale on the machine by applying the "
+"'HOME_OFFSET' value to the location where home was found, and then 'HOME' "
+"says where the joint should move to on that scale."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:215
+#, no-wrap
+msgid "HOME_IS_SHARED(((HOME IS SHARED)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:219
+msgid ""
+"If there is not a separate home switch input for this joint, but a number of "
+"momentary switches wired to the same pin, set this value to 1 to prevent "
+"homing from starting if one of the shared switches is already closed.  Set "
+"this value to 0 to permit homing even if the switch is already closed."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:220
+#, no-wrap
+msgid "HOME_ABSOLUTE_ENCODER(((HOME ABSOLUTE ENCODER)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:223
+msgid ""
+"Use for absolute encoders.  When a request is made to home the joint, the "
+"current joint position is set to the '[JOINT_n]HOME_OFFSET' value."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:225
+msgid ""
+"The final move to the '[JOINT_n]HOME' position is optional according to the "
+"'HOME_ABSOLUTE_ENCODER' setting:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-homing.adoc:230
+#, no-wrap
+msgid ""
+"HOME_ABSOLUTE_ENCODER = 0 (Default) joint does not use an absolute encoder\n"
+"HOME_ABSOLUTE_ENCODER = 1 Absolute encoder, final move to [JOINT_n]HOME\n"
+"HOME_ABSOLUTE_ENCODER = 2 Absolute encoder, NO final move to [JOINT_n]HOME\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:234
+msgid "A HOME_IS_SHARED setting is silently ignored."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:237
+msgid "A request to rehome the joint is silently ignored."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:239
+#, no-wrap
+msgid "HOME_SEQUENCE(((HOME SEQUENCE)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:244
+msgid ""
+"Used to define a multi-joint homing sequence *HOME ALL* and enforce homing "
+"order (e.g., Z may not be homed if X is not yet homed).  A joint may be "
+"homed after all joints with a lower (absolute value) HOME_SEQUENCE have "
+"already been homed and are at the HOME_OFFSET.  If two joints have the same "
+"HOME_SEQUENCE, they may be homed at the same time."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:247
+msgid ""
+"If HOME_SEQUENCE is not specified then the joint will not be homed by the "
+"*HOME ALL* sequence (but may be homed by individual joint-specific homing "
+"commands)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:251
+msgid ""
+"The initial HOME_SEQUENCE number may be 0, 1 (or -1).  The absolute value of "
+"sequence numbers must increment by one -- skipping sequence numbers is not "
+"supported.  If a sequence number is omitted, *HOME ALL* homing will stop "
+"upon completion of the last valid sequence number."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:254
+#, no-wrap
+msgid ""
+"*Negative* HOME_SEQUENCE values indicate that joints in the sequence should "
+"*synchronize the final move* to [JOINT_n]HOME by waiting until all joints in "
+"the sequence are ready.\n"
+"If any joint has a *negative* HOME_SEQUENCE value, then all joints with the "
+"same absolute value (positive or negative) of the HOME_SEQUENCE item value "
+"will synchronize the final move.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:258
+msgid ""
+"A *negative* HOME_SEQUENCE also applies to commands to home a single joint.  "
+"If the HOME_SEQUENCE value is *negative*, all joints having the same "
+"absolute value of that HOME_SEQUENCE will be *homed together with a "
+"synchronized final move*.  If the HOME_SEQUENCE value is zero or positive, a "
+"command to home the joint will home only the specified joint."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:262
+msgid ""
+"Joint mode jogging of joints having a negative HOME_SEQUENCE is disallowed.  "
+"In common gantry applications, such jogging can lead to misalignment "
+"(racking).  Note that conventional jogging in world coordinates is always "
+"available once a machine is homed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:264
+msgid "Examples for a 3 joint system"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:266
+msgid "Two sequences (0,1), no synchronization"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-homing.adoc:272
+#, no-wrap
+msgid ""
+"[JOINT_0]HOME_SEQUENCE = 0\n"
+"[JOINT_1]HOME_SEQUENCE = 1\n"
+"[JOINT_2]HOME_SEQUENCE = 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:275
+msgid "Two sequences, joints 1 and 2 synchronized"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-homing.adoc:281
+#, no-wrap
+msgid ""
+"[JOINT_0]HOME_SEQUENCE =  0\n"
+"[JOINT_1]HOME_SEQUENCE = -1\n"
+"[JOINT_2]HOME_SEQUENCE = -1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:284
+msgid "With mixed positive and negative values, joints 1 and 2 synchronized"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-homing.adoc:290
+#, no-wrap
+msgid ""
+"[JOINT_0]HOME_SEQUENCE =  0\n"
+"[JOINT_1]HOME_SEQUENCE = -1\n"
+"[JOINT_2]HOME_SEQUENCE =  1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:293
+msgid "One sequence, no synchronization"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-homing.adoc:299
+#, no-wrap
+msgid ""
+"[JOINT_0]HOME_SEQUENCE =  0\n"
+"[JOINT_1]HOME_SEQUENCE =  0\n"
+"[JOINT_2]HOME_SEQUENCE =  0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:302
+msgid "One sequence, all joints synchronized"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-homing.adoc:308
+#, no-wrap
+msgid ""
+"[JOINT_0]HOME_SEQUENCE = -1\n"
+"[JOINT_1]HOME_SEQUENCE = -1\n"
+"[JOINT_2]HOME_SEQUENCE = -1\n"
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:310
+#, no-wrap
+msgid "VOLATILE_HOME(((VOLATILE HOME)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:315
+msgid ""
+"If this setting is true, this joint becomes unhomed whenever the machine "
+"transitions into the OFF state.  This is appropriate for any joint that does "
+"not maintain position when the joint drive is off.  Some stepper drives, "
+"especially microstep drives, may need this."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:316
+#, no-wrap
+msgid "LOCKING_INDEXER(((LOCKING INDEXER)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:319
+msgid ""
+"If this joint is a locking rotary indexer, it will unlock before homing, and "
+"lock afterward."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:320
+#, no-wrap
+msgid "Immediate Homing(((Immediate Homing)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:324
+msgid ""
+"If a joint does not have home switches or does not have a logical home "
+"position like a rotary joint and you want that joint to home at the current "
+"position when the \"Home All\" button is pressed in the AXIS GUI, then the "
+"following INI entries for that joint are needed."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-homing.adoc:331
+#, no-wrap
+msgid ""
+"HOME_SEARCH_VEL = 0\n"
+"HOME_LATCH_VEL = 0\n"
+"HOME_USE_INDEX = NO\n"
+"HOME_OFFSET = 0 (Or the home position offset (HOME))\n"
+"HOME_SEQUENCE = 0 (or other valid sequence number)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:336
+msgid ""
+"The default values for unspecified HOME_SEARCH_VEL, HOME_LATCH_VEL, "
+"HOME_USE_INDEX, HOME, and HOME_OFFSET are *zero*, so they may be omitted "
+"when requesting immediate homing.  A valid HOME_SEQUENCE number should "
+"usually be included since omitting a HOME_SEQUENCE eliminates the joint from "
+"*HOME ALL* behavior as noted above."
+msgstr ""
+
+#. type: Title ===
+#: src/config/ini-homing.adoc:337
+#, no-wrap
+msgid "Inhibiting Homing(((Inhibiting Homing)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:340
+msgid ""
+"A HAL pin (motion.homing-inhibit) is provided to disallow homing initiation "
+"for both \"Home All\" and individual joint homing."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:343
+msgid ""
+"Some systems take advantage of the provisions for synchronizing final joint "
+"homing moves as controlled by negative [JOINT_N]HOME_SEQUENCE= INI file "
+"items.  By default, the synchronization provisions disallow *joint* jogging "
+"prior to homing in order to prevent *joint* jogs that could misalign the "
+"machine (gantry racking for example)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:346
+msgid ""
+"System integrator can allow *joint* jogging prior to homing with HAL logic "
+"that switches the [JOINT_N]HOME_SEQUENCE items.  This logic should also "
+"assert the *motion.homing-inhibit* pin to ensure that homing is not "
+"inadvertently initiated when *joint* jogging is enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:348
+msgid ""
+"Example: Synced joints 0,1 using negative sequence (-1) for synchronized "
+"homing with a switch (allow_jjog) that selects a positive sequence (1) for "
+"individual *joint* jogging prior to homing (partial HAL code):"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/ini-homing.adoc:368
+#, no-wrap
+msgid ""
+"loadrt mux2           names=home_sequence_mux\n"
+"loadrt conv_float_s32 names=home_sequence_s32\n"
+"setp home_sequence_mux.in0 -1\n"
+"setp home_sequence_mux.in1  1\n"
+"addf home_sequence_mux servo-thread\n"
+"addf home_sequence_s32 servo-thread\n"
+"...\n"
+"net home_seq_float <= home_sequence_mux.out\n"
+"net home_seq_float => home_sequence_s32.in\n"
+"net home_seq_s32   <= home_sequence_s32.out\n"
+"net home_seq_s32   => ini.0.home_sequence\n"
+"net home_seq_s32   => ini.1.home_sequence\n"
+"...\n"
+"# allow_jjog: pin created by a virtual panel or hardware switch\n"
+"net hsequence_select <= allow_jjog\n"
+"net hsequence_select => home_sequence_mux.sel\n"
+"net hsequence_select => motion.homing-inhibit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:372
+msgid ""
+"INI HAL pins (like ini.N.home_sequence) are not available until milltask "
+"starts so execution of the above HAL commands should be deferred using a "
+"postgui HAL file or a delayed [APPLICATION]APP= script."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:375
+msgid ""
+"Realtime synchronization of joint jogging for multiple joints requires "
+"additional HAL connections for the Manual-Pulse-Generator (MPG) type jog "
+"pins (`joint.N.enable`, `joint.N.scale`, `joint.N.counts`)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/ini-homing.adoc:377
+msgid ""
+"An example simulation config (gantry_jjog.ini) that demonstrates joint "
+"jogging when using negative home sequences is located in the: "
+"configs/sim/axis/gantry/ directory."
+msgstr ""
+
+#. type: Title =
+#: src/config/integrator-concepts.adoc:5
+#, no-wrap
+msgid "Integrator Concepts"
+msgstr ""
+
+#. type: Title ==
+#: src/config/integrator-concepts.adoc:7
+#, no-wrap
+msgid "File Locations"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:11
+msgid ""
+"LinuxCNC looks for the configuration and G-code files in a specific "
+"place. The location depends on how you run LinuxCNC."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:12
+#, no-wrap
+msgid "Installed"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:17
+msgid ""
+"If your running LinuxCNC from the Live CD or you installed via a .deb and "
+"use the configuration picker 'LinuxCNC' from the menu LinuxCNC looks in the "
+"following directories:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:19
+msgid "The LinuxCNC directory is located at '/home/user-name/linuxcnc'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:20
+msgid ""
+"The Configuration directories are located at "
+"'/home/user-name/linuxcnc/configs'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:21
+msgid ""
+"Configuration files are located at "
+"'/home/user-name/linuxcnc/configs/name-of-config'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:22
+msgid "G-code files are located at /home/user-name/linuxcnc/nc_files'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:25
+msgid ""
+"For example for a configuration called Mill and a user name Fred the "
+"directory and file structure would look like this."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:27
+msgid "'/home/fred/linuxcnc'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:28
+msgid "'/home/fred/linuxcnc/nc_files'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:29
+msgid "'/home/fred/linuxcnc/configs/mill'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:30
+msgid "'/home/fred/linuxcnc/configs/mill/mill.ini'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:31
+msgid "'/home/fred/linuxcnc/configs/mill/mill.hal'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:32
+msgid "'/home/fred/linuxcnc/configs/mill/mill.var'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:33
+msgid "'/home/fred/linuxcnc/configs/mill/tool.tbl'"
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:34
+#, no-wrap
+msgid "Command Line"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:39
+msgid ""
+"If you run LinuxCNC from the command line and specify the name and location "
+"of the INI file the file locations can be in a different place. To view the "
+"options for running LinuxCNC from the command line run 'linuxcnc -h'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:44
+msgid ""
+"Optional locations for some files can be configured in the INI file. See the "
+"`<<sub:ini:sec:display,[DISPLAY]>>` section and the "
+"`<<sub:ini:sec:rs274ngc,[RS274NGC]>>` section."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:45 src/ladder/classic-ladder.adoc:45
+#, no-wrap
+msgid "Files"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:48
+msgid "Each configuration directory requires at least the following files:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:50
+msgid "An INI file .ini"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:52
+msgid ""
+"A HAL file .hal or HALTCL file .tcl specified in the <<sub:ini:sec:hal,HAL>> "
+"section of the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:55
+msgid "Other files may be required for some GUIs."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:57
+msgid "Optionally you can also have:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:59
+msgid "A Variables file .var"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:62
+msgid ""
+"If you omit a .var file in a directory but include "
+"`<<sub:ini:sec:rs274ngc,[RS274NGC]>>` PARAMETER_FILE=somefilename.var, the "
+"file will be created for you when LinuxCNC starts."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:65
+msgid ""
+"If you omit a .var file and omit the item [RS274NGC] PARAMETER_FILE, a var "
+"file named rs274ngc.var will be created when LinuxCNC starts. There may be "
+"some confusing messages if [RS274NGC]PARAMETER_FILE is omitted."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:67
+msgid ""
+"A Tool Table file .tbl if `<<sub:ini:sec:emcmot,[EMCMOT]>>` TOOL_TABLE has "
+"been specified in the INI file. Some configurations do not need a tool "
+"table."
+msgstr ""
+
+#. type: Title ==
+#: src/config/integrator-concepts.adoc:68
+#, no-wrap
+msgid "Stepper Systems"
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:70
+#, no-wrap
+msgid "Base Period"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:83
+msgid ""
+"BASE_PERIOD is the 'heartbeat' of your LinuxCNC computer.footnote:[This "
+"section refers to using *stepgen*, LinuxCNC's built-in step generator. Some "
+"hardware devices have their own step generator and do not use LinuxCNC's "
+"built-in one. In that case, refer to your hardware manual.] Every period, "
+"the software step generator decides if it is time for another step pulse.  A "
+"shorter period will allow you to generate more pulses per second, within "
+"limits. But if you go too short, your computer will spend so much time "
+"generating step pulses that everything else will slow to a crawl, or maybe "
+"even lock up. Latency and stepper drive requirements affect the shortest "
+"period you can use."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:88
+msgid ""
+"Worst case latencies might only happen a few times a minute, and the odds of "
+"bad latency happening just as the motor is changing direction are low. So "
+"you can get very rare errors that ruin a part every once in a while and are "
+"impossible to troubleshoot."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:97
+msgid ""
+"The simplest way to avoid this problem is to choose a BASE_PERIOD that is "
+"the sum of the longest timing requirement of your drive, and the worst case "
+"latency of your computer. This is not always the best choice.  For example, "
+"if you are running a drive with a 20 µs direction signal hold time "
+"requirement, and your latency test said you have a maximum latency of 11 µs "
+", then if you set the BASE_PERIOD to 20+11 = 31 µs you get a not-so-nice "
+"32,258 steps per second in one mode and 16,129 steps per second in another "
+"mode."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:110
+msgid ""
+"The problem is with the 20 µs hold time requirement. That plus the 11 µs "
+"latency is what forces us to use a slow 31 µs period. But the LinuxCNC "
+"software step generator has some parameters that let you increase the "
+"various times from one period to several. For example, if 'steplen' "
+"footnote:[steplen refers to a parameter that adjusts the performance of "
+"LinuxCNC's built-in step generator, 'stepgen', which is a HAL "
+"component. This parameter adjusts the length of the step pulse itself. Keep "
+"reading, all will be explained eventually.] is changed from 1 to 2, then "
+"there will be two periods between the beginning and end of the step "
+"pulse. Likewise, if 'dirhold' footnote:[dirhold refers to a parameter that "
+"adjusts the length of the direction hold time.] is changed from 1 to 3, "
+"there will be at least three periods between the step pulse and a change of "
+"the direction pin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:122
+msgid ""
+"If we can use 'dirhold' to meet the 20 µs hold time requirement, then the "
+"next longest time is the 4.5 µs high time. Add the 11 µs latency to the "
+"4.5 µs high time, and you get a minimum period of 15.5 µs . When you try "
+"15.5 µs , you find that the computer is sluggish, so you settle on 16 µs .  "
+"If we leave 'dirhold' at 1 (the default), then the minimum time between step "
+"and direction is the 16 µs period minus the 11 µs latency = 5 µs , which is "
+"not enough. We need another 15 µs . Since the period is 16 µs , we need one "
+"more period. So we change 'dirhold' from 1 to 2. Now the minimum time from "
+"the end of the step pulse to the changing direction pin is 5+16=21 µs , and "
+"we don't have to worry about the drive stepping the wrong direction because "
+"of latency."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:124
+msgid "For more information on stepgen see the <<sec:stepgen,stepgen section>>."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:125
+#: src/config/stepper-diagnostics.adoc:98
+#, no-wrap
+msgid "Step Timing"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:130
+msgid ""
+"Step Timing and Step Space on some drives are different. In this case the "
+"Step point becomes important. If the drive steps on the falling edge then "
+"the output pin should be inverted."
+msgstr ""
+
+#. type: Title ==
+#: src/config/integrator-concepts.adoc:131
+#, no-wrap
+msgid "Servo Systems"
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:133
+#, no-wrap
+msgid "Basic Operation"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:144
+msgid ""
+"Servo systems are capable of greater speed and accuracy than equivalent "
+"stepper systems, but are more costly and complex.  Unlike stepper systems, "
+"servo systems require some type of position feedback device, and must be "
+"adjusted or 'tuned', as they don't quite work right out of the box as a "
+"stepper system might. These differences exist because servos are a 'closed "
+"loop' system, unlike stepper motors which are generally run 'open "
+"loop'. What does 'closed loop' mean? Let's look at a simplified diagram of "
+"how a servomotor system is connected."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/integrator-concepts.adoc:146
+#, no-wrap
+msgid "simplified diagram of how a servomotor system is connected"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/integrator-concepts.adoc:146
+#, no-wrap
+msgid "images/servo-feedback.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:154
+msgid ""
+"This diagram shows that the input signal (and the feedback signal) drive the "
+"summing amplifier, the summing amplifier drives the power amplifier, the "
+"power amplifier drives the motor, the motor drives the load (and the "
+"feedback device), and the feedback device (and the input signal)  drive the "
+"motor.  This looks very much like a circle (a closed loop) where A controls "
+"B, B controls C, C controls D, and D controls A."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:167
+msgid ""
+"If you have not worked with servo systems before, this will no doubt seem a "
+"very strange idea at first, especially as compared to more normal electronic "
+"circuits, where the inputs proceed smoothly to the outputs, and never go "
+"back.footnote:[If it helps, the closest equivalent to this in the digital "
+"world are 'state machines', 'sequential machines' and so forth, where what "
+"the outputs are doing 'now' depends on what the inputs (and the outputs)  "
+"were doing 'before'. If it doesn't help, then nevermind.] If 'everything' "
+"controls 'everything else', how can that ever work, who's in charge? The "
+"answer is that LinuxCNC 'can' control this system, but it has to do it by "
+"choosing one of several control methods.  The control method that LinuxCNC "
+"uses, one of the simplest and best, is called PID."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:176
+msgid ""
+"PID stands for Proportional, Integral, and Derivative. The Proportional "
+"value determines the reaction to the current error, the Integral value "
+"determines the reaction based on the sum of recent errors, and the "
+"Derivative value determines the reaction based on the rate at which the "
+"error has been changing. They are three common mathematical techniques that "
+"are applied to the task of getting a working process to follow a set "
+"point. In the case of LinuxCNC the process we want to control is actual axis "
+"position and the set point is the commanded axis position."
+msgstr ""
+
+#. type: Block title
+#: src/config/integrator-concepts.adoc:177
+#, no-wrap
+msgid "PID Loop"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/integrator-concepts.adoc:178
+#, no-wrap
+msgid "PID Loop, PID stands for Proportional, Integral, and Derivative"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/integrator-concepts.adoc:178
+#, no-wrap
+msgid "images/pid-feedback.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:186
+msgid ""
+"By 'tuning' the three constants in the PID controller algorithm, the "
+"controller can provide control action designed for specific process "
+"requirements. The response of the controller can be described in terms of "
+"the responsiveness of the controller to an error, the degree to which the "
+"controller overshoots the set point and the degree of system oscillation."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:187
+#, no-wrap
+msgid "Proportional term"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:197
+msgid ""
+"The proportional term (sometimes called gain) makes a change to the output "
+"that is proportional to the current error value. A high proportional gain "
+"results in a large change in the output for a given change in the error. If "
+"the proportional gain is too high, the system can become unstable. In "
+"contrast, a small gain results in a small output response to a large input "
+"error. If the proportional gain is too low, the control action may be too "
+"small when responding to system disturbances."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:204
+msgid ""
+"In the absence of disturbances, pure proportional control will not settle at "
+"its target value, but will retain a steady state error that is a function of "
+"the proportional gain and the process gain. Despite the steady-state offset, "
+"both tuning theory and industrial practice indicate that it is the "
+"proportional term that should contribute the bulk of the output change."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:205
+#, no-wrap
+msgid "Integral term"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:213
+msgid ""
+"The contribution from the integral term (sometimes called reset) is "
+"proportional to both the magnitude of the error and the duration of the "
+"error. Summing the instantaneous error over time (integrating the error) "
+"gives the accumulated offset that should have been corrected previously. The "
+"accumulated error is then multiplied by the integral gain and added to the "
+"controller output."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:221
+msgid ""
+"The integral term (when added to the proportional term) accelerates the "
+"movement of the process towards set point and eliminates the residual "
+"steady-state error that occurs with a proportional only controller. However, "
+"since the integral term is responding to accumulated errors from the past, "
+"it can cause the present value to overshoot the set point value (cross over "
+"the set point and then create a deviation in the other direction)."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:222
+#, no-wrap
+msgid "Derivative term"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:228
+msgid ""
+"The rate of change of the process error is calculated by determining the "
+"slope of the error over time (i.e., its first derivative with respect to "
+"time) and multiplying this rate of change by the derivative gain."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:234
+msgid ""
+"The derivative term slows the rate of change of the controller output and "
+"this effect is most noticeable close to the controller set point.  Hence, "
+"derivative control is used to reduce the magnitude of the overshoot produced "
+"by the integral component and improve the combined controller-process "
+"stability."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:235
+#, no-wrap
+msgid "Loop tuning"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:244
+msgid ""
+"If the PID controller parameters (the gains of the proportional, integral "
+"and derivative terms) are chosen incorrectly, the controlled process input "
+"can be unstable, i.e., its output diverges, with or without oscillation, and "
+"is limited only by saturation or mechanical breakage. Tuning a control loop "
+"is the adjustment of its control parameters (gain/proportional band, "
+"integral gain/reset, derivative gain/rate) to the optimum values for the "
+"desired control response."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:245
+#, no-wrap
+msgid "Manual tuning"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:260
+msgid ""
+"A simple tuning method is to first set the I and D values to zero.  Increase "
+"the P until the output of the loop oscillates, then the P should be set to "
+"be approximately half of that value for a 'quarter amplitude decay' type "
+"response. Then increase I until any offset is correct in sufficient time for "
+"the process. However, too much I will cause instability. Finally, increase "
+"D, if required, until the loop is acceptably quick to reach its reference "
+"after a load disturbance.  However, too much D will cause excessive response "
+"and overshoot. A fast PID loop tuning usually overshoots slightly to reach "
+"the set point more quickly; however, some systems cannot accept overshoot, "
+"in which case an 'over-damped' closed-loop system is required, which will "
+"require a P setting significantly less than half that of the P setting "
+"causing oscillation."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:268
+msgid ""
+"The Real Time Application Interface (RTAI) is used to provide the best Real "
+"Time (RT) performance. The RTAI patched kernel lets you write applications "
+"with strict timing constraints. RTAI gives you the ability to have things "
+"like software step generation which require precise timing."
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:269
+#, no-wrap
+msgid "ACPI"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:280
+msgid ""
+"The Advanced Configuration and Power Interface (ACPI) has a lot of different "
+"functions, most of which interfere with RT performance (for example: power "
+"management, CPU power down, CPU frequency scaling, etc).  The LinuxCNC "
+"kernel (and probably all RTAI-patched kernels) has ACPI disabled. ACPI also "
+"takes care of powering down the system after a shutdown has been started, "
+"and that's why you might need to push the power button to completely turn "
+"off your computer. The RTAI group has been improving this in recent "
+"releases, so your LinuxCNC system may shut off by itself after all."
+msgstr ""
+
+#. type: Title ==
+#: src/config/integrator-concepts.adoc:281
+#, no-wrap
+msgid "Computer/Machine Interface Hardware Options"
+msgstr ""
+
+#. type: Title ===
+#: src/config/integrator-concepts.adoc:283
+#, no-wrap
+msgid "litehm2/rv901t"
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:292
+msgid ""
+"Litehm2 is a board-agnostic port of the HostMot2 FPGA firmware. The first "
+"board it supports is the linsn rv901t, which was originally built as a LED "
+"controller board, but due to the available I/O it is well suited to act as a "
+"machine controller. It offers around 80 5V-buffered I/O ports and can switch "
+"between all input and all output. it is also easily modified to split the "
+"ports half/half between input and output. The rv901t interfaces to the "
+"computer via Gigabit or 100Mbit Ethernet."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:296
+msgid ""
+"Litehm2 is based on the LiteX framework which supports a wide range of FPGA "
+"boards. Currently only the rv901t is supported, but support for more boards "
+"is under development."
+msgstr ""
+
+#. type: Plain text
+#: src/config/integrator-concepts.adoc:298
+msgid "More information can be found at https://github.com/sensille/litehm2."
+msgstr ""
+
+#. type: Title =
+#: src/config/iov2.adoc:5
+#, no-wrap
+msgid "I/O Control V2"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:16
+msgid ""
+"I/O control handles I/O tasks like coolant, toolchange and E-stop. The "
+"signals are turned on and off with G-code or in the case of E-stop in HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:18
+msgid ""
+"I/O Control V2 adds more toolchanger support for communication with the "
+"toolchanger."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:25
+msgid ""
+"LinuxCNC originated abort and toolchanger fault: iocontrol reliably abort a "
+"change operation in progress (tool-change asserted). A toolchanger may at "
+"any time signal a fault which will abort the next M6. For instance, a "
+"toolchanger finding an empty pocket during a prepare operation should be "
+"able to signal a fault to iocontrol, and iocontrol act appropriately when "
+"the M6 change operation is executed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:29
+msgid ""
+"Communicate abort/fault cause : let iocontrol know why toolchanger caused an "
+"fault, and why iocontrol aborted. This is for UI purposes. It would be a "
+"candidate for a #5xxx parameter, and selective display in the UI."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:33
+msgid ""
+"No race conditions between iocontrol and toolchanger: the protocol between "
+"iocontrol and toolchanger must be unambiguous with respect to which "
+"operation is signalled, and if a change operation is aborted or complete."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:37
+msgid ""
+"Consistent view of state: Both parties must have a consistent view of the "
+"state at any point in time with respect to aborted versus completed, and "
+"tool number and pocket."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:42
+msgid ""
+"Handshaked signaling an abort/fault: an abort signaled by LinuxCNC to the "
+"toolchanger, and a fault indicated from the toolchanger is handshaked to "
+"assure reliable signaling, and optionally force lock-step behaviour.  "
+"Handshaking is optional and can be jumpered in HAL if not needed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:45
+msgid ""
+"Backwards compatibility: A toolchanger ignoring the iocontrol emc-abort line "
+"and sticking to old handling will \"continue to work\" (subject to race "
+"condition)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:48
+msgid ""
+"If you have strict timing requirements or simply need more I/O, consider "
+"using the realtime I/O provided by link:../man/man9/motion.9.html[motion] "
+"instead."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:52
+msgid "INI file options:"
+msgstr ""
+
+#. type: Block title
+#: src/config/iov2.adoc:53
+#, no-wrap
+msgid "[EMCIO] section"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/iov2.adoc:54
+#, no-wrap
+msgid "PROTOCOL_VERSION = 2 "
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:55
+msgid "Defaults to 2. Setting to 1 will emulate old iocontrol behaviour."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/iov2.adoc:56
+#, no-wrap
+msgid "EMCIO = iov2 -support-start-change "
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:57
+#, no-wrap
+msgid ""
+"You need to explicitly enable the start-change protocol by adding the "
+"-support-start-change option; otherwise the start-change pin remains low and   "
+"start-change-ack is ignored. The reason for this is better backwards "
+"compatibility.\n"
+msgstr ""
+
+#. type: Block title
+#: src/config/iov2.adoc:58
+#, no-wrap
+msgid "[TASK] section"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/iov2.adoc:59
+#, no-wrap
+msgid "IO_ERROR "
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:60
+msgid ""
+"Printf-style template for operator error display (negative toolchanger fault "
+"codes).  No quoting needed. Example: `IO_ERROR = Toolchanger fault "
+"%d`. Default: toolchanger error %d."
+msgstr ""
+
+#. type: Block title
+#: src/config/iov2.adoc:61
+#, no-wrap
+msgid "[EMC] section +"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/iov2.adoc:62
+#, no-wrap
+msgid "DEBUG "
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:63
+msgid ""
+"To get a (quite detailed) trace, set either the RCS debugging flag "
+"(0x00000200) to turn on RCS debugging messages all over LinuxCNC or use the "
+"new iocontrol debugging bit (0x00001000) only for iov2 messages."
+msgstr ""
+
+#. type: Title ==
+#: src/config/iov2.adoc:64 src/drivers/ax5214h.adoc:40 src/drivers/gm.adoc:96
+#: src/drivers/gm.adoc:101 src/drivers/gm.adoc:112 src/drivers/gm.adoc:184
+#: src/drivers/gm.adoc:274 src/drivers/gm.adoc:352 src/drivers/gm.adoc:383
+#: src/drivers/gm.adoc:431 src/drivers/gm.adoc:436 src/drivers/gm.adoc:459
+#: src/drivers/gm.adoc:464 src/drivers/gm.adoc:519 src/drivers/gm.adoc:524
+#: src/drivers/gm.adoc:653 src/drivers/gm.adoc:695 src/drivers/gm.adoc:731
+#: src/drivers/gm.adoc:784 src/drivers/gs2.adoc:52
+#: src/drivers/hal_pi_gpio.adoc:63 src/drivers/hostmot2.adoc:111
+#: src/drivers/hostmot2.adoc:418 src/drivers/hostmot2.adoc:484
+#: src/drivers/hostmot2.adoc:580 src/drivers/hostmot2.adoc:651
+#: src/drivers/hal_gpio.adoc:79 src/drivers/mb2hal.adoc:158
+#: src/drivers/mitsub-vfd.adoc:50 src/drivers/motenc.adoc:35
+#: src/drivers/opto22.adoc:56 src/drivers/pico-ppmc.adoc:99
+#: src/drivers/pmx485.adoc:29 src/drivers/servo-to-go.adoc:74
+#: src/drivers/shuttle.adoc:53 src/drivers/vfs11.adoc:46
+#: src/gui/gladevcp.adoc:613 src/gui/gladevcp.adoc:725
+#: src/gui/gladevcp.adoc:781 src/gui/gladevcp.adoc:1008
+#: src/gui/gladevcp.adoc:1044 src/gui/gladevcp.adoc:1078
+#: src/gui/gladevcp.adoc:1141 src/gui/gladevcp.adoc:1192 src/gui/mdro.adoc:64
+#: src/hal/basic-hal.adoc:376 src/hal/basic-hal.adoc:409
+#: src/hal/basic-hal.adoc:438 src/hal/basic-hal.adoc:470
+#: src/hal/parallel-port.adoc:195 src/hal/rtcomps.adoc:218
+#: src/hal/rtcomps.adoc:293 src/hal/rtcomps.adoc:386 src/hal/rtcomps.adoc:479
+#: src/hal/rtcomps.adoc:539 src/hal/rtcomps.adoc:588
+#: src/man/man1/iov2.1.adoc:22 src/man/man1/shuttle.1.adoc:64
+#, no-wrap
+msgid "Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:69
+msgid ""
+"'iocontrol.0.emc-enable-in' (bit, in) Should be driven FALSE when an "
+"external E-stop condition exists."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:70
+msgid "'iocontrol.0.tool-change' (bit, out) TRUE when a tool change is requested"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:72
+msgid "'iocontrol.0.tool-number' (s32, out) Current tool number"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:73
+msgid ""
+"'iocontrol.0.tool-prep-number' (s32, out) The number of the next tool, from "
+"the RS274NGC T-word"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:74
+msgid ""
+"'iocontrol.0.tool-prep-pocket' (s32, out) This is the pocket number "
+"(location in the tool storage mechanism) of the tool requested by the most "
+"recent T-word."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:75
+msgid ""
+"'iocontrol.0.tool-prepare' (bit, out) TRUE when a T__n__ tool prepare is "
+"requested."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:77
+msgid ""
+"'iocontrol.0.user-enable-out' (bit, out) FALSE when an internal E-stop "
+"condition exists"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:78
+msgid ""
+"'iocontrol.0.user-request-enable' (bit, out) TRUE when the user has "
+"requested that E-stop be cleared"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:80
+msgid "Additional pins added by I/O Control V2"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:82
+msgid "emc-abort: (bit, out) signals emc-originated abort to toolchanger."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:86
+msgid ""
+"emc-abort-ack: (bit, in) Acknowledge line from toolchanger for previous "
+"signal, or jumpered to abort-tool-change if not used in toolchanger. NB: "
+"after signaling an emc-abort, iov2 will block until emc-abort-ack is raised."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:89
+msgid ""
+"emc-reason: (S32, out) convey cause for EMC-originated abort to "
+"toolchanger.  Usage: UI informational. Valid during emc-abort TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:93
+msgid ""
+"start-change: (bit, out) asserted at the very beginning of an M6 operation, "
+"before any spindle-off, quill-up, or move-to-toolchange-position operations "
+"are executed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:95
+msgid "start-change-ack: (bit, in) acknowledgment line for start-change."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:99
+msgid ""
+"toolchanger-fault: (bit, in) toolchanger signals fault. This line is "
+"contionuously monitored. A fault toggles a flag in iocontrol which is "
+"reflected in the toolchanger-faulted pin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:104
+msgid ""
+"toolchanger-fault-ack: (bit, out) handshake line for above signal. will be "
+"set by iov2 after above fault line TRUE is recognized and deasserted when "
+"toolchanger-fault drops. Toolchanger is free to interpret the ack; reading "
+"the -ack lines assures fault has been received and acted upon."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:109
+msgid ""
+"toolchanger-reason: (S32, in) convey reason code for toolchanger-originated "
+"fault to iov2. Usage: signal whether to continue or abort the program, plus "
+"UI informational if negative. Read during toolchanger-fault TRUE. Non-zero "
+"values will cause an Axis operator operator message or error message, see "
+"below."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:112
+msgid ""
+"toolchanger-faulted: (bit, out) signals toolchanger-notify line has toggled "
+"and toolchanger-reason-code was in the fault range. Next M6 will abort."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:116
+msgid ""
+"toolchanger-clear-fault: (bit, in) resets TC fault condition.  Deasserts "
+"toolchanger-faulted if toolchanger-notify is line FALSE.  Usage: UI - e.g., "
+"clear fault condition button."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:125
+msgid ""
+"iocontrol.0.tool-prep-index (s32, RO) IO's internal array index of the "
+"prepped tool requested by the most recent T-word. 0 if no tool is "
+"prepped. On random toolchanger machines this is tool's pocket number (i.e., "
+"the same as the tool-prep-pocket pin), on non-random toolchanger machines "
+"this is a small integer corresponding to the tool's location in the internal "
+"representation of the tool table. This parameter returns to 0 after a "
+"successful tool change M6."
+msgstr ""
+
+#. type: Title ==
+#: src/config/iov2.adoc:126
+#, no-wrap
+msgid "Communications"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:132
+msgid ""
+"If LinuxCNC signals an abort for whatever reason, this is reflected in the "
+"emc-abort and emc-reason pins. The toolchanger is expected to acknowledge "
+"the emc-abort pin by raising the emc-abort-ack pin - iov2 will block until "
+"this is done. If you do not need the abort handshake feature, jumper them as "
+"follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/iov2.adoc:136
+#, no-wrap
+msgid "net emc-abort-ack iocontrol.0.emc-abort iocontrol.0.emc-abort-ack\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:139
+msgid "The emc-reason pin is considered valid during emc-abort being TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:142
+msgid ""
+"The reason codes are as follows for LinuxCNC internally generated aborts "
+"(see emc.hh ca line 321):"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:144
+msgid "EMC_ABORT_TASK_EXEC_ERROR = 1,"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:145
+msgid "EMC_ABORT_AUX_ESTOP = 2,"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:146
+msgid "EMC_ABORT_MOTION_OR_IO_RCS_ERROR = 3,"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:147
+msgid "EMC_ABORT_TASK_STATE_OFF = 4,"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:148
+msgid "EMC_ABORT_TASK_STATE_ESTOP_RESET = 5,"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:149
+msgid "EMC_ABORT_TASK_STATE_ESTOP = 6,"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:150
+msgid "EMC_ABORT_TASK_STATE_NOT_ON = 7,"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:151
+msgid "EMC_ABORT_TASK_ABORT = 8,"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:152
+msgid "EMC_ABORT_USER = 100"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:155
+msgid ""
+"iov2 adds one more code, namely EMC_ABORT_BY_TOOLCHANGER_FAULT = 101 which "
+"is signaled when an M6 aborts due to the toolchanger-faulted pin being TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:158
+msgid ""
+"To signal toolchanger faults to LinuxCNC, wire the toolchanger-fault pin, "
+"and optionally the toolchanger-reason and toolchanger-ack pins."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:162
+msgid ""
+"The toolchanger-fault triggers the fault condition, which is reflected in "
+"the toolchanger-faulted pin. This condition can be cleared by asserting the "
+"toolchanger-clear-fault pin, provided the toolchanger-fault pin is FALSE."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:164
+msgid "The value of the toolchanger-reason pin is used as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:168
+msgid ""
+"toolchanger-reason > 0 : The toolchange process is not completed and the "
+"program continues, however parameter #5060 is set to 1.0 to indicate the "
+"fault.  Parameter #5601 contains the value of the toolchanger-reason pin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:169
+msgid "toolchanger-reason = 0 : the program is aborted"
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:171
+msgid ""
+"toolchanger-reason < 0 : the program is aborted and an operator error "
+"message is displayed by using the IO_ERROR template."
+msgstr ""
+
+#. type: Plain text
+#: src/config/iov2.adoc:174
+msgid ""
+"The usage of the toolchanger-fault-ack pin is optional.  It will become TRUE "
+"when toolchanger-fault is raised and the toolchanger-reason pin has been "
+"read by iov2."
+msgstr ""
+
+#. type: Title =
+#: src/config/lathe-config.adoc:5
+#, no-wrap
+msgid "Lathe Configuration"
+msgstr ""
+
+#. type: Title ==
+#: src/config/lathe-config.adoc:13
+#, no-wrap
+msgid "Default Plane"
+msgstr ""
+
+#. type: Plain text
+#: src/config/lathe-config.adoc:19
+msgid ""
+"When LinuxCNC's interpreter was first written, it was designed for mills.  "
+"That is why the default plane is XY (G17). A normal lathe only uses the XZ "
+"plane (G18). To change the default plane place the following line in the INI "
+"file in the RS274NGC section."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/lathe-config.adoc:23
+#, no-wrap
+msgid "RS274NGC_STARTUP_CODE = G18\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/lathe-config.adoc:27
+msgid ""
+"The above can be overwritten in a G-code program so always set important "
+"things in the preamble of the G-code file."
+msgstr ""
+
+#. type: Title ===
+#: src/config/lathe-config.adoc:28 src/gui/gscreen.adoc:409
+#: src/gui/qtvcp.adoc:86
+#, no-wrap
+msgid "INI Settings"
+msgstr ""
+
+#. type: Plain text
+#: src/config/lathe-config.adoc:38
+msgid ""
+"The following INI settings are needed for lathe mode in Axis in addition to "
+"or replacing normal settings in the INI file. These historical settings use "
+"identity kinematics (trivkins) and 'three' joints (0,1,2) corresponding to "
+"coordinates x, y, z.  The joint 1 for the unused y axis is required but not "
+"used in these historical configurations.  Simulated lathe configs may use "
+"these historical settings.  GMOCCAPY also uses the mentioned settings, but "
+"does offer additional settings, check the <<cha:gmoccapy,GMOCCAPY>> section "
+"for details."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/lathe-config.adoc:45 src/config/lathe-config.adoc:74
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"DISPLAY = axis\n"
+"LATHE = 1\n"
+"...\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/lathe-config.adoc:49
+#, no-wrap
+msgid ""
+"[KINS]\n"
+"KINEMATICS = trivkins\n"
+"JOINTS = 3\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/lathe-config.adoc:53 src/config/lathe-config.adoc:82
+#, no-wrap
+msgid ""
+"[TRAJ]\n"
+"COORDINATES = X Z\n"
+"...\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/lathe-config.adoc:62
+#, no-wrap
+msgid ""
+"[JOINT_0]\n"
+"...\n"
+"[JOINT_2]\n"
+"...\n"
+"[AXIS_X]\n"
+"...\n"
+"[AXIS_Z]\n"
+"...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/lathe-config.adoc:67
+msgid ""
+"With joints_axes incorporation, a simpler configuration can be made with "
+"just the two required joints by specifying trivkins with the 'coordinates=' "
+"parameter:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/lathe-config.adoc:78
+#, no-wrap
+msgid ""
+"[KINS]\n"
+"KINEMATICS = trivkins coordinates=xz\n"
+"JOINTS = 2\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/lathe-config.adoc:91
+#, no-wrap
+msgid ""
+"[JOINT_0]\n"
+"...\n"
+"[JOINT_1]\n"
+"...\n"
+"[AXIS_X]\n"
+"...\n"
+"[AXIS_Z]\n"
+"...\n"
+msgstr ""
+
+#. type: Title =
+#: src/config/moveoff.adoc:5
+#, no-wrap
+msgid "Moveoff Component(((Moveoff)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:16
+msgid ""
+"The moveoff HAL component is a HAL-only method for implementing offsets.  "
+"See the manpage ('$ man moveoff')  for the IMPORTANT limitations and "
+"warnings."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:21 man/man9/moveoff.9:22
+msgid ""
+"The moveoff component is used to offset joint positions using custom HAL "
+"connections.  Implementing an offset-while-program-is-paused functionality "
+"is supported with appropriate connections for the input pins.  Nine joints "
+"are supported."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:29
+msgid ""
+"The axis offset pin values (offset-in-M) are continuously applied "
+"(respecting limits on value, velocity, and acceleration) to the output pins "
+"(offset-current-M, pos-plusoffset-M, fb-minusoffset-M) when both enabling "
+"input pins (apply-offsets and move-enable) are TRUE.  The two enabling "
+"inputs are anded internally. A 'warning pin' is set and a message issued if "
+"the apply-offsets pin is deasserted while offsets are applied.  The warning "
+"pin remains TRUE until the offsets are removed or the apply-offsets pin is "
+"set."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:33 man/man9/moveoff.9:30
+msgid ""
+"Typically, the move-enable pin is connected to external controls and the "
+"apply-offsets pin is connected to halui.program.is-paused (for offsets only "
+"while paused) or set to TRUE (for continuously applied offsets)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:37
+msgid ""
+"Applied offsets are 'automatically returned' to zero (respecting limits)  "
+"when either of the enabling inputs is deactivated.  The zero value tolerance "
+"is specified by the epsilon input pin value."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:45 man/man9/moveoff.9:40
+msgid ""
+"Waypoints are recorded when the moveoff component is enabled.  Waypoints are "
+"managed with the waypoint-sample-secs and waypoint-threshold pins.  When the "
+"backtrack-enable pin is TRUE, the auto-return path follows the recorded "
+"waypoints.  When the memory available for waypoints is exhausted, offsets "
+"are frozen and the waypoint-limit pin is asserted.  This restriction applies "
+"regardless of the state of the backtrack-enable pin.  An enabling pin must "
+"be deasserted to allow a return to the original (non-offset position)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:50
+msgid ""
+"Backtracking through waypoints results in 'slower' movement rates as the "
+"moves are point-to-point respecting velocity and acceleration settings.  The "
+"velocity and acceleration limit pins can be managed dynamically to control "
+"offsets at all times."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:55
+msgid ""
+"When backtrack-enable is FALSE, the auto-return move is *NOT* coordinated, "
+"each axis returns to zero at its own rate.  If a controlled path is wanted "
+"in this condition, each axis should be manually returned to zero before "
+"deasserting an enabling pin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:58 man/man9/moveoff.9:48
+msgid ""
+"The waypoint-sample-secs, waypoint-threshold, and epsilon pins are evaluated "
+"only when the component is idle."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:64
+msgid ""
+"The offsets-applied output pin is provided to indicate the current state to "
+"a GUI so that program resumption can be managed.  If the offset(s) are "
+"non-zero when the apply-offsets pin is deasserted (for example when resuming "
+"a program when offsetting during a pause), offsets are returned to zero "
+"(respecting limits) and an 'Error' message is issued."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:70
+msgid ""
+"If offsets are enabled and applied and the machine is turned off for any "
+"reason, any 'external' HAL logic that manages the enabling pins and the "
+"offset-in-M inputs is responsible for their state when the machine is "
+"subsequently turned on again."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:78
+msgid ""
+"This HAL-only means of offsetting is typically not known to LinuxCNC nor "
+"available in GUI preview displays. *No protection is provided* for offset "
+"moves that exceed soft limits managed by LinuxCNC. Since soft limits are not "
+"honored, an offset move may encounter hard limits (or *CRASH* if there are "
+"no limit switches). Use of the offset-min-M and offset-max-M inputs to limit "
+"travel is recommended. Triggering a hard limit will turn off the machine -- "
+"see *Caution* above."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:86
+msgid ""
+"The offset-in-M values may be set with INI file settings, controlled by a "
+"GUI, or managed by other HAL components and connections.  Fixed values may "
+"be appropriate in simple cases where the direction and amount of offset is "
+"well-defined but a control method is required to deactivate an enabling pin "
+"in order to return offsets to zero.  GUIs may provide means for users to "
+"set, increment, decrement, and accumulate offset values for each axis and "
+"may set offset-in-M values to zero before deasserting an enabling pin."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:92
+msgid ""
+"The default values for accel, vel, min, max, epsilon, waypoint-sample-secs, "
+"and waypoint-threshold may not be suitable for any particular application.  "
+"This HAL component is unaware of limits enforced elsewhere by LinuxCNC.  "
+"Users should test usage in a simulator application and understand all "
+"hazards before use on hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:95
+msgid ""
+"Sim configurations that demonstrate the component and a GUI (moveoff_gui) "
+"are located in:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:97
+msgid "configs/sim/axis/moveoff (axis-ui)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:98
+msgid "configs/sim/touchy/ngcgui (touchy-ui)"
+msgstr ""
+
+#. type: Title ==
+#: src/config/moveoff.adoc:99
+#, no-wrap
+msgid "Modifying an existing configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:104
+msgid ""
+"A system-provided HAL file (LIB:hookup_moveoff.tcl) can be used to adapt an "
+"existing configuration to use the moveoff component.  Additional INI file "
+"settings support the use of a simple GUI (moveoff_gui) for controlling "
+"offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:107
+msgid ""
+"When the system HAL file (LIB:hookup_moveoff.tcl) is properly specified in a "
+"configuration INI file, it will:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:110
+msgid ""
+"Disconnect the original joint.N.motor-pos-cmd and joint.N.motor-pos-fb pin "
+"connections"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:112
+msgid ""
+"Load (loadrt) the moveoff component (using the name mv) with a personality "
+"set to accommodate all axes identified in the INI file"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:113
+msgid "Add (addf) the moveoff component functions in the required sequence"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:115
+msgid ""
+"Reconnect the joint.N.motor-pos-cmd and joint.N.motor-pos-fb pins to use the "
+"moveoff component"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:117
+msgid ""
+"Set the moveoff component operating parameters and limits for each axis in "
+"accordance with additional INI file settings"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:123
+msgid ""
+"Note: The moveoff_gui application supports configurations that use known "
+"kinematics modules with KINEMATICS_TYPE=KINEMATICS_IDENTITY.  Supported "
+"modules include: trivkins.  With identity kins, moveoff_gui assigns each "
+"axis name specified with the command line parameter '-axes axisnames' to the "
+"corresponding joint."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:125
+msgid "Modify an existing configuration as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:132
+msgid ""
+"Make sure there is an INI file entry for [HAL]HALUI and create a new "
+"[HAL]HALFILE entry for LIB:hookup_moveoff.tcl.  The entry for "
+"LIB:hookup_moveoff.tcl should follow all HALFILE= entries for HAL files that "
+"connect the pins for joint.N.motor-pos-cmd, joint.N.motor-pos-fb, and any "
+"components connected to these pins (pid and encoder components in a servo "
+"system for instance)."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:141
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"HALUI   = halui\n"
+"HALFILE = existing_configuration_halfile_1\n"
+"...\n"
+"HALFILE = existing_configuration_halfile_n\n"
+"HALFILE = LIB:hookup_moveoff.tcl\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:146
+msgid ""
+"Add INI file entries for the per-axis settings for each axis in use (if an "
+"entry is not defined, the corresponding entry from the [AXIS_n] section will "
+"be used, if no entry is found, then the moveoff component default will be "
+"used)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:150
+msgid ""
+"Using component defaults or [AXIS_n] section values for per-axis offset "
+"settings is NOT recommended."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:158
+#, no-wrap
+msgid ""
+"[MOVEOFF_n]\n"
+"MAX_LIMIT =\n"
+"MIN_LIMIT =\n"
+"MAX_VELOCITY =\n"
+"MAX_ACCELERATION =\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:161
+msgid ""
+"Add INI file entries for moveoff component settings (omit to use moveoff "
+"defaults):"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:168
+#, no-wrap
+msgid ""
+"[MOVEOFF]\n"
+"EPSILON =\n"
+"WAYPOINT_SAMPLE_SECS =\n"
+"WAYPOINT_THRESHOLD =\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:172
+msgid ""
+"The moveoff_gui is used to make additional required connections and provide "
+"a popup GUI to:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:174
+msgid "Provide a control togglebutton to Enable/Disable offsets"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:175
+msgid "Provide a control togglebutton to Enable/Disable backtracking"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:176
+msgid "Provide control pushbuttons to Increment/Decrement/Zero each axis offset"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:177
+msgid "Display each axis offset current value"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:178
+msgid "Display current offset status (disabled, active, removing, etc)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:186
+msgid ""
+"The provided control buttons are optional depending upon the state of the "
+"moveoff component move-enable pin.  Both a display and controls for enabling "
+"offsetting are provided if the pin mv.move-enable is NOT connected when the "
+"moveoff_gui is started.  For this case, the moveoff_gui manages the moveoff "
+"component move-enable pin (named mv.move-enable) as well as the offsets "
+"(mv.move-offset-in-M)  and the backtracking enable (mv.backtrack-enable)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:192
+msgid ""
+"If the mv.move-enable pin IS connected when the moveoff_gui is started, the "
+"moveoff_gui will provide a display but NO controls.  This mode supports "
+"configurations that use a jog wheel or other methods of controlling the "
+"offset inputs and the enable pins (mv.offset-in-M, mv.move-enable, "
+"mv.backtrack-enable)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:199
+msgid ""
+"The moveoff_gui makes the required connections for the moveoff component "
+"pins: mv.power_on and mv.apply-offsets.  The mv.power_on pin is connected to "
+"the motion.motion-enabled pin (a new signal is automatically created if "
+"necessary).  The mv.apply-offsets is connected to halui.program.is-paused or "
+"set to 1 depending upon the command line option -mode [ onpause | always ].  "
+"A new signal is automatically created if necessary."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:202
+msgid ""
+"To use the moveoff_gui, add an entry in the INI file [APPLICATIONS] section "
+"as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:210
+#, no-wrap
+msgid ""
+"[APPLICATIONS]\n"
+"# Note: a delay (specified in seconds) may be required if connections\n"
+"# are made using postgui HAL files ([HAL]POSTGUI_HALFILE=)\n"
+"DELAY = 0\n"
+"APP = moveoff_gui option1 option2 ...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:217
+msgid ""
+"When the HAL file LIB:hookup_moveoff.tcl is used to load and connect the "
+"moveoff component, the mv.move-enable pin will not be connected and local "
+"controls provided by the moveoff_gui will be used.  This is the simplest "
+"method to test or demonstrate the moveoff component when modifying an "
+"existing INI configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:224
+msgid ""
+"To enable external controls while using the moveoff_gui display for offset "
+"values and status, HAL files that follow LIB:hookup_moveoff.tcl must make "
+"additional connections.  For example, the supplied demonstration configs "
+"(configs/sim/axis/moveoff/*.ini) use a simple system HAL file (named "
+"LIB:moveoff_external.hal) to connect the mv.move-enable, mv.offset-in-M, and "
+"mv.bactrack-enable pins to signals:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:232
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"HALUI = halui\n"
+"...\n"
+"HALFILE = LIB:hookup_moveoff.tcl\n"
+"HALFILE = LIB:moveoff_external.hal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:236
+msgid ""
+"The connections made by LIB:moveoff_external.hal (for a three axis "
+"configuration) are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:240
+#, no-wrap
+msgid "net external_enable mv.move-enable\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:244
+#, no-wrap
+msgid ""
+"net external_offset_0 mv.offset-in-0\n"
+"net external_offset_1 mv.offset-in-1\n"
+"net external_offset_2 mv.offset-in-2\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:246
+#, no-wrap
+msgid "net external_backtrack_en mv.backtrack-enable\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:252
+msgid ""
+"These signals (external_enable, external_offset_M, external_backtrack_en) "
+"may be managed by subsequent HALFILES (including POSTGUI_HALFILEs) to "
+"provide customized control of the component while using the moveoff_gui "
+"display for current offset values and offset status."
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:255
+msgid ""
+"The moveoff_gui is configured with command line options.  For details on the "
+"operation of moveoff_gui, see the man page:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:258
+#, no-wrap
+msgid "$ man moveoff_gui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/moveoff.adoc:261
+msgid ""
+"For a brief listing of command line options for moveoff_gui, use the command "
+"line help option:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:264
+#, no-wrap
+msgid "$ moveoff_gui --help\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:267
+#, no-wrap
+msgid ""
+"Usage:\n"
+"moveoff_gui [Options]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:270
+#, no-wrap
+msgid ""
+"Options:\n"
+"    [--help | -? | -- -h ]  (This text)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:274
+#, no-wrap
+msgid ""
+"    [-mode [onpause | always]]  (default: onpause)\n"
+"                                  (onpause: show gui when program paused)\n"
+"                                  (always:  show gui always)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:290
+#, no-wrap
+msgid ""
+"    [-axes axisnames]       (default: xyz (no spaces))\n"
+"                              (letters from set of: x y z a b c u v w)\n"
+"                              (example: -axes z)\n"
+"                              (example: -axes xz)\n"
+"                              (example: -axes xyz)\n"
+"    [-inc incrementvalue]   (default: 0.001 0.01 0.10 1.0 )\n"
+"                              (specify one per -inc (up to 4) )\n"
+"                              (example: -inc 0.001 -inc 0.01 -inc 0.1 )\n"
+"    [-size integer]         (default: 14)\n"
+"                              (Overall gui popup size is based on font "
+"size)\n"
+"    [-loc center|+x+y]      (default: center)\n"
+"                              (example: -loc +10+200)\n"
+"    [-autoresume]           (default: notused)\n"
+"                              (resume program when move-enable deasserted)\n"
+"    [-delay delay_secs]     (default: 5 (resume delay))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:304
+#, no-wrap
+msgid ""
+"Options for special cases:\n"
+"    [-noentry]              (default: notused)\n"
+"                             (don't create entry widgets)\n"
+"    [-no_resume_inhibit]    (default: notused)\n"
+"                             (do not use a resume-inhibit-pin)\n"
+"    [-no_pause_requirement] (default: notused)\n"
+"                             (no check for halui.program.is-paused)\n"
+"    [-no_cancel_autoresume] (default: notused)\n"
+"                             (useful for retraact offsets with simple)\n"
+"                             (external control)\n"
+"    [-no_display]           (default: notused)\n"
+"                             (Use when both external controls and "
+"displays)\n"
+"                             (are in use (see Note))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/moveoff.adoc:308
+#, no-wrap
+msgid ""
+"Note: If the moveoff move-enable pin (mv.move-enable) is connected when\n"
+"      moveoff_gui is started, external controls are required and only\n"
+"      displays are provided.\n"
+msgstr ""
+
+#. type: Title =
+#: src/config/pncconf.adoc:5
+#, no-wrap
+msgid "Mesa Configuration Wizard"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:8
+msgid ""
+"PnCconf is made to help build configurations that utilize specific Mesa "
+"'Anything I/O' products."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:11
+msgid ""
+"It can configure closed loop servo systems or hardware stepper systems.  It "
+"uses a similar 'wizard' approach as StepConf (used for software stepping, "
+"parallel port driven systems)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:14
+msgid ""
+"PnCconf is still in a development stage (Beta) so there are some bugs and "
+"lacking features.  Please report bugs and suggestions to the LinuxCNC forum "
+"page or mailing list."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:16
+msgid "There are two trains of thought when using PnCconf:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:20
+msgid ""
+"One is to use PnCconf to always configure your system - if you decide to "
+"change options, reload PnCconf and allow it to configure the new options.  "
+"This will work well if your machine is fairly standard and you can use "
+"custom files to add non standard features.  PnCconf tries to work with you "
+"in this regard."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:23
+msgid ""
+"The other is to use PnCconf to build a config that is close to what you want "
+"and then hand edit everything to tailor it to your needs.  This would be the "
+"choice if you need extensive modifications beyond PnCconf's scope or just "
+"want to tinker with / learn about LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:25
+msgid ""
+"You navigate the wizard pages with the forward, back, and cancel buttons "
+"there is also a help button that gives some help information about the "
+"pages, diagrams and an output page."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:27
+msgid ""
+"PnCconf's help page should have the most up to date info and has additional "
+"details."
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:28
+#, no-wrap
+msgid "Step by Step Instructions"
+msgstr ""
+
+#. type: Block title
+#: src/config/pncconf.adoc:30
+#, no-wrap
+msgid "PnCconf Splash"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:31
+#, no-wrap
+msgid "PnCconf Configuration Wizard"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:31
+#, no-wrap
+msgid "images/pncconf-splash.png"
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:33
+#, no-wrap
+msgid "Create or Edit"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:44
+msgid ""
+"This allows you to select a previously saved configuration or create a new "
+"one.  If you pick 'Modify a configuration' and then press 'Next' a file "
+"selection box will show.  PnCconf preselects your last saved file.  Choose "
+"the config you wish to edit.  If you made any changes to the main HAL or INI "
+"files *PnCconf will overwrite* those files and those changes will be lost.  "
+"Some files will not be over written and PnCconf places a note in those "
+"files.  It also allows you to select desktop shortcut / launcher options.  A "
+"desktop shortcut will place a folder icon on the desktop that points to your "
+"new configuration files.  Otherwise you would have to look in your home "
+"folder under linuxcnc/configs."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:47
+msgid ""
+"A Desktop launcher will add an icon to the desktop for starting your config "
+"directly.  You can also launch it from the main menu by using the "
+"Configuration Selector 'LinuxCNC' found in CNC menu and selecting your "
+"config name."
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:48
+#, no-wrap
+msgid "Basic Machine Information"
+msgstr ""
+
+#. type: Block title
+#: src/config/pncconf.adoc:50
+#, no-wrap
+msgid "PnCconf Basic"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:51
+#, no-wrap
+msgid "PnCconf Basic machine information"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:51
+#, no-wrap
+msgid "images/pncconf-basic.png"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:53
+#, no-wrap
+msgid "Machine Basics"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:58
+msgid ""
+"If you use a name with spaces PnCconf will replace the spaces with "
+"underscore (as a loose rule Linux doesn't like spaces in names)  Pick an "
+"axis configuration - this selects what type of machine you are building and "
+"what axes are available.  The Machine units selector allows data entry of "
+"metric or imperial units in the following pages."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:60
+msgid ""
+"Defaults are not converted when using metric so make sure they are sane "
+"values!"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:61
+#, no-wrap
+msgid "Computer Response Time"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:68
+msgid ""
+"The servo period sets the heart beat of the system.  Latency refers to the "
+"amount of time the computer can be longer then that period.  Just like a "
+"railroad, LinuxCNC requires everything on a very tight and consistent time "
+"line or bad things happen.  LinuxCNC requires and uses a 'real time' "
+"operating system, which just means it has a low latency ( lateness ) "
+"response time when LinuxCNC requires its calculations and when doing "
+"LinuxCNCs calculations it cannot be interrupted by lower priority requests "
+"(such as user input to screen buttons or drawing etc)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:81
+msgid ""
+"Testing the latency is very important and a key thing to check early.  "
+"Luckily by using the Mesa card to do the work that requires the fastest "
+"response time (encoder counting and PWM generation) we can endure a lot more "
+"latency then if we used the parallel port for these things.  The standard "
+"test in LinuxCNC is checking the BASE period latency (even though we are not "
+"using a base period).  If you press the 'test base period jitter' button, "
+"this launches the latency test window ( you can also load this directly from "
+"the applications/cnc panel ).  The test mentions to run it for a few minutes "
+"but the longer the better.  Consider 15 minutes a bare minimum and overnight "
+"even better.  At this time use the computer to load things, use the net, use "
+"USB etc we want to know the worst case latency and to find out if any "
+"particular activity hurts our latency.  We need to look at base period "
+"jitter.  Anything under 20000 is excellent - you could even do fast software "
+"stepping with the machine 20000 - 50000 is still good for software stepping "
+"and fine for us.  50000 - 100000 is really not that great but could still be "
+"used with hardware cards doing the fast response stuff.  So anything under "
+"100000 is usable to us.  If the latency is disappointing or you get a bad "
+"hiccup periodically you may still be able to improve it."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:85
+msgid ""
+"There is a user compiled list of equipment and the latency obtained on the "
+"LinuxCNC wiki: https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Latency-Test Please "
+"consider adding your info to the list.  Also on that page are links to info "
+"about fixing some latency problems."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:92
+msgid ""
+"Now we are happy with the latency and must pick a servo period.  In most "
+"cases a servo period of 1000000 ns is fine (that gives a 1 kHz servo "
+"calculation rate - 1000 calculations a second).  If you are building a "
+"closed loop servo system that controls torque (current) rather then velocity "
+"(voltage) a faster rate would be better - something like 200000 (5 kHz "
+"calculation rate).  The problem with lowering the servo rate is that it "
+"leaves less time available for the computer to do other things besides "
+"LinuxCNC's calculations.  Typically the display (GUI) becomes less "
+"responsive.  You must decide on a balance. Keep in mind that if you tune "
+"your closed loop servo system then change the servo period you probably will "
+"need to tune them again."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:93
+#, no-wrap
+msgid "I/O Control Ports/Boards"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:96
+msgid ""
+"PnCconf is capable of configuring machines that have up to two Mesa boards "
+"and three parallel ports.  Parallel ports can only be used for simple low "
+"speed (servo rate) I/O."
+msgstr ""
+
+#. type: Title ===
+#: src/config/pncconf.adoc:97 src/getting-started/hardware-interface.adoc:123
+#: src/getting-started/hardware-interface.adoc:142
+#, no-wrap
+msgid "Mesa"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:104
+msgid ""
+"You must choose at least one Mesa board as PnCconf will not configure the "
+"parallel ports to count encoders or output step or PWM signals.  The mesa "
+"cards available in the selection box are based on what PnCconf finds for "
+"firmware on the systems.  There are options to add custom firmware and/or "
+"'blacklist' (ignore) some firmware or boards using a preference file.  If no "
+"firmware is found PnCconf will show a warning and use internal sample "
+"firmware - no testing will be possible.  One point to note is that if you "
+"choose two PCI Mesa cards there currently is no way to predict which card is "
+"0 and which is 1 - you must test - moving the cards could change their "
+"order.  If you configure with two cards both cards must be installed for "
+"tests to function."
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:105 src/getting-started/hardware-interface.adoc:19
+#: src/getting-started/hardware-interface.adoc:31
+#, no-wrap
+msgid "Parallel Port"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:117
+msgid ""
+"Up to 3 parallel ports (referred to as parports) can be used as simple I/O.  "
+"You must set the address of the parport.  You can either enter the Linux "
+"parallel port numbering system (0,1,or 2) or enter the actual address.  The "
+"address for an on board parport is often 0x0278 or 0x0378 (written in "
+"hexadecimal) but can be found in the BIOS page.  The BIOS page is found when "
+"you first start your computer you must press a key to enter it (such as "
+"F2).  On the BIOS page you can find the parallel port address and set the "
+"mode such as SPP, EPP, etc on some computers this info is displayed for a "
+"few seconds during start up.  For PCI parallel port cards the address can be "
+"found by pressing the 'parport address search' button.  This pops up the "
+"help output page with a list of all the PCI devices that can be found.  In "
+"there should be a reference to a parallel port device with a list of "
+"addresses.  One of those addresses should work. Not all PCI parallel ports "
+"work properly.  Either type can be selected as 'in' (maximum amount of input "
+"pins) or 'out' (maximum amount of output pins)."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:118
+#, no-wrap
+msgid "GUI Front-end list"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:121
+msgid ""
+"This specifies the graphical display screens LinuxCNC will use.  Each one "
+"has different option."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:124
+msgid "fully supports lathes."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:125
+msgid "is the most developed and used front-end"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:126
+msgid "is designed to be used with mouse and keyboard"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:127
+msgid ""
+"is tkinter based so integrates PyVCP (Python based virtual control panels) "
+"naturally."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:128
+msgid "has a 3D graphical window."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:129
+msgid "allows VCP integrated on the side or in center tab"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:132
+msgid "hi contrast bright blue screen"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:133
+msgid "separate graphics window"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:134 src/config/pncconf.adoc:148
+msgid "no VCP integration"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:135 src/gui/gladevcp.adoc:27
+#: src/user/user-intro.adoc:105
+#, no-wrap
+msgid "Touchy"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:137
+msgid ""
+"Touchy was designed to be used with a touchscreen, some minimal physical "
+"switches and a MPG wheel."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:138
+msgid "requires cycle-start, abort, and single-step signals and buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:139
+msgid "It also requires shared axis MPG jogging to be selected."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:140
+msgid "is GTK based so integrates GladeVCP (virtual control panels) naturally."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:141
+msgid "allows VCP panels integrated in the center Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:142
+msgid "has no graphical window"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:143
+msgid "look can be changed with custom themes"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:144 src/plasma/qtplasmac.adoc:5
+#: src/user/user-intro.adoc:147
+#, no-wrap
+msgid "QtPlasmaC"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:146
+msgid "fully featured plasmac configuration based on the QtVCP infrastructure."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:147
+msgid "mouse/keyboard operation or touchscreen operation"
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:149
+#, no-wrap
+msgid "External Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:152
+msgid ""
+"This page allows you to select external controls such as for jogging or "
+"overrides."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:153 src/config/pncconf.adoc:154
+#, no-wrap
+msgid "External Controls"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:154
+#, no-wrap
+msgid "images/pncconf-external.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:161
+msgid ""
+"If you select a Joystick for jogging, You will need it always connected for "
+"LinuxCNC to load.  To use the analog sticks for useful jogging you probably "
+"need to add some custom HAL code.  MPG jogging requires a pulse generator "
+"connected to a MESA encoder counter.  Override controls can either use a "
+"pulse generator (MPG) or switches (such as a rotary dial).  External buttons "
+"might be used with a switch based OEM joystick."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:162
+#, no-wrap
+msgid "Joystick jogging"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:166
+msgid ""
+"Requires a custom 'device rule' to be installed in the system.  This is a "
+"file that LinuxCNC uses to connect to Linux's device list.  PnCconf will "
+"help to prepare this file."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:168
+msgid ""
+"'Search for device rule' will search the system for rules, you can use this "
+"to find the name of devices you have already built with PnCconf."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:169
+msgid ""
+"'Add a device rule' will allow you to configure a new device by following "
+"the prompts. You will need your device available."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:170
+msgid ""
+"'test device' allows you to load a device, see its pin names and check its "
+"functions with halmeter."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:172
+msgid "joystick jogging uses HALUI and hal_input components."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:173
+#, no-wrap
+msgid "External buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:176
+msgid ""
+"allows jogging the axis with simple buttons at a specified jog rate.  "
+"Probably best for rapid jogging."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:177
+#, no-wrap
+msgid "MPG Jogging"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:179
+msgid "Allows you to use a Manual Pulse Generator to jog the machine's axis."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:184
+msgid ""
+"MPG's are often found on commercial grade machines.  They output quadrature "
+"pulses that can be counted with a MESA encoder counter.  PnCconf allows for "
+"an MPG per axis or one MPG shared with all axis.  It allows for selection of "
+"jog speeds using switches or a single speed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:187
+msgid ""
+"The selectable increments option uses the mux16 component.  This component "
+"has options such as debounce and gray code to help filter the raw switch "
+"input."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:188
+#, no-wrap
+msgid "Overrides"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:190
+msgid ""
+"PnCconf allows overrides of feed rates and/or spindle speed using a pulse "
+"generator (MPG) or switches (eg. rotary)."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:191 src/config/pncconf.adoc:195
+#: src/config/pncconf.adoc:196
+#, no-wrap
+msgid "GUI Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:194
+msgid ""
+"Here you can set defaults for the display screens, add virtual control "
+"panels (VCP), and set some LinuxCNC options.."
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:196
+#, no-wrap
+msgid "images/pncconf-gui.png"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:198
+#, no-wrap
+msgid "Front-end GUI Options"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:201
+msgid ""
+"The default options allows general defaults to be chosen for any display "
+"screen."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:206
+msgid ""
+"AXIS defaults are options specific to AXIS.  If you choose size, position or "
+"force maximize options then PnCconf will ask if it is alright to overwrite a "
+"preference file (.axisrc).  Unless you have manually added commands to this "
+"file it is fine to allow it.  Position and force max can be used to move "
+"AXIS to a second monitor if the system is capable."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:214
+msgid ""
+"Touchy defaults are options specific to Touchy.  Most of Touchy's options "
+"can be changed while Touchy is running using the preference page.  Touchy "
+"uses GTK to draw its screen, and GTK supports themes. Themes controls the "
+"basic look and feel of a program.  You can download themes from the net or "
+"edit them yourself.  There are a list of the current themes on the computer "
+"that you can pick from.  To help some of the text to stand out PnCconf "
+"allows you to override the Themes's defaults.  The position and force max "
+"options can be used to move Touchy to a second monitor if the system is "
+"capable."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:217
+msgid ""
+"QtPlasmaC options are specific to QtPlasmac, any common options that are not "
+"required will be disabled.  If QtPlasmac is selected then the following "
+"screen will be a user button setup screen that is specific to QtPlasmaC and "
+"VCP options will not be available."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:218
+#, no-wrap
+msgid "VCP options"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:222
+msgid ""
+"Virtual Control Panels allow one to add custom controls and displays to the "
+"screen.  AXIS and Touchy can integrate these controls inside the screen in "
+"designated positions.  There are two kinds of VCPs - PyVCP which uses "
+"'Tkinter' to draw the screen and GladeVCP that uses 'GTK' to draw the "
+"screen."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:223 src/gui/pyvcp.adoc:5
+#: src/user/user-intro.adoc:168
+#, no-wrap
+msgid "PyVCP"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:226
+msgid ""
+"PyVCPs screen XML file can only be hand built.  PyVCPs fit naturally in with "
+"AXIS as they both use TKinter."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:230
+msgid ""
+"HAL pins are created for the user to connect to inside their custom HAL "
+"file.  There is a sample spindle display panel for the user to use as-is or "
+"build on.  You may select a blank file that you can later add your controls "
+"'widgets' to or select a spindle display sample that will display spindle "
+"speed and indicate if the spindle is at requested speed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:234
+msgid ""
+"PnCconf will connect the proper spindle display HAL pins for you.  If you "
+"are using AXIS then the panel will be integrated on the right side.  If not "
+"using AXIS then the panel will be separate 'stand-alone' from the front-end "
+"screen."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:237
+msgid ""
+"You can use the geometry options to size and move the panel, for instance to "
+"move it to a second screen if the system is capable.  If you press the "
+"'Display sample panel' button the size and placement options will be "
+"honored."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:238 src/gui/gscreen.adoc:53
+#: src/user/user-intro.adoc:176
+#, no-wrap
+msgid "GladeVCP"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:240
+msgid ""
+"GladeVCPs fit naturally inside of Touchy screen as they both use GTK to draw "
+"them, but by changing GladeVCP's theme it can be made to blend pretty well "
+"in AXIS (try Redmond)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:244
+msgid ""
+"It uses a graphical editor to build its XML files.  HAL pins are created for "
+"the user to connect to, inside of their custom HAL file."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:248
+msgid ""
+"GladeVCP also allows much more sophisticated (and complicated) programming "
+"interaction, which PnCconf currently doesn't leverage (see GladeVCP in the "
+"manual)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:252
+msgid ""
+"PnCconf has sample panels for the user to use as-is or build on.  With "
+"GladeVCP PnCconf will allow you to select different options on your sample "
+"display."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:256
+msgid ""
+"Under 'sample options' select which ones you would like.  The zero buttons "
+"use HALUI commands which you could edit later in the HALUI section."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:260
+msgid ""
+"Auto Z touch-off also requires the classic ladder touch-off program and a "
+"probe input selected. It requires a conductive touch-off plate and a "
+"grounded conductive tool. For an idea on how it works see:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:262
+msgid "https://wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadderExamples#Single_button_probe_touchoff"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:264
+msgid ""
+"Under 'Display Options', size, position, and force max can be used on a "
+"'stand-alone' panel for such things as placing the screen on a second "
+"monitor if the system is capable."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:269
+msgid ""
+"You can select a GTK theme which sets the basic look and feel of the panel.  "
+"You Usually want this to match the front-end screen.  These options will be "
+"used if you press the 'Display sample button'.  With GladeVCP depending on "
+"the front-end screen, you can select where the panel will display."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:272
+msgid ""
+"You can force it to be stand-alone or with AXIS it can be in the center or "
+"on the right side, with Touchy it can be in the center."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:273
+#, no-wrap
+msgid "Defaults and Options"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:275
+msgid "Require homing before MDI / Running"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:276
+msgid ""
+"If you want to be able to move the machine before homing uncheck this "
+"checkbox."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:277
+msgid "Popup Tool Prompt"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:278
+msgid ""
+"Choose between an on screen prompt for tool changes or export standard "
+"signal names for a User supplied custom tool changer HAL file"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:279
+msgid "Leave spindle on during tool change:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:280
+msgid "Used for lathes"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:281
+msgid "Force individual manual homing"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:282
+msgid "Move spindle up before tool change"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:283
+msgid "Restore joint position after shutdown"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:284
+msgid "Used for non-trivial kinematics machines"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:285
+msgid "Random position tool changers"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:286
+msgid ""
+"Used for tool changers that do not return the tool to the same pocket. You "
+"will need to add custom HAL code to support tool changers."
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:287
+#, no-wrap
+msgid "Mesa Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:291
+msgid ""
+"The Mesa configuration pages allow one to utilize different firmwares.  On "
+"the basic page you selected a Mesa card here you pick the available firmware "
+"and select what and how many components are available."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:292 src/config/pncconf.adoc:293
+#, no-wrap
+msgid "Mesa Board Configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:293
+#, no-wrap
+msgid "images/pncconf-mesa-config.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:299
+msgid ""
+"Parport address is used only with Mesa parport card, the 7i43.  An on board "
+"parallel port usually uses 0x278 or 0x378 though you should be able to find "
+"the address from the BIOS page.  The 7i43 requires the parallel port to use "
+"the EPP mode, again set in the BIOS page.  If using a PCI parallel port the "
+"address can be searched for by using the search button on the basic page."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:302
+msgid "Many PCI cards do not support the EPP protocol properly."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:305
+msgid ""
+"PDM PWM and 3PWM base frequency sets the balance between ripple and "
+"linearity.  If using Mesa daughter boards the docs for the board should give "
+"recommendations."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:308
+msgid "It's important to follow these to avoid damage and get the best performance."
+msgstr ""
+
+#. type: delimited block .
+#: src/config/pncconf.adoc:315
+#, no-wrap
+msgid ""
+"The 7i33 requires PDM and a PDM base frequency of 6 MHz\n"
+"The 7i29 requires PWM and a PWM base frequency of 20 kHz\n"
+"The 7i30 requires PWM and a PWM base frequency of 20 kHz\n"
+"The 7i40 requires PWM and a PWM base frequency of 50 kHz\n"
+"The 7i48 requires UDM and a PWM base frequency of 24 kHz\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:317
+#, no-wrap
+msgid "Watchdog time out"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:320
+msgid ""
+"is used to set how long the MESA board will wait before killing outputs if "
+"communication is interrupted from the computer.  Please remember Mesa uses "
+"'active low' outputs meaning that when the output pin is on, it is low "
+"(approx 0 volts) and if it is off the output in high (approx 5 volts) make "
+"sure your equipment is safe when in the off (watchdog bitten) state."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:321
+#, no-wrap
+msgid "Number of coders/PWM generators/STEP generators"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:323
+msgid ""
+"You may choose the number of available components by deselecting unused "
+"ones.  Not all component types are available with all firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:332
+msgid ""
+"Choosing less then the maximum number of components allows one to gain more "
+"GPIO pins.  If using daughter boards keep in mind you must not deselect pins "
+"that the card uses.  For instance some firmware supports two 7i33 cards, If "
+"you only have one you may deselect enough components to utilize the "
+"connector that supported the second 7i33.  Components are deselected "
+"numerically by the highest number first then down with out skipping a "
+"number.  If by doing this the components are not where you want them then "
+"you must use a different firmware.  The firmware dictates where, what and "
+"the max amounts of the components.  Custom firmware is possible, ask nicely "
+"when contacting the LinuxCNC developers and Mesa.  Using custom firmware in "
+"PnCconf requires special procedures and is not always possible - though I "
+"try to make PnCconf as flexible as possible."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:335
+msgid ""
+"After choosing all these options press the 'Accept Component Changes' button "
+"and PnCconf will update the I/O setup pages.  Only I/O tabs will be shown "
+"for available connectors, depending on the Mesa board."
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:336
+#, no-wrap
+msgid "Mesa I/O Setup"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:340
+msgid ""
+"The tabs are used to configure the input and output pins of the Mesa "
+"boards.  PnCconf allows one to create custom signal names for use in custom "
+"HAL files."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:341 src/config/pncconf.adoc:342
+#, no-wrap
+msgid "Mesa I/O C2 Setup"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:342
+#, no-wrap
+msgid "images/pncconf-mesa-io2.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:348
+msgid ""
+"On this tab with this firmware the components are setup for a 7i33 daughter "
+"board, usually used with closed loop servos. Note the component numbers of "
+"the encoder counters and PWM drivers are not in numerical order. This "
+"follows the daughter board requirements."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:349 src/config/pncconf.adoc:350
+#, no-wrap
+msgid "Mesa I/O C3 Setup"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:350
+#, no-wrap
+msgid "images/pncconf-mesa-io3.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:355
+msgid ""
+"On this tab all the pins are GPIO. Note the 3 digit numbers - they will "
+"match the HAL pin number. GPIO pins can be selected as input or output and "
+"can be inverted."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:356 src/config/pncconf.adoc:357
+#, no-wrap
+msgid "Mesa I/O C4 Setup"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:357
+#, no-wrap
+msgid "images/pncconf-mesa-io4.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:363
+msgid ""
+"On this tab there are a mix of step generators and GPIO.  Step generators "
+"output and direction pins can be inverted.  Note that inverting a Step Gen-A "
+"pin (the step output pin) changes the step timing.  It should match what "
+"your controller expects."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:364 src/config/pncconf.adoc:366
+#, no-wrap
+msgid "Parallel port configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:366
+#, no-wrap
+msgid "images/pncconf-parport.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:369
+msgid "The parallel port can be used for simple I/O similar to Mesa's GPIO pins."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:370 src/config/pncconf.adoc:467
+#: src/config/pncconf.adoc:468
+#, no-wrap
+msgid "Axis Configuration"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:372 src/config/pncconf.adoc:373
+#, no-wrap
+msgid "Axis Drive Configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:373
+#, no-wrap
+msgid "images/pncconf-axis-drive.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:378
+msgid ""
+"This page allows configuring and testing of the motor and/or encoder "
+"combination.  If using a servo motor an open loop test is available, if "
+"using a stepper a tuning test is available."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:379
+#, no-wrap
+msgid "Open Loop Test"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:389
+msgid ""
+"An open loop test is important as it confirms the direction of the motor and "
+"encoder.  The motor should move the axis in the positive direction when the "
+"positive button is pushed and also the encoder should count in the positive "
+"direction.  The axis movement should follow the Machinery's Handbook "
+"footnote:[\"axis nomenclature\" in the chapter \"Numerical Control\" in the "
+"\"Machinery's Handbook\" published by Industrial Press.] standards or AXIS "
+"graphical display will not make much sense.  Hopefully the help page and "
+"diagrams can help figure this out.  Note that axis directions are based on "
+"TOOL movement not table movement.  There is no acceleration ramping with the "
+"open loop test so start with lower DAC numbers.  By moving the axis a known "
+"distance one can confirm the encoder scaling.  The encoder should count even "
+"without the amp enabled depending on how power is supplied to the encoder."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:392
+msgid ""
+"If the motor and encoder do not agree on counting direction then the servo "
+"will run away when using PID control."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:394
+msgid ""
+"Since at the moment PID settings can not be tested in PnCconf the settings "
+"are really for when you re-edit a config - enter your tested PID settings."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:395
+#, no-wrap
+msgid "DAC scale"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:396
+msgid "DAC scaling, max output and offset are used to tailor the DAC output."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:397
+#, no-wrap
+msgid "Compute DAC"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:404
+msgid ""
+"These two values are the scale and offset factors for the axis output to the "
+"motor amplifiers. The second value (offset) is subtracted from the computed "
+"output (in volts), and divided by the first value (scale factor), before "
+"being written to the D/A converters. The units on the scale value are in "
+"true volts per DAC output volts. The units on the offset value are in "
+"volts. These can be used to linearize a DAC."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:410
+msgid ""
+"Specifically, when writing outputs, the LinuxCNC first converts the desired "
+"output in quasi-SI units to raw actuator values, e.g., volts for an "
+"amplifier DAC.  This scaling looks like: The value for scale can be obtained "
+"analytically by doing a unit analysis, i.e., units are [output SI "
+"units]/[actuator units].  For example, on a machine with a velocity mode "
+"amplifier such that 1 volt results in 250 mm/sec velocity.  Note that the "
+"units of the offset are in machine units, e.g., mm/sec, and they are "
+"pre-subtracted from the sensor readings. The value for this offset is "
+"obtained by finding the value of your output which yields 0.0 for the "
+"actuator output. If the DAC is linearized, this offset is normally 0.0."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:412
+msgid ""
+"The scale and offset can be used to linearize the DAC as well, resulting in "
+"values that reflect the combined effects of amplifier gain, DAC "
+"non-linearity, DAC units, etc. To do this, follow this procedure:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:414
+msgid ""
+"Build a calibration table for the output, driving the DAC with a desired "
+"voltage and measuring the result:"
+msgstr ""
+
+#. type: Table
+#: src/config/pncconf.adoc:422
+#, no-wrap
+msgid "-0.96"
+msgstr ""
+
+#. type: Table
+#: src/config/pncconf.adoc:425
+#, no-wrap
+msgid "10.07"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:428
+msgid ""
+"Do a least-squares linear fit to get coefficients a, b such that "
+"meas=a*raw+b"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:430
+msgid "cmd=a*raw+b"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:431
+msgid "raw=(cmd-b)/a"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:433
+#, no-wrap
+msgid "MAX OUTPUT"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:437
+msgid ""
+"The maximum value for the output of the PID compensation that is written to "
+"the motor amplifier, in volts.  The computed output value is clamped to this "
+"limit.  The limit is applied before scaling to raw output units.  The value "
+"is applied symmetrically to both the plus and the minus side."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:438
+#, no-wrap
+msgid "Tuning Test"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:445
+msgid ""
+"The tuning test unfortunately only works with stepper based systems.  Again "
+"confirm the directions on the axis is correct.  Then test the system by "
+"running the axis back and forth, If the acceleration or max speed is too "
+"high you will lose steps.  While jogging, Keep in mind it can take a while "
+"for an axis with low acceleration to stop.  Limit switches are not "
+"functional during this test. You can set a pause time so each end of the "
+"test movement.  This would allow you to set up and read a dial indicator to "
+"see if you are losing steps."
+msgstr ""
+
+#. type: Title =
+#: src/config/pncconf.adoc:446 src/integrator/stepper-timing.adoc:4
+#, no-wrap
+msgid "Stepper Timing"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:451
+msgid ""
+"Stepper timing needs to be tailored to the step controller's requirements.  "
+"PnCconf supplies some default controller timing or allows custom timing "
+"settings.  See "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Stepper_Drive_Timing for some more "
+"known timing numbers (feel free to add ones you have figured out).  If in "
+"doubt use large numbers such as 5000 this will only limit max speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:452
+#, no-wrap
+msgid "Brushless Motor Control"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:457
+msgid ""
+"These options are used to allow low level control of brushless motors using "
+"special firmware and daughter boards.  It also allows conversion of HALL "
+"sensors from one manufacturer to another.  It is only partially supported "
+"and will require one to finish the HAL connections.  Contact the mail-list "
+"or forum for more help."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:458 src/config/pncconf.adoc:459
+#, no-wrap
+msgid "Axis Scale Calculation"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:459
+#, no-wrap
+msgid "images/pncconf-scale-calc.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:466
+msgid ""
+"The scale settings can be directly entered or one can use the 'calculate "
+"scale' button to assist.  Use the check boxes to select appropriate "
+"calculations.  Note that 'pulley teeth' requires the number of teeth not the "
+"gear ratio.  Worm turn ratio is just the opposite it requires the gear "
+"ratio.  If your happy with the scale press apply otherwise push cancel and "
+"enter the scale directly."
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:468
+#, no-wrap
+msgid "images/pncconf-axis-config.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:472
+msgid ""
+"Also refer to the diagram tab for two examples of home and limit switches.  "
+"These are two examples of many different ways to set homing and limits."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:475
+msgid ""
+"It is very important to start with the axis moving in the right direction or "
+"else getting homing right is very difficult!"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:477
+msgid ""
+"Remember positive and negative directions refer to the TOOL not the table as "
+"per the Machinists handbook."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:478
+#, no-wrap
+msgid "On a typical knee or bed mill"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:480
+msgid "when the TABLE moves out that is the positive Y direction"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:481
+msgid "when the TABLE moves left that is the positive X direction"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:482
+msgid "when the TABLE moves down that is the positive Z direction"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:483
+msgid "when the HEAD moves up that is the positive Z direction"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:484
+#, no-wrap
+msgid "On a typical lathe"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:486
+msgid "when the TOOL moves right, away from the chuck"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:487
+msgid "that is the positive Z direction"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:488
+msgid "when the TOOL moves toward the operator"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:491
+msgid ""
+"that is the positive X direction. Some lathes have X opposite (e.g., tool on "
+"back side), that will work fine but AXIS graphical display can not be made "
+"to reflect this."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:501
+msgid ""
+"When using homing and / or limit switches LinuxCNC expects the HAL signals "
+"to be true when the switch is being pressed / tripped.  If the signal is "
+"wrong for a limit switch then LinuxCNC will think the machine is on end of "
+"limit all the time. If the home switch search logic is wrong LinuxCNC will "
+"seem to home in the wrong direction.  What it actually is doing is trying to "
+"BACK off the home switch."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:502
+#, no-wrap
+msgid "Decide on limit switch location"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:518
+msgid ""
+"Limit switches are the back up for software limits in case something "
+"electrical goes wrong, e.g., in case of a servo runaway.  Limit switches "
+"should be placed so that the machine does not hit the physical end of the "
+"axis movement. Remember the axis will coast past the contact point if moving "
+"fast. Limit switches should be 'active low' on the machine, i.e., power runs "
+"through the switches all the time - a loss of power (open switch) trips.  "
+"While one could wire them the other way, this is fail safe.  This may need "
+"to be inverted so that the HAL signal in LinuxCNC in 'active high' - a TRUE "
+"means the switch was tripped. When starting LinuxCNC if you get an on-limit "
+"warning, and axis is NOT tripping the switch, inverting the signal is "
+"probably the solution. (use HALMETER to check the corresponding HAL signal "
+"eg. joint.0.pos-lim-sw-in X axis positive limit switch)"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:519
+#, no-wrap
+msgid "Decide on the home switch location"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:531
+msgid ""
+"If you are using limit switches You may as well use one as a home switch. A "
+"separate home switch is useful if you have a long axis that in use is "
+"usually a long way from the limit switches or moving the axis to the ends "
+"presents problems of interference with material.  Note, a long shaft in a "
+"lathe makes it hard to home to limits with out the tool hitting the shaft, "
+"so a separate home switch closer to the middle may be better.  If you have "
+"an encoder with index then the home switch acts as a course home and the "
+"index will be the actual home location."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:532
+#, no-wrap
+msgid "Decide on the MACHINE ORIGIN position"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:542
+msgid ""
+"MACHINE ORIGIN is what LinuxCNC uses to reference all user coordinate "
+"systems from.  I can think of little reason it would need to be in any "
+"particular spot. There are only a few G-codes that can access the MACHINE "
+"COORDINATE system.( G53, G30 and G28 )  If using tool-change-at-G30 option "
+"having the origin at the tool change position may be convenient. By "
+"convention, it may be easiest to have the ORIGIN at the home switch."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:543
+#, no-wrap
+msgid "Decide on the (final) HOME POSITION"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:547
+msgid ""
+"this just places the carriage at a consistent and convenient position after "
+"LinuxCNC figures out where the ORIGIN is."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:548
+#, no-wrap
+msgid "Measure / calculate the positive / negative axis travel distances"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:556
+msgid ""
+"Move the axis to the origin. Mark a reference on the movable slide and the "
+"non-movable support (so they are in line) move the machine to the end of "
+"limits. Measure between the marks that is one of the travel distances. Move "
+"the table to the other end of travel.  Measure the marks again. That is the "
+"other travel distance. If the ORIGIN is at one of the limits then that "
+"travel distance will be zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:557
+#, no-wrap
+msgid "(machine) ORIGIN"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:565
+msgid ""
+"The Origin is the MACHINE zero point. (not the zero point you set your "
+"cutter / material at).  LinuxCNC uses this point to reference everything "
+"else from. It should be inside the software limits.  LinuxCNC uses the home "
+"switch location to calculate the origin position (when using home switches "
+"or must be manually set if not using home switches."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:566
+#, no-wrap
+msgid "Travel distance"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:573
+msgid ""
+"This is the maximum distance the axis can travel in each direction. This may "
+"or may not be able to be measured directly from origin to limit switch. The "
+"positive and negative travel distances should add up to the total travel "
+"distance."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:574
+#, no-wrap
+msgid "POSITIVE TRAVEL DISTANCE"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:581
+msgid ""
+"This is the distance the Axis travels from the Origin to the positive travel "
+"distance or the total travel minus the negative travel distance. You would "
+"set this to zero if the origin is positioned at the positive limit.  The "
+"will always be zero or a positive number."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:582
+#, no-wrap
+msgid "NEGATIVE TRAVEL DISTANCE"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:591
+msgid ""
+"This is the distance the Axis travels from the Origin to the negative travel "
+"distance.  or the total travel minus the positive travel distance. You would "
+"set this to zero if the origin is positioned at the negative limit.  This "
+"will always be zero or a negative number.  If you forget to make this "
+"negative PnCconf will do it internally."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:592
+#, no-wrap
+msgid "(Final) HOME POSITION"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:601
+msgid ""
+"This is the position the home sequence will finish at. It is referenced from "
+"the Origin so can be negative or positive depending on what side of the "
+"Origin it is located.  When at the (final) home position if you must move in "
+"the Positive direction to get to the Origin, then the number will be "
+"negative."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:602
+#, no-wrap
+msgid "HOME SWITCH LOCATION"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:612
+msgid ""
+"This is the distance from the home switch to the Origin. It could be "
+"negative or positive depending on what side of the Origin it is "
+"located. When at the home switch location if you must move in the Positive "
+"direction to get to the Origin, then the number will be negative. If you set "
+"this to zero then the Origin will be at the location of the limit switch "
+"(plus distance to find index if used)."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:613
+#, no-wrap
+msgid "Home Search Velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:615
+msgid "Course home search velocity in units per minute."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:616
+#, no-wrap
+msgid "Home Search Direction"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:620
+msgid ""
+"Sets the home switch search direction either negative (i.e., towards "
+"negative limit switch)  or positive (i.e., towards positive limit switch)."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:621
+#, no-wrap
+msgid "Home Latch Velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:623
+msgid "Fine Home search velocity in units per minute."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:624
+#, no-wrap
+msgid "Home Final Velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:627
+msgid ""
+"Velocity used from latch position to (final) home position in units per "
+"minute. Set to 0 for max rapid speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:628
+#, no-wrap
+msgid "Home latch Direction"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:631
+msgid ""
+"Allows setting of the latch direction to the same or opposite of the search "
+"direction."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:632
+#, no-wrap
+msgid "Use Encoder Index For Home"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:635
+msgid ""
+"LinuxCNC will search for an encoder index pulse while in the latch stage of "
+"homing."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:636
+#, no-wrap
+msgid "Use Compensation File"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:640
+msgid ""
+"Allows specifying a Comp filename and type.  Allows sophisticated "
+"compensation. See <<sub:ini:sec:axis-letter,AXIS Section>> of the INI "
+"chapter."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:641
+#, no-wrap
+msgid "Use Backlash Compensation"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:645
+msgid ""
+"Allows setting of simple backlash compensation. Can not be used with "
+"Compensation File. See <<sub:ini:sec:axis-letter,AXIS Section>> of the INI "
+"chapter."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:646 src/config/pncconf.adoc:647
+#, no-wrap
+msgid "AXIS Help Diagram"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:647
+#, no-wrap
+msgid "images/pncconf-diagram-lathe.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:660
+msgid ""
+"The diagram should help to demonstrate an example of limit switches and "
+"standard axis movement directions.  In this example the Z axis was two limit "
+"switches, the positive switch is shared as a home switch.  The MACHINE "
+"ORIGIN (zero point) is located at the negative limit.  The left edge of the "
+"carriage is the negative trip pin and the right the positive trip pin.  We "
+"wish the FINAL HOME POSITION to be 4 inches away from the ORIGIN on the "
+"positive side.  If the carriage was moved to the positive limit we would "
+"measure 10 inches between the negative limit and the negative trip pin."
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:661 src/config/pncconf.adoc:670
+#: src/config/stepconf.adoc:306
+#, no-wrap
+msgid "Spindle Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:665
+msgid ""
+"If you select spindle signals then this page is available to configure "
+"spindle control."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:668
+msgid ""
+"Many of the option on this page will not show unless the proper option was "
+"selected on previous pages!"
+msgstr ""
+
+#. type: Block title
+#: src/config/pncconf.adoc:669
+#, no-wrap
+msgid "Spindle Motor/Encoder Configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:670
+#, no-wrap
+msgid "images/pncconf-spindle-config.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:673
+msgid "This page is similar to the axis motor configuration page."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:675
+msgid "There are some differences:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:678
+msgid ""
+"Unless one has chosen a stepper driven spindle there is no acceleration or "
+"velocity limiting."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:679
+msgid "There is no support for gear changes or ranges."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:681
+msgid ""
+"If you picked a VCP spindle display option then spindle-at-speed scale and "
+"filter settings may be shown."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:686
+msgid ""
+"Spindle-at-speed allows LinuxCNC to wait till the spindle is at the "
+"requested speed before moving the axis. This is particularly handy on lathes "
+"with constant surface feed and large speed diameter changes. It requires "
+"either encoder feedback or a digital spindle-at-speed signal typically "
+"connected to a VFD drive."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:689
+msgid ""
+"If using encoder feedback, you may select a spindle-at-speed scale setting "
+"that specifies how close the actual speed must be to the requested speed to "
+"be considered at-speed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:692
+msgid ""
+"If using encoder feedback, the VCP speed display can be erratic - the filter "
+"setting can be used to smooth out the display. The encoder scale must be set "
+"for the encoder count / gearing used."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:697
+msgid ""
+"If you are using a single input for a spindle encoder you must add the line: "
+"setp hm2_7i43.0.encoder.00.counter-mode 1 (changing the board name and "
+"encoder number to your requirements) into a custom HAL file. See the "
+"<<sec:hm2-encoder,Encoders Section>> in Hostmot2 for more info about counter "
+"mode."
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:698
+#, no-wrap
+msgid "Advanced Options"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:715
+msgid ""
+"This allows setting of HALUI commands and loading of ClassicLadder and "
+"sample ladder programs.  If you selected GladeVCP options such as for "
+"zeroing axis, there will be commands showing.  See the "
+"<<cha:hal-user-interface,HALUI Chapter>> for more info on using custom "
+"halcmds.  There are several ladder program options.  The Estop program "
+"allows an external ESTOP switch or the GUI frontend to throw an Estop. It "
+"also has a timed lube pump signal.  The Z auto touch-off is with a touch-off "
+"plate, the GladeVCP touch-off button and special HALUI commands to set the "
+"current user origin to zero and rapid clear.  The serial modbus program is "
+"basically a blank template program that sets up ClassicLadder for serial "
+"modbus. See the <<cha:classicladder,ClassicLadder Chapter>> in the manual."
+msgstr ""
+
+#. type: Block title
+#: src/config/pncconf.adoc:716
+#, no-wrap
+msgid "PnCconf, advanced options"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/pncconf.adoc:717
+#, no-wrap
+msgid "PnCconf Advanced Options"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:717
+#, no-wrap
+msgid "images/pncconf-advanced.png"
+msgstr ""
+
+#. type: Block title
+#: src/config/pncconf.adoc:719 src/config/pncconf.adoc:726
+#: src/config/pncconf.adoc:727 src/hal/intro.adoc:134
+#, no-wrap
+msgid "HAL Components"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:725
+msgid ""
+"On this page you can add additional HAL components you might need for custom "
+"HAL files.  In this way one should not have to hand edit the main HAL file, "
+"while still allowing user needed components."
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/pncconf.adoc:727
+#, no-wrap
+msgid "images/pncconf-hal.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:732
+msgid ""
+"The first selection is components that pncconf uses internally.  You may "
+"configure pncconf to load extra instances of the components for your custom "
+"HAL file."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:735
+msgid ""
+"Select the number of instances your custom file will need, PnCconf will add "
+"what it needs after them."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:738
+msgid ""
+"Meaning if you need 2 and PnCconf needs 1 PnCconf will load 3 instances and "
+"use the last one."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:739
+#, no-wrap
+msgid "Custom Component Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:746
+msgid ""
+"This selection will allow you to load HAL components that PnCconf does not "
+"use.  Add the loadrt or loadusr command, under the heading 'loading command' "
+"Add the addf command under the heading 'Thread command'.  The components "
+"will be added to the thread between reading of inputs and writing of "
+"outputs, in the order you write them in the 'thread command'."
+msgstr ""
+
+#. type: Title ==
+#: src/config/pncconf.adoc:747
+#, no-wrap
+msgid "Advanced Usage Of PnCconf"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:752
+msgid ""
+"PnCconf does its best to allow flexible customization by the user.  PnCconf "
+"has support for custom signal names, custom loading of components, custom "
+"HAL files and custom firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:757
+msgid ""
+"There are also signal names that PnCconf always provides regardless of "
+"options selected, for user's custom HAL files With some thought most "
+"customizations should work regardless if you later select different options "
+"in PnCconf."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:761
+msgid ""
+"Eventually if the customizations are beyond the scope of PnCconf's frame "
+"work you can use PnCconf to build a base config or use one of LinuxCNC's "
+"sample configurations and just hand edit it to what ever you want."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:762 src/config/pncconf.adoc:794
+#, no-wrap
+msgid "Custom Signal Names"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:767
+msgid ""
+"If you wish to connect a component to something in a custom HAL file write a "
+"unique signal name in the combo entry box. Certain components will add "
+"endings to your custom signal name:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:769
+msgid "Encoders will add < customname > +:"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:771 src/man/man3/hal_add_funct_to_thread.3.adoc:23
+#, no-wrap
+msgid "position"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:772 src/man/man3/hal_port.3hal.adoc:108
+#, no-wrap
+msgid "count"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:773
+msgid "velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:774
+msgid "index-enable"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:775 src/drivers/hal_gpio.adoc:62
+#, no-wrap
+msgid "reset"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:777
+msgid "Steppers add:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:779 src/config/pncconf.adoc:787
+msgid "enable"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:780
+msgid "counts"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:781
+msgid "position-cmd"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:782
+msgid "position-fb"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:783
+msgid "velocity-fb"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:785
+msgid "PWM add:"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:788 src/gui/gladevcp.adoc:813
+#: src/gui/gladevcp.adoc:1104
+#, no-wrap
+msgid "value"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:790
+msgid "GPIO pins will just have the entered signal name connected to it"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:793
+msgid ""
+"In this way one can connect to these signals in the custom HAL files and "
+"still have the option to move them around later."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:798
+msgid ""
+"The HAL Components page can be used to load components needed by a user for "
+"customization."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:799
+#, no-wrap
+msgid "Loading Custom Firmware"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:807
+msgid ""
+"PnCconf searches for firmware on the system and then looks for the XML file "
+"that it can convert to what it understands. These XML files are only "
+"supplied for officially released firmware from the LinuxCNC team. To utilize "
+"custom firmware one must convert it to an array that PnCconf understands and "
+"add its file path to PnCconf's preference file. By default this path "
+"searches the desktop for a folder named custom_firmware and a file named "
+"firmware.py."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:813
+msgid ""
+"The hidden preference file is in the user's home file, is named "
+".pncconf-preferences and require one to select 'show hidden files' in your "
+"file manager to see and edit it or on the command line you use 'ls' with the "
+"'-a' option.  The contents of this file can be seen when you first load "
+"PnCconf - press the help button and look at the output page."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:816
+msgid ""
+"Ask on the LinuxCNC mail-list or forum for info about converting custom "
+"firmware.  Not all firmware can be utilized with PnCconf."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/pncconf.adoc:817
+#, no-wrap
+msgid "Custom HAL Files"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:820
+msgid "There are four custom files that you can use to add HAL commands to:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:823
+msgid ""
+"custom.hal is for HAL commands that don't have to be run after the GUI "
+"frontend loads. It is run after the configuration-named HAL file."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:825
+msgid ""
+"custom_postgui.hal is for commands that must be run after AXIS loads or a "
+"standalone PyVCP display loads."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:826
+msgid "custom_gvcp.hal is for commands that must be run after GladeVCP is loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/config/pncconf.adoc:827
+msgid ""
+"shutdown.hal is for commands to run when LinuxCNC shuts down in a controlled "
+"manner."
+msgstr ""
+
+#. type: Title =
+#: src/config/python-hal-interface.adoc:5
+#, no-wrap
+msgid "The HAL Python module"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:13
+msgid ""
+"This documentation describes the `hal` python module, which provides a "
+"Python API for creating and accessing HAL pins and signals."
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-hal-interface.adoc:15
+#, no-wrap
+msgid "Basic usage"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:26
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"import hal, time\n"
+"h = hal.component(\"passthrough\")\n"
+"h.newpin(\"in\", hal.HAL_FLOAT, hal.HAL_IN)\n"
+"h.newpin(\"out\", hal.HAL_FLOAT, hal.HAL_OUT)\n"
+"h.ready()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:31
+#, no-wrap
+msgid "*component*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:36
+msgid ""
+"+ The component itself is created by a call to the constructor "
+"`hal.component`.  The arguments are the HAL component name and (optionally) "
+"the prefix used for pin and parameter names. If the prefix is not specified, "
+"the component name is used. +"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:40 src/hal/halmodule.adoc:71
+#, no-wrap
+msgid "h = hal.component(\"passthrough\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:42
+#, no-wrap
+msgid "*newpin*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:47
+#, no-wrap
+msgid ""
+"+\n"
+"Create new pin.\n"
+"Arguments: pin name suffix, pin type, and pin direction. For parameters, the "
+"arguments are: parameter name suffix, parameter type, and parameter "
+"direction. +"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:51 src/hal/halmodule.adoc:80
+#, no-wrap
+msgid "h.newpin(\"in\", hal.HAL_FLOAT, hal.HAL_IN)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:54
+#, no-wrap
+msgid "*ready* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:56
+msgid "Tells the HAL system the component is initialized. Locks out adding pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:57
+#, no-wrap
+msgid "*unready* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:60
+msgid ""
+"Allows a component to add pins after 'ready()' has been called.  One should "
+"call 'ready()' on the component after."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:61
+#, no-wrap
+msgid "*component_exists* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:63
+msgid "Does the specified component exist at this time."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:67
+#, no-wrap
+msgid "hal.component_exists(\"testpanel\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:69
+#, no-wrap
+msgid "*component_is_ready* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:71
+msgid "Is the specified component ready at this time."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:75
+#, no-wrap
+msgid "hal.component_is_ready(\"testpanel\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:77
+#, no-wrap
+msgid "*get_msg_level* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:79
+msgid "Get the current Realtime msg level."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:80
+#, no-wrap
+msgid "*set_msg_level* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:83
+msgid "Set the current Realtime msg level.  used for debugging information."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:84
+#, no-wrap
+msgid "*connect* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:86
+msgid "Connect a pin to a signal."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:90
+#, no-wrap
+msgid "hal.connect(\"pinname\",\"signal_name\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:92
+#, no-wrap
+msgid "*disconnect* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:94
+msgid "Disconnect a pin from a signal."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:98
+#, no-wrap
+msgid "hal.disconnect(\"pinname\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:100
+#, no-wrap
+msgid "*get_value* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:102
+msgid "Read a pin, param, or signal directly."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:107
+#, no-wrap
+msgid "value = hal.get_value(\"iocontrol.0.emc-enable-in\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:109
+#, no-wrap
+msgid "*get_info_pins()* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:111
+msgid "Returns a list of dicts of all system pins."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:119
+#, no-wrap
+msgid ""
+"listOfDicts = hal.get_info_pins()\n"
+"pinName1 = listOfDicts[0].get('NAME')\n"
+"pinValue1 = listOfDicts[0].get('VALUE')\n"
+"pinType1 = listOfDicts[0].get('TYPE')\n"
+"pinDirection1 = listOfDicts[0].get('DIRECTION')\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:121
+#, no-wrap
+msgid "*get_info_signals()* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:123
+msgid "Returns a list of dicts of all system signals."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:130
+#, no-wrap
+msgid ""
+"listOfDicts = hal.get_info_signals()\n"
+"signalName1 = listOfDicts[0].get('NAME')\n"
+"signalValue1 = listOfDicts[0].get('VALUE')\n"
+"driverPin1 = listOfDicts[0].get('DRIVER')\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:132
+#, no-wrap
+msgid "*get_info_params()* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:134
+msgid "Returns a list of dicts of all system parameters."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:141
+#, no-wrap
+msgid ""
+"listOfDicts = hal.get_info_params()\n"
+"paramName1 = listOfDicts[0].get('NAME')\n"
+"paramValue1 = listOfDicts[0].get('VALUE')\n"
+"paramDirection1 = listOfDicts[0].get('DIRECTION')\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:143
+#, no-wrap
+msgid "*new_sig* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:145
+msgid "Create a new signal of the type specified."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:150
+#, no-wrap
+msgid "hal.new_sig(\"signalname\",hal.HAL_BIT)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:152
+#, no-wrap
+msgid "*pin_has_writer* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:155
+#, no-wrap
+msgid ""
+"Does the specified pin have a driving pin connected.\n"
+"Returns True or False."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:158
+#, no-wrap
+msgid "h.in.pin_has_writer()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:160
+#, no-wrap
+msgid "*get_name* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:163
+#, no-wrap
+msgid ""
+"Get the HAL object name.\n"
+"Return a string."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:166
+#, no-wrap
+msgid "h.in.get_name()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:168
+#, no-wrap
+msgid "*get_type* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:171
+#, no-wrap
+msgid ""
+"Get the HAL object's type.\n"
+"Returns an integer."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:174
+#, no-wrap
+msgid "h.in.get_type()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:176
+#, no-wrap
+msgid "*get_dir* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:179
+#, no-wrap
+msgid ""
+"Get the HAL object direction type.\n"
+"Returns an integer."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:182
+#, no-wrap
+msgid "h.in.get_dir()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:184
+#, no-wrap
+msgid "*get* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:186
+msgid "Get the HAL object value."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:189
+#, no-wrap
+msgid "h.in.get()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:191
+#, no-wrap
+msgid "*set* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:193
+msgid "Set the HAL object value."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:196
+#, no-wrap
+msgid "h.out.set(10)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:198
+#, no-wrap
+msgid "*is_pin* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:201
+#, no-wrap
+msgid ""
+"Is the object a pin or parameter?\n"
+"Returns True or False."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:204
+#, no-wrap
+msgid "h.in.is_pin()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:206
+#, no-wrap
+msgid "*sampler_base* "
+msgstr ""
+
+#. TODO StatusStacked widget documentation
+#. type: Block title
+#: src/config/python-hal-interface.adoc:208
+#: src/config/python-hal-interface.adoc:211
+#: src/config/python-hal-interface.adoc:214 src/gui/qtvcp-widgets.adoc:1859
+#, no-wrap
+msgid "TODO"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:209
+#, no-wrap
+msgid "*stream_base* "
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:212
+#, no-wrap
+msgid "*stream* "
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:215
+#, no-wrap
+msgid "*set_p* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:217
+msgid "Set a pin value of any pin in the HAL system."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:221
+#, no-wrap
+msgid "hal.set_p(\"pinname\",\"10\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-hal-interface.adoc:223
+#, no-wrap
+msgid "*set_s* "
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-hal-interface.adoc:225
+msgid "Set the value of any unconnected signal in the HAL system."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-hal-interface.adoc:229
+#, no-wrap
+msgid "hal.set_s(\"signalname\",\"10\")\n"
+msgstr ""
+
+#. type: Title =
+#: src/config/python-interface.adoc:5
+#, no-wrap
+msgid "The LinuxCNC Python module"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:13
+msgid ""
+"This documentation describes the `linuxcnc` python module, which provides a "
+"Python API for talking to LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:22
+msgid ""
+"User interfaces control LinuxCNC activity by sending NML messages to the "
+"LinuxCNC task controller, and monitor results by observing the LinuxCNC "
+"status structure, as well as the error reporting channel."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:26
+msgid ""
+"Programmatic access to NML is through a C++ API; however, the most important "
+"parts of the NML interface to LinuxCNC are also available to Python programs "
+"through the `linuxcnc` module."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:29
+msgid ""
+"Beyond the NML interface to the command, status and error channels, the "
+"`linuxcnc` module also contains:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:31
+msgid "support for reading values from INI files"
+msgstr ""
+
+#. - support for position logging  (???)
+#. type: Title ==
+#: src/config/python-interface.adoc:36
+#, no-wrap
+msgid "Usage Patterns for the LinuxCNC NML interface"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:39
+msgid "The general pattern for `linuxcnc` usage is roughly like this:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:41
+msgid "import the `linuxcnc` module"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:42
+msgid ""
+"establish connections to the command, status and error NML channels as "
+"needed"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:43 src/config/python-interface.adoc:52
+msgid "poll the status channel, either periodically or as needed"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:46
+msgid ""
+"before sending a command, determine from status whether it is in fact OK to "
+"do so (for instance, there is no point in sending a 'Run' command if task is "
+"in the ESTOP state, or the interpreter is not idle)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:47
+msgid "send the command by using one of the `linuxcnc` command channel methods"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:50
+msgid ""
+"To retrieve messages from the error channel, poll the error channel "
+"periodically, and process any messages retrieved."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:53
+msgid "print any error message and explore the exception code"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:55
+msgid ""
+"`linuxcnc` also defines the `error` Python exception type to support error "
+"reporting."
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-interface.adoc:56
+#, no-wrap
+msgid "Reading LinuxCNC status"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:61
+msgid ""
+"Here is a Python fragment to explore the contents of the `linuxcnc.stat` "
+"object which contains some 80+ values (run while linuxcnc is running for "
+"typical values):"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:77
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"import sys\n"
+"import linuxcnc\n"
+"try:\n"
+"    s = linuxcnc.stat() # create a connection to the status channel\n"
+"    s.poll() # get current values\n"
+"except linuxcnc.error, detail:\n"
+"    print(\"error\", detail)\n"
+"    sys.exit(1)\n"
+"for x in dir(s):\n"
+"    if not x.startswith(\"_\"):\n"
+"        print(x, getattr(s,x))\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:82
+msgid ""
+"Linuxcnc uses the default compiled-in path to the NML configuration file "
+"unless overridden, see <<python:reading-ini-values,Reading INI file values>> "
+"for an example."
+msgstr ""
+
+#. type: Title ===
+#: src/config/python-interface.adoc:83
+#, no-wrap
+msgid "linuxcnc.stat attributes"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:85
+#, no-wrap
+msgid "*acceleration*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:87
+msgid ""
+"'(returns float)' - default acceleration, reflects the INI entry "
+"[TRAJ]DEFAULT_ACCELERATION."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:88
+#, no-wrap
+msgid "*active_queue*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:90
+msgid "'(returns integer)' - number of motions blending."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:91
+#, no-wrap
+msgid "*actual_position*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:93
+msgid ""
+"'(returns tuple of floats)' - current trajectory position, (x y z a b c u v "
+"w) in machine units."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:94
+#, no-wrap
+msgid "*adaptive_feed_enabled*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:96
+msgid "'(returns boolean)' - status of adaptive feedrate override (0/1)."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:97
+#, no-wrap
+msgid "*ain*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:99
+msgid "'(returns tuple of floats)' - current value of the analog input pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:100
+#, no-wrap
+msgid "*angular_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:102
+msgid ""
+"'(returns float)' - machine angular units per deg, reflects "
+"[TRAJ]ANGULAR_UNITS INI value."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:103
+#, no-wrap
+msgid "*aout*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:105
+msgid "'(returns tuple of floats)' - current value of the analog output pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:106
+#, no-wrap
+msgid "*axes*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:108
+msgid ""
+"Removed since version 2.9 use axis_mask.bit_count() to get the number of "
+"axes configured"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:109
+#, no-wrap
+msgid "*axis*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:112
+msgid ""
+"'(returns tuple of dicts)' - reflecting current axis values. See "
+"<<sec:the-axis-dictionary,The axis dictionary>>."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:113
+#, no-wrap
+msgid "*axis_mask*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:117
+msgid ""
+"'(returns integer)' - mask of axis available as defined by [TRAJ]COORDINATES "
+"in the INI file. Returns the sum of the axes X=1, Y=2, Z=4, A=8, B=16, C=32, "
+"U=64, V=128, W=256."
+msgstr ""
+
+#. type: Block title
+#: src/config/python-interface.adoc:118 src/gui/panelui.adoc:318
+#, no-wrap
+msgid "*block_delete*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:120
+msgid "'(returns boolean)' - block delete current status."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:121
+#, no-wrap
+msgid "*call_level*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:123
+msgid ""
+"'(returns integer)'` - current subroutine depth. - 0 If not in a subroutine, "
+"Depth if not otherwise specified"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:124
+#, no-wrap
+msgid "*command*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:126
+msgid "'(returns string)' - currently executing command."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:127
+#, no-wrap
+msgid "*current_line*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:129
+msgid "'(returns integer)' - currently executing line."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:130
+#, no-wrap
+msgid "*current_vel*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:132
+msgid "'(returns float)' - current velocity in user units per second."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:133
+#, no-wrap
+msgid "*cycle_time*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:135
+msgid "'(returns float)' - thread period"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:136
+#, no-wrap
+msgid "*debug*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:138
+msgid "'(returns integer)' - debug flag from the INI file."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:139
+#, no-wrap
+msgid "*delay_left*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:141
+msgid "'(returns float)' - remaining time on dwell (G4) command, seconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:142
+#, no-wrap
+msgid "*din*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:144
+msgid "'(returns tuple of integers)' - current value of the digital input pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:145
+#, no-wrap
+msgid "*distance_to_go*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:147
+msgid ""
+"'(returns float)' - remaining distance of current move, as reported by "
+"trajectory planner."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:148
+#, no-wrap
+msgid "*dout*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:150
+msgid "'(returns tuple of integers)' - current value of the digital output pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:151
+#, no-wrap
+msgid "*dtg*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:153
+msgid ""
+"'(returns tuple of floats)' - remaining distance of current move for each "
+"axis, as reported by trajectory planner."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:154
+#, no-wrap
+msgid "*echo_serial_number*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:159
+msgid ""
+"'(returns integer)' - The serial number of the last completed command sent "
+"by a UI to task. All commands carry a serial number. Once the command has "
+"been executed, its serial number is reflected in `echo_serial_number`."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:160 src/config/python-interface.adoc:459
+#: src/config/python-interface.adoc:538
+#, no-wrap
+msgid "*enabled*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:162
+msgid "'(returns boolean)' - trajectory planner enabled flag."
+msgstr ""
+
+#. type: Block title
+#: src/config/python-interface.adoc:163 src/gui/panelui.adoc:236
+#, no-wrap
+msgid "*estop*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:165
+msgid "'(returns integer)' - Returns either STATE_ESTOP or not."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:166
+#, no-wrap
+msgid "*exec_state*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:172
+msgid ""
+"'(returns integer)' - task execution state. One of EXEC_ERROR, EXEC_DONE, "
+"EXEC_WAITING_FOR_MOTION, EXEC_WAITING_FOR_MOTION_QUEUE, EXEC_WAITING_FOR_IO, "
+"EXEC_WAITING_FOR_MOTION_AND_IO, EXEC_WAITING_FOR_DELAY, "
+"EXEC_WAITING_FOR_SYSTEM_CMD, EXEC_WAITING_FOR_SPINDLE_ORIENTED."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:173
+#, no-wrap
+msgid "*feed_hold_enabled*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:175
+msgid "'(returns boolean)' - enable flag for feed hold."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:176
+#, no-wrap
+msgid "*feed_override_enabled*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:178
+msgid "'(returns boolean)' - enable flag for feed override."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:179
+#, no-wrap
+msgid "*feedrate*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:181
+msgid "'(returns float)' - current feedrate override, 1.0 = 100%."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:182
+#, no-wrap
+msgid "*file*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:184
+msgid "'(returns string)' - currently loaded G-code filename with path."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:185
+#, no-wrap
+msgid "*flood*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:187
+msgid "'(returns integer)' - Flood status, either FLOOD_OFF or FLOOD_ON."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:188
+#, no-wrap
+msgid "*g5x_index*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:190
+msgid "'(returns integer)' - currently active coordinate system, G54=1, G55=2 etc."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:191
+#, no-wrap
+msgid "*g5x_offset*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:193
+msgid ""
+"'(returns tuple of floats)' - offset of the currently active coordinate "
+"system."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:194
+#, no-wrap
+msgid "*g92_offset*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:196
+msgid "'(returns tuple of floats)' - pose of the current g92 offset."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:197
+#, no-wrap
+msgid "*gcodes*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:207
+msgid ""
+"'(returns tuple of integers)' - Active G-codes for each modal group.  G-code "
+"constants G_0, G_1, G_2, G_3, G_4, G_5, G_5_1, G_5_2, G_5_3, G_7, G_8, "
+"G_100, G_17, G_17_1, G_18, G_18_1, G_19, G_19_1, G_20, G_21, G_28, G_28_1, "
+"G_30, G_30_1, G_33, G_33_1, G_38_2, G_38_3, G_38_4, G_38_5, G_40, G_41, "
+"G_41_1, G_42, G_42_1, G_43, G_43_1, G_43_2, G_49, G_50, G_51, G_53, G_54, "
+"G_55, G_56, G_57, G_58, G_59, G_59_1, G_59_2, G_59_3, G_61, G_61_1, G_64, "
+"G_73, G_76, G_80, G_81, G_82, G_83, G_84, G_85, G_86, G_87, G_88, G_89, "
+"G_90, G_90_1, G_91, G_91_1, G_92, G_92_1, G_92_2, G_92_3, G_93, G_94, G_95, "
+"G_96, G_97, G_98, G_99"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:208 src/config/python-interface.adoc:471
+#: src/config/python-interface.adoc:541
+#, no-wrap
+msgid "*homed*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:210
+msgid ""
+"'(returns tuple of integers)' - currently homed joints, 0 = not homed, 1 = "
+"homed."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:211
+#, no-wrap
+msgid "*id*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:213
+msgid "'(returns integer)' - currently executing motion id."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:214
+#, no-wrap
+msgid "*ini_filename*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:216
+msgid "'(returns string)' - path to the INI file passed to linuxcnc."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:217 src/config/python-interface.adoc:477
+#, no-wrap
+msgid "*inpos*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:219
+msgid "'(returns boolean)' - machine-in-position flag."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:220
+#, no-wrap
+msgid "*input_timeout*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:222
+msgid "'(returns boolean)' - flag for M66 timer in progress."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:223
+#, no-wrap
+msgid "*interp_state*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:226
+msgid ""
+"'(returns integer)' - current state of RS274NGC interpreter. One of "
+"INTERP_IDLE, INTERP_READING, INTERP_PAUSED, INTERP_WAITING."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:227
+#, no-wrap
+msgid "*interpreter_errcode*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:232
+msgid ""
+"'(returns integer)' - current RS274NGC interpreter return code. One of "
+"INTERP_OK, INTERP_EXIT, INTERP_EXECUTE_FINISH, INTERP_ENDFILE, "
+"INTERP_FILE_NOT_OPEN, INTERP_ERROR.  see src/emc/nml_intf/interp_return.hh"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:233
+#, no-wrap
+msgid "*joint*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:236
+msgid ""
+"'(returns tuple of dicts)' - reflecting current joint values. See "
+"<<sec:the-joint-dictionary,The joint dictionary>>."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:237
+#, no-wrap
+msgid "*joint_actual_position*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:239
+msgid "'(returns tuple of floats)' - actual joint positions."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:240
+#, no-wrap
+msgid "*joint_position*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:242
+msgid "'(returns tuple of floats)' - Desired joint positions."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:243
+#, no-wrap
+msgid "*joints*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:245
+msgid "'(returns integer)' - number of joints. Reflects [KINS]JOINTS INI value."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:246 src/man/man1/linuxcncrsh.1.adoc:457
+#, no-wrap
+msgid "*kinematics_type*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:248
+msgid "'(returns integer)' - The type of kinematics. One of:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:249
+msgid "KINEMATICS_IDENTITY"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:250
+msgid "KINEMATICS_FORWARD_ONLY"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:251
+msgid "KINEMATICS_INVERSE_ONLY"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:252
+msgid "KINEMATICS_BOTH"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:253
+#, no-wrap
+msgid "*limit*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:256
+msgid ""
+"'(returns tuple of integers)' - axis limit masks. minHardLimit=1, "
+"maxHardLimit=2, minSoftLimit=4, maxSoftLimit=8."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:257
+#, no-wrap
+msgid "*linear_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:259
+msgid ""
+"'(returns float)' - machine linear units per mm, reflects [TRAJ]LINEAR_UNITS "
+"INI value."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:260
+#, no-wrap
+msgid "*max_acceleration*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:262
+msgid "'(returns float)' - maximum acceleration. Reflects [TRAJ]MAX_ACCELERATION."
+msgstr ""
+
+#. type: Block title
+#: src/config/python-interface.adoc:263 src/gui/panelui.adoc:310
+#, no-wrap
+msgid "*max_velocity*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:265
+msgid ""
+"'(returns float)' - maximum velocity. Reflects the current maximum "
+"velocity. If not modified by halui.max-velocity or similar it should reflect "
+"[TRAJ]MAX_VELOCITY."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:266
+#, no-wrap
+msgid "*mcodes*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:268
+msgid "'(returns tuple of 10 integers)' - currently active M-codes."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:269
+#, no-wrap
+msgid "*mist*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:271
+msgid "'(returns integer)' - Mist status, either MIST_OFF or MIST_ON"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:272
+#, no-wrap
+msgid "*motion_line*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:275
+msgid ""
+"'(returns integer)' - source line number motion is currently "
+"executing. Relation to `id` unclear."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:276
+#, no-wrap
+msgid "*motion_mode*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:279
+msgid ""
+"'(returns integer)' - This is the mode of the Motion controller.  One of "
+"TRAJ_MODE_COORD, TRAJ_MODE_FREE, TRAJ_MODE_TELEOP."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:280
+#, no-wrap
+msgid "*motion_type*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:282
+msgid "'(returns integer)' - The type of the currently executing motion.  One of:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:283
+msgid "MOTION_TYPE_TRAVERSE"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:284
+msgid "MOTION_TYPE_FEED"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:285
+msgid "MOTION_TYPE_ARC"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:286
+msgid "MOTION_TYPE_TOOLCHANGE"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:287
+msgid "MOTION_TYPE_PROBING"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:288
+msgid "MOTION_TYPE_INDEXROTARY"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:289
+msgid "Or 0 if no motion is currently taking place."
+msgstr ""
+
+#. type: Block title
+#: src/config/python-interface.adoc:290 src/gui/panelui.adoc:315
+#, no-wrap
+msgid "*optional_stop*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:292
+msgid "'(returns integer)' - option stop flag."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:293
+#, no-wrap
+msgid "*paused*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:295
+msgid "'(returns boolean)' - `motion paused` flag."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:296
+#, no-wrap
+msgid "*pocket_prepped*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:299
+msgid ""
+"'(returns integer)' - A Tx command completed, and this pocket is "
+"prepared. -1 if no prepared pocket."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:300
+#, no-wrap
+msgid "*poll()*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:302
+msgid "-'(built-in function)' method to update current status attributes."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:303
+#, no-wrap
+msgid "*position*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:305
+msgid "'(returns tuple of floats)' - trajectory position."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:306 src/man/man1/linuxcncrsh.1.adoc:443
+#, no-wrap
+msgid "*probe_tripped*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:308
+msgid "'(returns boolean)' - flag, True if probe has tripped (latch)"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:309
+#, no-wrap
+msgid "*probe_val*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:311
+msgid "'(returns integer)' - reflects value of the `motion.probe-input` pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:312
+#, no-wrap
+msgid "*probed_position*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:314
+msgid "'(returns tuple of floats)' - position where probe tripped."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:315
+#, no-wrap
+msgid "*probing*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:317
+msgid "'(returns boolean)' - flag, True if a probe operation is in progress."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:318 src/man/man1/linuxcncrsh.1.adoc:397
+#, no-wrap
+msgid "*program_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:320
+msgid ""
+"'(returns integer)' - one of CANON_UNITS_INCHES=1, CANON_UNITS_MM=2, "
+"CANON_UNITS_CM=3"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:321
+#, no-wrap
+msgid "*queue*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:323
+msgid "'(returns integer)' - current size of the trajectory planner queue."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:324
+#, no-wrap
+msgid "*queue_full*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:326
+msgid "'(returns boolean)' - the trajectory planner queue is full."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:327
+#, no-wrap
+msgid "*rapidrate*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:329
+msgid "'(returns float)' - rapid override scale."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:330
+#, no-wrap
+msgid "*read_line*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:332
+msgid "'(returns integer)' - line the RS274NGC interpreter is currently reading."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:333
+#, no-wrap
+msgid "*rotation_xy*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:335
+msgid "'(returns float)' - current XY rotation angle around Z axis."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:336
+#, no-wrap
+msgid "*settings*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:341
+msgid ""
+"'(returns tuple of floats)' - current interpreter settings. settings[0] = "
+"sequence number, settings[1] = feed rate, settings[2] = speed, settings[3] = "
+"`G64 P` blend tolerance, settings[4] = `G64 Q` naive CAM tolerance."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:342
+#, no-wrap
+msgid "*spindle*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:345
+msgid ""
+"' (returns tuple of dicts) ' - returns the current spindle status, see "
+"<<sec:the-spindle-dictionary, The spindle dictionary>>"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:346
+#, no-wrap
+msgid "*spindles*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:348
+msgid "'(returns integer)' - number of spindles. Reflects [TRAJ]SPINDLES INI value."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:349
+#, no-wrap
+msgid "*state*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:352
+msgid ""
+"'(returns integer)' - current command execution status. One of RCS_DONE, "
+"RCS_EXEC, RCS_ERROR."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:353
+#, no-wrap
+msgid "*task_mode*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:356
+msgid ""
+"'(returns integer)' - current task mode. one of MODE_MDI, MODE_AUTO, "
+"MODE_MANUAL."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:357
+#, no-wrap
+msgid "*task_paused*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:359
+msgid "'(returns integer)' - task paused flag."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:360
+#, no-wrap
+msgid "*task_state*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:363
+msgid ""
+"'(returns integer)' - current task state. one of STATE_ESTOP, "
+"STATE_ESTOP_RESET, STATE_ON, STATE_OFF."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:364
+#, no-wrap
+msgid "*tool_in_spindle*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:366
+msgid "'(returns integer)' - current tool number."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:367
+#, no-wrap
+msgid "*tool_from_pocket*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:369
+msgid ""
+"'(returns integer)' - pocket number for the currently loaded tool (0 if no "
+"tool loaded)."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:370 src/man/man1/linuxcncrsh.1.adoc:279
+#, no-wrap
+msgid "*tool_offset*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:372
+msgid "'(returns tuple of floats)' - offset values of the current tool."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:373
+#, no-wrap
+msgid "*tool_table*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:378
+msgid ""
+"'(returns tuple of tool_results)' - list of tool entries. Each entry is a "
+"sequence of the following fields: id, xoffset, yoffset, zoffset, aoffset, "
+"boffset, coffset, uoffset, voffset, woffset, diameter, frontangle, "
+"backangle, orientation. The id and orientation are integers and the rest are "
+"floats."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:391
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"import linuxcnc\n"
+"s = linuxcnc.stat()\n"
+"s.poll()\n"
+"# to find the loaded tool information it is in tool table index 0\n"
+"if s.tool_table[0].id != 0: # a tool is loaded\n"
+"    print(s.tool_table[0].zoffset)\n"
+"else:\n"
+"    print(\"No tool loaded.\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:393
+#, no-wrap
+msgid "*toolinfo(toolno)*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:401
+msgid ""
+"'(returns dict of tooldata for toolno)' - An initial stat.poll() is required "
+"to initialize.  toolno must be greater than zero and less than or equal to "
+"the highest tool number in use.  Dictionary items include all tooldata "
+"items: 'toolno', 'pocketno', "
+"'diameter','frontangle','backangle','orientation', 'xoffset','yoffset', ...  "
+"'woffset', 'comment'"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:411
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"import linuxcnc\n"
+"s = linuxcnc.stat()\n"
+"s.poll()\n"
+"toolno = 1\n"
+"print(s.toolinfo(toolno))\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:415
+msgid ""
+"': 0, 'xoffset': 0.0, 'yoffset': 0.0, 'zoffset': 0.18, 'aoffset': 0.0, "
+"'boffset': 0.0, 'coffset': 0.0, 'uoffset': 0.0, 'voffset': 0.0, 'woffset': "
+"0.0, 'comment': 'Tool_18 28Jan23:18.53.25'}"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:417 src/config/python-interface.adoc:438
+#: src/config/python-interface.adoc:526
+#, no-wrap
+msgid "*velocity*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:419
+msgid ""
+"'(returns float)' - This property is defined, but it does not have a useful "
+"interpretation."
+msgstr ""
+
+#. type: Title ===
+#: src/config/python-interface.adoc:421
+#, no-wrap
+msgid "The `axis` dictionary"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:429
+msgid ""
+"The axis configuration and status values are available through a list of "
+"per-axis dictionaries. Here's an example how to access an attribute of a "
+"particular axis: Note that many properties that were formerly in the `axis` "
+"dictionary are now in the `joint` dictionary, because on nontrivial "
+"kinematics machines these items (such as backlash) are not the properties of "
+"an axis."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:430 src/config/python-interface.adoc:495
+#, no-wrap
+msgid "*max_position_limit*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:433
+msgid ""
+"'(returns float)' - maximum limit (soft limit) for axis motion, in machine "
+"units.configuration parameter, reflects [JOINT_n]MAX_LIMIT."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:434 src/config/python-interface.adoc:508
+#, no-wrap
+msgid "*min_position_limit*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:437
+msgid ""
+"'(returns float)' - minimum limit (soft limit) for axis motion, in machine "
+"units.configuration parameter, reflects [JOINT_n]MIN_LIMIT."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:440 src/config/python-interface.adoc:528
+msgid "'(returns float)' - current velocity."
+msgstr ""
+
+#. type: Title ===
+#: src/config/python-interface.adoc:442
+#, no-wrap
+msgid "The `joint` dictionary"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:452
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"import linuxcnc\n"
+"s = linuxcnc.stat()\n"
+"s.poll()\n"
+"print(\"Joint 1 homed: \", s.joint[1][\"homed\"])\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:455
+msgid "For each joint, the following dictionary keys are available:"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:456
+#, no-wrap
+msgid "*backlash*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:458
+msgid ""
+"'(returns float)' - Backlash in machine units. configuration parameter, "
+"reflects [JOINT_n]BACKLASH."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:461
+msgid "'(returns integer)' - non-zero means enabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:462
+#, no-wrap
+msgid "*fault*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:464
+msgid "'(returns integer)' - non-zero means axis amp fault."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:465
+#, no-wrap
+msgid "*ferror_current*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:467
+msgid "'(returns float)' - current following error."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:468
+#, no-wrap
+msgid "*ferror_highmark*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:470
+msgid "'(returns float)' - magnitude of max following error."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:473
+msgid "'(returns integer)' - non-zero means has been homed."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:474
+#, no-wrap
+msgid "*homing*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:476
+msgid "'(returns integer)' - non-zero means homing in progress."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:479
+msgid "'(returns integer)' - non-zero means in position."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:480
+#, no-wrap
+msgid "*input*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:482
+msgid "'(returns float)' - current input position."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:483
+#, no-wrap
+msgid "*jointType*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:487
+msgid ""
+"'(returns integer)' - type of axis configuration parameter, reflects "
+"[JOINT_n]TYPE. LINEAR=1, ANGULAR=2. See <<sub:ini:sec:axis-letter, Joint INI "
+"configuration>> for details."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:488
+#, no-wrap
+msgid "*max_ferror*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:491
+msgid ""
+"'(returns float)' - maximum following error. configuration parameter, "
+"reflects [JOINT_n]FERROR."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:492
+#, no-wrap
+msgid "*max_hard_limit*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:494
+msgid "'(returns integer)' - non-zero means max hard limit exceeded."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:498
+msgid ""
+"'(returns float)' - maximum limit (soft limit) for joint motion, in machine "
+"units. configuration parameter, reflects [JOINT_n]MAX_LIMIT."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:499
+#, no-wrap
+msgid "*max_soft_limit*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:501
+msgid "non-zero means `max_position_limit` was exceeded, int"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:502
+#, no-wrap
+msgid "*min_ferror*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:504
+msgid "'(returns float)' - configuration parameter, reflects [JOINT_n]MIN_FERROR."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:505
+#, no-wrap
+msgid "*min_hard_limit*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:507
+msgid "'(returns integer)' - non-zero means min hard limit exceeded."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:511
+msgid ""
+"'(returns float)' - minimum limit (soft limit) for joint motion, in machine "
+"units. configuration parameter, reflects [JOINT_n]MIN_LIMIT."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:512
+#, no-wrap
+msgid "*min_soft_limit*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:514
+msgid "'(returns integer)' - non-zero means `min_position_limit` was exceeded."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:515
+#, no-wrap
+msgid "*output*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:517
+msgid "'(returns float)' - commanded output position."
+msgstr ""
+
+#. type: Block title
+#: src/config/python-interface.adoc:518 src/gui/panelui.adoc:254
+#, no-wrap
+msgid "*override_limits*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:520
+msgid "'(returns integer)' - non-zero means limits are overridden."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:521
+#, no-wrap
+msgid "*units*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:525
+#, no-wrap
+msgid ""
+"'(returns float)' - joint units per mm, or per degree for angular joints.\n"
+"(joint units are the same as machine units, unless set otherwise by the "
+"configuration parameter [JOINT_n]UNITS)"
+msgstr ""
+
+#. type: Title ===
+#: src/config/python-interface.adoc:530
+#, no-wrap
+msgid "The `spindle` dictionary"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:532
+#, no-wrap
+msgid "*brake*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:534
+msgid "'(returns integer)' - value of the spindle brake flag."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:535
+#, no-wrap
+msgid "*direction*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:537
+msgid ""
+"'(returns integer)' - rotational direction of the spindle. forward=1, "
+"reverse=-1."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:540
+msgid "'(returns integer)' - value of the spindle enabled flag."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:542
+msgid "(not currently implemented)"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:543
+#, no-wrap
+msgid "*increasing*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:545
+msgid "'(returns integer)' - unclear."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:546
+#, no-wrap
+msgid "*orient_fault*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:547 src/config/python-interface.adoc:549
+msgid "'(returns integer)'"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:548
+#, no-wrap
+msgid "*orient_state*"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:550
+#, no-wrap
+msgid "*override*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:552
+msgid "'(returns float)' - spindle speed override scale."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:553
+#, no-wrap
+msgid "*override_enabled*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:555
+msgid "'(returns boolean)' - value of the spindle override enabled flag."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:556
+#, no-wrap
+msgid "*speed*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:559
+msgid ""
+"'(returns float)' - spindle speed value, rpm, > 0: clockwise, < 0: "
+"counterclockwise."
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-interface.adoc:560
+#, no-wrap
+msgid "Preparing to send commands"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:564
+msgid ""
+"Some commands can always be sent, regardless of mode and state; for "
+"instance, the `linuxcnc.command.abort()` method can always be called."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:567
+msgid ""
+"Other commands may be sent only in appropriate state, and those tests can be "
+"a bit tricky. For instance, an MDI command can be sent only if:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:569
+msgid "ESTOP has not been triggered, and"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:570
+msgid "the machine is turned on and"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:571
+msgid "the axes are homed and"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:572
+msgid "the interpreter is not running and"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:573
+msgid "the mode is set to `MDI mode`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:576
+msgid ""
+"so an appropriate test before sending an MDI command through "
+"`linuxcnc.command.mdi()` could be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:584
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"import linuxcnc\n"
+"s = linuxcnc.stat()\n"
+"c = linuxcnc.command()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:588
+#, no-wrap
+msgid ""
+"def ok_for_mdi():\n"
+"    s.poll()\n"
+"    return not s.estop and s.enabled and (s.homed.count(1) == s.joints) and "
+"(s.interp_state == linuxcnc.INTERP_IDLE)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:593
+#, no-wrap
+msgid ""
+"if ok_for_mdi():\n"
+"    c.mode(linuxcnc.MODE_MDI)\n"
+"    c.wait_complete() # wait until mode switch executed\n"
+"    c.mdi(\"G0 X10 Y20 Z30\")\n"
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-interface.adoc:595
+#, no-wrap
+msgid "Sending commands through `linuxcnc.command`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:598
+msgid "Before sending a command, initialize a command channel like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:605
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"import linuxcnc\n"
+"c = linuxcnc.command()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:608
+#, no-wrap
+msgid ""
+"# Usage examples for some of the commands listed below:\n"
+"c.abort()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:613
+#, no-wrap
+msgid ""
+"c.auto(linuxcnc.AUTO_RUN, program_start_line)\n"
+"c.auto(linuxcnc.AUTO_STEP)\n"
+"c.auto(linuxcnc.AUTO_PAUSE)\n"
+"c.auto(linuxcnc.AUTO_RESUME)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:616
+#, no-wrap
+msgid ""
+"c.brake(linuxcnc.BRAKE_ENGAGE)\n"
+"c.brake(linuxcnc.BRAKE_RELEASE)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:619
+#, no-wrap
+msgid ""
+"c.flood(linuxcnc.FLOOD_ON)\n"
+"c.flood(linuxcnc.FLOOD_OFF)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:621
+#, no-wrap
+msgid "c.home(2)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:625
+#, no-wrap
+msgid ""
+"c.jog(linuxcnc.JOG_STOP,        jjogmode, joint_num_or_axis_index)\n"
+"c.jog(linuxcnc.JOG_CONTINUOUS,  jjogmode, joint_num_or_axis_index, "
+"velocity)\n"
+"c.jog(linuxcnc.JOG_INCREMENT,   jjogmode, joint_num_or_axis_index, velocity, "
+"increment)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:627
+#, no-wrap
+msgid "c.load_tool_table()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:629
+#, no-wrap
+msgid "c.maxvel(200.0)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:631
+#, no-wrap
+msgid "c.mdi(\"G0 X10 Y20 Z30\")\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:634
+#, no-wrap
+msgid ""
+"c.mist(linuxcnc.MIST_ON)\n"
+"c.mist(linuxcnc.MIST_OFF)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:638
+#, no-wrap
+msgid ""
+"c.mode(linuxcnc.MODE_MDI)\n"
+"c.mode(linuxcnc.MODE_AUTO)\n"
+"c.mode(linuxcnc.MODE_MANUAL)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:640
+#, no-wrap
+msgid "c.override_limits()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:643
+#, no-wrap
+msgid ""
+"c.program_open(\"foo.ngc\")\n"
+"c.reset_interpreter()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:645
+#, no-wrap
+msgid ""
+"c.tool_offset(toolno, z_offset,  x_offset, diameter, frontangle, backangle, "
+"orientation)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/config/python-interface.adoc:647
+#, no-wrap
+msgid "`linuxcnc.command` attributes"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:649
+#, no-wrap
+msgid "`serial`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:651
+msgid "the current command serial number"
+msgstr ""
+
+#. type: Title ===
+#: src/config/python-interface.adoc:652
+#, no-wrap
+msgid "`linuxcnc.command` methods:"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:654
+#, no-wrap
+msgid "`abort()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:656
+msgid "send EMC_TASK_ABORT message."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:657
+#, no-wrap
+msgid "`auto(int[, int])`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:659
+msgid "run, step, pause or resume a program."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:660
+#, no-wrap
+msgid "`brake(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:662
+msgid "engage or release spindle brake."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:663
+#, no-wrap
+msgid "`debug(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:665
+msgid "set debug level via EMC_SET_DEBUG message."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:666
+#, no-wrap
+msgid "`display_msg(string)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:668
+msgid "sends a operator display message to the screen. (max 254 characters)"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:669
+#, no-wrap
+msgid "`error_msg(string)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:671
+msgid "sends a operator error message to the screen. (max 254 characters)"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:672
+#, no-wrap
+msgid "`feedrate(float)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:674
+msgid "set the feedrate override, 1.0 = 100%."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:675
+#, no-wrap
+msgid "`flood(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:677
+msgid "turn on/off flooding."
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-interface.adoc:677 src/config/python-interface.adoc:689
+#: src/config/python-interface.adoc:718 src/gcode/overview.adoc:217
+#: src/gui/pyvcp.adoc:255 src/hal/basic-hal.adoc:366 src/hal/basic-hal.adoc:398
+#: src/hal/basic-hal.adoc:428 src/hal/basic-hal.adoc:460 src/hal/comp.adoc:102
+#, no-wrap
+msgid "Syntax"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:681
+#, no-wrap
+msgid ""
+"flood(command) +\n"
+"flood(linuxcnc.FLOOD_ON) +\n"
+"flood(linuxcnc.FLOOD_OFF)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-interface.adoc:681 src/config/python-interface.adoc:722
+#: src/gui/qtvcp-libraries.adoc:401 src/hal/halmodule.adoc:168
+#, no-wrap
+msgid "Constants"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:684
+#, no-wrap
+msgid ""
+"FLOOD_ON +\n"
+"FLOOD_OFF\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:685
+#, no-wrap
+msgid "`home(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:687
+msgid "home a given joint."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:688
+#, no-wrap
+msgid "`jog(command-constant, bool, int[, float[, float]])`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:694
+#, no-wrap
+msgid ""
+"jog(command,                 jjogmode, joint_num_or_axis_index, velocity[, "
+"distance]) +\n"
+"jog(linuxcnc.JOG_STOP,       jjogmode, joint_num_or_axis_index) +\n"
+"jog(linuxcnc.JOG_CONTINUOUS, jjogmode, joint_num_or_axis_index, velocity) "
+"+\n"
+"jog(linuxcnc.JOG_INCREMENT,  jjogmode, joint_num_or_axis_index, velocity, "
+"distance)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:694
+#, no-wrap
+msgid "Command Constants"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:698
+#, no-wrap
+msgid ""
+"linuxcnc.JOG_STOP +\n"
+"linuxcnc.JOG_CONTINUOUS +\n"
+"linuxcnc.JOG_INCREMENT\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:698
+#, no-wrap
+msgid "jjogmode"
+msgstr ""
+
+#. type: Table
+#: src/config/python-interface.adoc:699 src/hal/basic-hal.adoc:388
+#: src/hal/basic-hal.adoc:389 src/hal/basic-hal.adoc:390
+#: src/hal/basic-hal.adoc:391 src/hal/basic-hal.adoc:419
+#: src/hal/basic-hal.adoc:421 src/hal/basic-hal.adoc:449
+#: src/hal/basic-hal.adoc:450 src/hal/basic-hal.adoc:451
+#: src/hal/basic-hal.adoc:452 src/hal/basic-hal.adoc:481
+#: src/hal/basic-hal.adoc:482 src/hal/basic-hal.adoc:483
+#: src/hal/basic-hal.adoc:484
+#, no-wrap
+msgid "True"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:700
+msgid "request individual joint jog (requires teleop_enable(0))"
+msgstr ""
+
+#. type: Table
+#: src/config/python-interface.adoc:700 src/hal/basic-hal.adoc:387
+#: src/hal/basic-hal.adoc:388 src/hal/basic-hal.adoc:389
+#: src/hal/basic-hal.adoc:390 src/hal/basic-hal.adoc:420
+#: src/hal/basic-hal.adoc:449 src/hal/basic-hal.adoc:451
+#: src/hal/basic-hal.adoc:452 src/hal/basic-hal.adoc:453
+#: src/hal/basic-hal.adoc:481 src/hal/basic-hal.adoc:483
+#: src/hal/basic-hal.adoc:484 src/hal/basic-hal.adoc:485
+#, no-wrap
+msgid "False"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:701
+msgid "request axis Cartesian coordinate jog (requires teleop_enable(1))"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:701
+#, no-wrap
+msgid "joint_num_or_axis_index"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:702
+#, no-wrap
+msgid "For joint jog (jjogmode=1)"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:703 src/gui/gladevcp.adoc:1330
+#: src/gui/gladevcp.adoc:1368 src/gui/gladevcp.adoc:1482
+#, no-wrap
+msgid "joint_number"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:703
+#, no-wrap
+msgid "For axis Cartesian coordinate jog (jjogmode=0)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:707
+#, no-wrap
+msgid ""
+"zero-based index of the axis coordinate with respect to\n"
+"the known coordinate letters XYZABCUVW\n"
+"(x=>0,y=>1,z=>2,a=>3,b=>4,c=>5,u=>6,v=>7,w=>8)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:708
+#, no-wrap
+msgid "`load_tool_table()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:710
+msgid "reload the tool table."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:711
+#, no-wrap
+msgid "`maxvel(float)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:713
+msgid "set maximum velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:714
+#, no-wrap
+msgid "`mdi(string)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:716
+msgid "send an MDI command. Maximum 254 chars."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:717
+#, no-wrap
+msgid "`mist(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:718
+msgid "turn on/off mist. +"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:722
+#, no-wrap
+msgid ""
+"mist(command) +\n"
+"mist(linuxcnc.MIST_ON) +\n"
+"mist(linuxcnc.MIST_OFF) +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:725
+#, no-wrap
+msgid ""
+"MIST_ON +\n"
+"MIST_OFF\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:726
+#, no-wrap
+msgid "`mode(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:728
+msgid "set mode (MODE_MDI, MODE_MANUAL, MODE_AUTO)."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:729
+#, no-wrap
+msgid "`override_limits()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:731
+msgid "set the override axis limits flag."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:732
+#, no-wrap
+msgid "`program_open(string)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:734
+msgid "open an NGC file."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:735
+#, no-wrap
+msgid "`rapidrate()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:737
+msgid "set rapid override factor"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:738
+#, no-wrap
+msgid "`reset_interpreter()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:740
+msgid "reset the RS274NGC interpreter"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:741
+#, no-wrap
+msgid "`set_adaptive_feed(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:743
+msgid "set adaptive feed flag"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:744
+#, no-wrap
+msgid "`set_analog_output(int, float)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:746
+msgid "set analog output pin to value"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:747
+#, no-wrap
+msgid "`set_block_delete(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:749
+msgid "set block delete flag"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:750
+#, no-wrap
+msgid "`set_digital_output(int, int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:752
+msgid "set digital output pin to value"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:753
+#, no-wrap
+msgid "`set_feed_hold(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:755
+msgid "set feed hold on/off"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:756
+#, no-wrap
+msgid "`set_feed_override(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:758
+msgid "set feed override on/off"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:759
+#, no-wrap
+msgid "`set_max_limit(int, float)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:761
+msgid "set max position limit for a given axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:762
+#, no-wrap
+msgid "`set_min_limit()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:764
+msgid "set min position limit for a given axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:765
+#, no-wrap
+msgid "`set_optional_stop(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:767
+msgid "set optional stop on/off"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:768
+#, no-wrap
+msgid "`set_spindle_override(int [, int])`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:770
+msgid "set spindle override enabled. Defaults to spindle 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:771
+#, no-wrap
+msgid ""
+"`spindle(direction: int, speed: float=0, spindle: int=0, wait_for_speed: "
+"int=0)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:774
+msgid ""
+"Direction: [SPINDLE_FORWARD, SPINDLE_REVERSE, SPINDLE_OFF, SPINDLE_INCREASE, "
+"SPINDLE_DECREASE, or SPINDLE_CONSTANT]"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:775
+msgid "Speed: Speed in RPM, defaults to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:776
+msgid "Spindle: Spindle number to command defaults to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:777
+msgid ""
+"Wait_for_speed: if 1 motion will wait for speed before continuing, defaults "
+"to not."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:780
+msgid ""
+"MDI commands will ignore this. \"S1000\" after this will turn the spindle "
+"off."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:781
+#, no-wrap
+msgid "`text_msg(string)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:783
+msgid "sends a operator text message to the screen. (max 254 characters)"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:789
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"import linuxcnc\n"
+"c = linuxcnc.command()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:792
+#, no-wrap
+msgid ""
+"# Increase speed of spindle 0 by 100rpm. Spindle must be on first.\n"
+"c.spindle(linuxcnc.INCREASE)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:795
+#, no-wrap
+msgid ""
+"# Increase speed of spindle 2 by 100rpm. Spindle must be on first.\n"
+"c.spindle(linuxcnc.SPINDLE_INCREASE, 2)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:798
+#, no-wrap
+msgid ""
+"# Set speed of spindle 0 to 1024 rpm.\n"
+"c.spindle.(linuxcnc.SPINDLE_FORWARD, 1024)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:801
+#, no-wrap
+msgid ""
+"# Set speed of spindle 1 to -666 rpm.\n"
+"c.spindle.(linuxcnc.SPINDLE_REVERSE, 666, 1)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:804
+#, no-wrap
+msgid ""
+"# Stop spindle 0.\n"
+"c.spindle.(linuxcnc.SPINDLE_OFF)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:807
+#, no-wrap
+msgid ""
+"# Stop spindle 0 explicitly.\n"
+"c.spindle.(linuxcnc.SPINDLE_OFF, 0)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:809
+#, no-wrap
+msgid "`spindleoverride(float [, int])`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:811
+msgid "Set spindle override factor. Defaults to spindle 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:812
+#, no-wrap
+msgid "`state(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:814
+msgid ""
+"Set the machine state. Machine state should be STATE_ESTOP, "
+"STATE_ESTOP_RESET, STATE_ON, or STATE_OFF."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:815
+#, no-wrap
+msgid "`task_plan_sync()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:818
+msgid ""
+"On completion of this call, the VAR file on disk is updated with live values "
+"from the interpreter."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:819
+#, no-wrap
+msgid "`teleop_enable(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:821
+msgid "Enable/disable teleop mode (disable for joint jogging)."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:822
+#, no-wrap
+msgid "`tool_offset(int, float, float, float, float, float, int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:824
+msgid "Set the tool offset. See usage example above."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:825
+#, no-wrap
+msgid "`traj_mode(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:828
+msgid "Set trajectory mode. Mode is one of MODE_FREE, MODE_COORD, or MODE_TELEOP."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:829
+#, no-wrap
+msgid "`unhome(int)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:831
+msgid "Unhome a given joint."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:832
+#, no-wrap
+msgid "`wait_complete([float])`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:837
+msgid ""
+"Wait for completion of the last command sent. If timeout in seconds not "
+"specified, default is 5 seconds. Return -1 if timed out, return RCS_DONE or "
+"RCS_ERROR according to command execution status."
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-interface.adoc:838
+#, no-wrap
+msgid "Reading the error channel"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:842
+msgid ""
+"To handle error messages, connect to the error channel and periodically "
+"poll() it."
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:849
+msgid ""
+"Note that the NML channel for error messages has a queue (other than the "
+"command and status channels), which means that the first consumer of an "
+"error message deletes that message from the queue; whether your another "
+"error message consumer (e.g. Axis)  will 'see' the message is dependent on "
+"timing. It is recommended to have just one error channel reader task in a "
+"setup."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:856
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"import linuxcnc\n"
+"e = linuxcnc.error_channel()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:858
+#, no-wrap
+msgid "error = e.poll()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:866
+#, no-wrap
+msgid ""
+"if error:\n"
+"    kind, text = error\n"
+"    if kind in (linuxcnc.NML_ERROR, linuxcnc.OPERATOR_ERROR):\n"
+"        typus = \"error\"\n"
+"    else:\n"
+"        typus = \"info\"\n"
+"    print(typus, text)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-interface.adoc:869
+#, no-wrap
+msgid "Reading INI file values"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:873
+msgid ""
+"Here's an example for reading values from an INI file through the "
+"`linuxcnc.ini` object:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:880
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"# run as:\n"
+"# python3 ini-example.py ~/emc2-dev/configs/sim/axis/axis_mm.ini\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:883
+#, no-wrap
+msgid ""
+"import sys\n"
+"import linuxcnc\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:885
+#, no-wrap
+msgid "inifile = linuxcnc.ini(sys.argv[1])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:888
+#, no-wrap
+msgid ""
+"# inifile.find() returns None if the key wasn't found - the\n"
+"# following idiom is useful for setting a default value:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:891
+#, no-wrap
+msgid ""
+"machine_name = inifile.find(\"EMC\", \"MACHINE\") or \"unknown\"\n"
+"print(\"machine name: \", machine_name)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:894
+#, no-wrap
+msgid ""
+"# inifile.findall() returns a list of matches, or an empty list\n"
+"# if the key wasn't found:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:897
+#, no-wrap
+msgid ""
+"extensions = inifile.findall(\"FILTER\", \"PROGRAM_EXTENSION\")\n"
+"print(\"extensions: \", extensions)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:902
+#, no-wrap
+msgid ""
+"# override default NML file by INI parameter if given\n"
+"nmlfile = inifile.find(\"EMC\", \"NML_FILE\")\n"
+"if nmlfile:\n"
+"    linuxcnc.nmlfile = os.path.join(os.path.dirname(sys.argv[1]), nmlfile)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:905
+msgid "Or for the same INI file as LinuxCNC:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:912
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"# -*- coding: utf-8 -*-\n"
+"# run as:\n"
+"# python3 ini-example2.py\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:914
+#, no-wrap
+msgid "import linuxcnc\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:917
+#, no-wrap
+msgid ""
+"stat = linuxcnc.stat()\n"
+"stat.poll()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:919
+#, no-wrap
+msgid "inifile = linuxcnc.ini(stat.ini_filename)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/python-interface.adoc:921
+#, no-wrap
+msgid "# See example above for usage of 'inifile' object\n"
+msgstr ""
+
+#. type: Title ==
+#: src/config/python-interface.adoc:923
+#, no-wrap
+msgid "The `linuxcnc.positionlogger` type"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:927
+msgid "Some usage hints can be gleaned from `src/emc/usr_intf/gremlin/gremlin.py`."
+msgstr ""
+
+#. type: Title ===
+#: src/config/python-interface.adoc:928
+#, no-wrap
+msgid "members"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:930
+#, no-wrap
+msgid "`npts`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:932
+msgid "number of points."
+msgstr ""
+
+#. type: Title ===
+#: src/config/python-interface.adoc:933
+#, no-wrap
+msgid "methods"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:935
+#, no-wrap
+msgid "`start(float)`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:937
+msgid "start the position logger and run every ARG seconds"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:938
+#, no-wrap
+msgid "`clear()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:940
+msgid "clear the position logger"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:941
+#, no-wrap
+msgid "`stop()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:943
+msgid "stop the position logger"
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:944
+#, no-wrap
+msgid "`call()`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:946
+msgid "Plot the backplot now."
+msgstr ""
+
+#. type: Labeled list
+#: src/config/python-interface.adoc:947
+#, no-wrap
+msgid "`last([int])`"
+msgstr ""
+
+#. type: Plain text
+#: src/config/python-interface.adoc:949
+msgid "Return the most recent point on the plot or None"
+msgstr ""
+
+#. type: Title =
+#: src/config/stepconf.adoc:5
+#, no-wrap
+msgid "Stepper Configuration Wizard(((Stepper Configuration Wizard)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:11
+msgid ""
+"LinuxCNC is capable of controlling a wide range of machinery using many "
+"different hardware interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:16
+msgid ""
+"StepConf is a program that generates configuration files for LinuxCNC for a "
+"specific class of CNC machine: those that are controlled via a 'standard "
+"parallel port', and controlled by signals of type 'step & direction'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:18
+msgid "StepConf is installed when you install LinuxCNC and is in the CNC menu."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:24
+msgid ""
+"StepConf places a file in the linuxcnc/config directory to store the choices "
+"for each configuration you create.  When you change something, you need to "
+"pick the file that matches your configuration name.  The file extension is "
+".stepconf."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:26
+msgid "The StepConf Wizard works best with at least 800 x 600 screen resolution."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepconf.adoc:27
+#, no-wrap
+msgid "Start Page"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:29 src/config/stepconf.adoc:30
+#, no-wrap
+msgid "StepConf Entry Page"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:30
+#, no-wrap
+msgid "images/stepconf-start_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:33
+msgid "The three first radio buttons are self-explanatory:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:35
+msgid "'Create New' - Creates a fresh configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:40
+msgid ""
+"'Modify' - Modify an existing configuration.  After selecting this a file "
+"picker pops up so you can select the .stepconf file for modification.  If "
+"you made any modifications to the main HAL or the INI file these will be "
+"lost.  Modifications to custom.hal and custom_postgui.hal will not be "
+"changed by the StepConf Wizard.  StepConf will highlight the lastconf that "
+"was built."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:43
+msgid ""
+"'Import' - Import a Mach configuration file and attempt to convert it to a "
+"LinuxCNC config file.  After the import, you will go though the pages of "
+"StepConf to confirm/modify the entries.  The original mach XML file will not "
+"be changed."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:45
+msgid ""
+"These next options will be recorded in a preference file for the next run of "
+"StepConf."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:47
+msgid ""
+"'Create Desktop Shortcut' - This will place a link on your desktop to the "
+"files."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:48
+msgid ""
+"'Create Desktop Launcher' - This will place a launcher on your desktop to "
+"start your application."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:49 src/config/stepconf.adoc:59
+msgid ""
+"'Create Simulated Hardware' - This allows you to build a config for testing, "
+"even if you don't have the actual hardware."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepconf.adoc:51
+#, no-wrap
+msgid "Basic Information"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:54 src/config/stepconf.adoc:55
+#, no-wrap
+msgid "Basic Information Page"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:55
+#, no-wrap
+msgid "images/stepconf-base_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:62
+msgid ""
+"'Machine Name' - (((Machine Name)))  Choose a name for your machine.  Use "
+"only uppercase letters, lowercase letters, digits, - and _."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:64
+msgid ""
+"'Axis Configuration' - (((Axis Configuration)))  Choose XYZ (Mill), XYZA "
+"(4-axis mill) or XZ (Lathe)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:69
+msgid ""
+"'Machine Units' - (((Machine Units)))  Choose Inch or mm. All subsequent "
+"entries will be in the chosen units. Changing this also changes the default "
+"values in the Axes section.  If you change this after selecting values in "
+"any of the axes sections, they will be over-written by the default values of "
+"the selected units."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:75
+msgid ""
+"'Driver Type' - (((Driver Type)))  If you have one of the stepper drivers "
+"listed in the pull down box, choose it.  Otherwise, select 'Other' and find "
+"the timing values in your driver's data sheet and enter them as 'nano "
+"seconds' in the 'Driver Timing Settings'.  If the data sheet gives a value "
+"in microseconds, multiply by 1000.  For example, enter 4.5 µs as 4500 ns."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:79
+msgid ""
+"A list of some popular drives, along with their timing values, is on the "
+"LinuxCNC.org Wiki under "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Stepper_Drive_Timing[Stepper Drive "
+"Timing]."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:84
+msgid ""
+"Additional signal conditioning or isolation such as optocouplers and RC "
+"filters on break out boards can impose timing constraints of their own, in "
+"addition to those of the driver. You may find it necessary to add some time "
+"to the drive requirements to allow for this."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:86
+msgid ""
+"The LinuxCNC Configuration Selector has configs for Sherline already "
+"configured."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:88
+msgid ""
+"'Step Time' - How long the step pulse is 'on' in nano seconds. If your not "
+"sure about this setting a value of 20,000 will work with most drives."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:90
+msgid ""
+"'Step Space' - Minimum time between step pulses in nano seconds. If your not "
+"sure about this setting a value of 20,000 will work with most drives."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:93
+msgid ""
+"'Direction Hold' - How long the direction pin is held after a change of "
+"direction in nanoseconds. If your not sure about this setting a value of "
+"20,000 will work with most drives."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:96
+msgid ""
+"'Direction Setup' - How long before a direction change after the last step "
+"pulse in nanoseconds. If your not sure about this setting a value of 20,000 "
+"will work with most drives."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:97
+msgid "'One / Two Parport' - Select how many parallel port are to be configured."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:101
+msgid ""
+"'Base Period Maximum Jitter' - (((Base Period Maximum Jitter)))  Enter the "
+"result of the Latency Test here.  To run a latency test press the 'Test Base "
+"Period Jitter' button. See the <<sec:latency-test,Latency Test>> section for "
+"more details."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:104
+msgid ""
+"'Max Step Rate' -(((Max Step Rate)))  StepConf automatically calculates the "
+"Max Step Rate based on the driver characteristics entered and the latency "
+"test result."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:107
+msgid ""
+"'Min Base Period' - (((Min Base Period)))  StepConf automatically determines "
+"the Min Base Period based on the driver characteristics entered and latency "
+"test result."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:109 src/install/latency-test.adoc:46
+#, no-wrap
+msgid "Latency Test(((Latency Test)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:120
+msgid ""
+"While the test is running, you should 'abuse' the computer. Move windows "
+"around on the screen. Surf the web. Copy some large files around on the "
+"disk. Play some music. Run an OpenGL program such as glxgears. The idea is "
+"to put the PC through its paces while the latency test checks to see what "
+"the worst case numbers are.  Run the test at least a few minutes. The longer "
+"you run the test the better it will be at catching events that might occur "
+"at less frequent intervals. This is a test for your computer only, so no "
+"hardware needs to be connected to run the test."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:123
+msgid "Do not attempt run LinuxCNC while the latency test is running."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepconf.adoc:124 src/config/stepconf.adoc:125
+#: src/config/stepper-quickstart.adoc:12
+#, no-wrap
+msgid "Latency Test"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:125
+#, no-wrap
+msgid "images/latency-test_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:132
+msgid ""
+"Latency is how long it takes the PC to stop what it is doing and respond to "
+"an external request. In our case, the request is the periodic 'heartbeat' "
+"that serves as a timing reference for the step pulses. The lower the "
+"latency, the faster you can run the heartbeat, and the faster and smoother "
+"the step pulses will be."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:136
+msgid ""
+"Latency is far more important than CPU speed. The CPU isn't the only factor "
+"in determining latency. Motherboards, video cards, USB ports, SMI issues, "
+"and a number of other things can hurt the latency."
+msgstr ""
+
+#. type: Block title
+#: src/config/stepconf.adoc:137
+#, no-wrap
+msgid "Troubleshooting SMI Issues (LinuxCNC.org Wiki)"
+msgstr ""
+
+#. type: delimited block *
+#: src/config/stepconf.adoc:140
+msgid "Fixing Realtime problems caused by SMI on Ubuntu"
+msgstr ""
+
+#. type: delimited block *
+#: src/config/stepconf.adoc:142
+msgid "https://wiki.linuxcnc.org/cgi-bin/wiki.pl?FixingSMIIssues"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:147
+msgid ""
+"The important numbers are the 'max jitter'. In the example above 9075 "
+"nanoseconds (ns), or 9.075 microseconds (µs), is the highest jitter.  Record "
+"this number, and enter it in the Base Period Maximum Jitter box."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:158
+msgid ""
+"If your Max Jitter number is less than about 15-20 µs (15000-20000 ns), the "
+"computer should give very nice results with software stepping. If the max "
+"latency is more like 30-50 µs, you can still get good results, but your "
+"maximum step rate might be a little disappointing, especially if you use "
+"microstepping or have very fine pitch leadscrews. If the numbers are 100 µs "
+"or more (100,000 ns), then the PC is not a good candidate for software "
+"stepping. Numbers over 1 millisecond (1,000,000 ns)  mean the PC is not a "
+"good candidate for LinuxCNC, regardless of whether you use software stepping "
+"or not."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepconf.adoc:159
+#, no-wrap
+msgid "Parallel Port Setup"
+msgstr ""
+
+#. type: Block title
+#: src/config/stepconf.adoc:161
+#, no-wrap
+msgid "Parallel Port Setup Page"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:162
+#, no-wrap
+msgid "Parallel Port 1 Setup Page"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:162
+#, no-wrap
+msgid "images/stepconf-parallel-1_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:165
+msgid ""
+"You may specify the address as a hexadecimal (often 0x378) or as linux's "
+"default port number (probably 0)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:168
+msgid ""
+"For each pin, choose the signal which matches your parallel port pinout.  "
+"Turn on the 'invert' check box if the signal is inverted (0V for "
+"true/active, 5V for false/inactive)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:172
+msgid ""
+"'Output pinout presets' - Automatically set pins 2 through 9 according to "
+"the Sherline standard (Direction on pins 2, 4, 6, 8) or the Xylotex standard "
+"(Direction on pins 3, 5, 7, 9)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:173
+msgid ""
+"'Inputs and Outputs' - If the input or output is not used set the option to "
+"'Unused'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:175
+msgid ""
+"'External E-Stop' - This can be selected from an input pin drop down box.  A "
+"typical E-Stop chain uses all normally closed contacts."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:177
+msgid ""
+"'Homing & Limit Switches' - These can be selected from an input pin drop "
+"down box for most configurations."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:181
+msgid ""
+"'Charge Pump' - If your driver board requires a charge pump signal select "
+"Charge Pump from the drop down list for the output pin you wish to connect "
+"to your charge pump input.  The charge pump output is connected to the base "
+"thread by StepConf.  The charge pump output will be about 1/2 of the maximum "
+"step rate shown on the Basic Machine Configuration page."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:183
+msgid ""
+"'Plasma Arc Voltage' - If you require a Mesa THCAD to input a plasma arc "
+"voltage then select Plasma Arc Voltage from the list of output pins.  This "
+"will enable a THCAD page during the setup procedure for the entry of the "
+"card parameters."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepconf.adoc:184
+#, no-wrap
+msgid "Parallel Port 2 Setup"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:186 src/config/stepconf.adoc:187
+#, no-wrap
+msgid "Parallel Port 2 Setup Page"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:187
+#, no-wrap
+msgid "images/stepconf-parallel-2_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:193
+msgid ""
+"The second Parallel port (if selected) can be configured and It's pins "
+"assigned on this page.  No step and direction signals can be selected.  You "
+"may select in or out to maximizes the number of input/output pins that are "
+"available.  You may specify the address as a hexadecimal (often 0x378) or as "
+"linux's default port number (probably 1)."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepconf.adoc:195
+#, no-wrap
+msgid "Axis Configuration(((Axis Configuration)))"
+msgstr ""
+
+#. type: Block title
+#: src/config/stepconf.adoc:197
+#, no-wrap
+msgid "Axis Configuration Screen"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:198
+#, no-wrap
+msgid "Axis X Configuration Page"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:198
+#, no-wrap
+msgid "images/stepconf-axis-x_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:203
+msgid ""
+"'Motor Steps Per Revolution' - (((Motor Steps Per Revolution)))  The number "
+"of full steps per motor revolution.  If you know how many degrees per step "
+"the motor is (e.g., 1.8 degree), then divide 360 by the degrees per step to "
+"find the number of steps per motor revolution."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:204
+msgid ""
+"'Driver Microstepping' - (((Driver Microstepping))) The amount of "
+"microstepping performed by the driver. Enter '2' for half-stepping."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:206
+msgid ""
+"'Pulley Ratio' - (((Pulley Ratio)))  If your machine has pulleys between the "
+"motor and leadscrew, enter the ratio here.  If not, enter '1:1'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:210
+msgid ""
+"'Leadscrew Pitch' - (((Leadscrew Pitch))) Enter the pitch of the leadscrew "
+"here.  If you chose 'Inch' units, enter the number of threads per inch.  If "
+"you chose 'mm' units, enter the number of millimeters per revolution (e.g., "
+"enter 2 for 2mm/rev).  If the machine travels in the wrong direction, enter "
+"a negative number here instead of a positive number, or invert the direction "
+"pin for the axis."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:212
+msgid ""
+"'Maximum Velocity' - (((Maximum Velocity)))  Enter the maximum velocity for "
+"the axis in units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:214
+msgid ""
+"'Maximum Acceleration' - (((Maximum Acceleration)))  The correct values for "
+"these items can only be determined through experimentation.  See "
+"<<sub:finding-maximum-velocity,Finding Maximum Velocity>> to set the speed "
+"and <<sub:finding-maximum-acceleration,Finding Maximum Acceleration>> to set "
+"the acceleration."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:216
+msgid ""
+"'Home Location' - (((Home Location)))  The position the machine moves to "
+"after completing the homing procedure for this axis.  For machines without "
+"home switches, this is the location the operator manually moves the machine "
+"to before pressing the Home button.  If you combine the home and limit "
+"switches you must move off of the switch to the home position or you will "
+"get a joint limit error."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:219
+msgid ""
+"'Table Travel' - (((Table Travel)))  The range of travel for that axis based "
+"on the machine origin.  The home location must be inside the 'Table Travel' "
+"and not equal to one of the Table Travel values."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:221
+msgid ""
+"'Home Switch Location' - (((Home Switch Location)))  The location at which "
+"the home switch trips or releases relative to the machine origin.  This item "
+"and the two below only appear when Home Switches were chosen in the Parallel "
+"Port Pinout.  If you combine home and limit switches the home switch "
+"location can not be the same as the home position or you will get a joint "
+"limit error."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:222
+msgid ""
+"'Home Search Velocity' - (((Home Search Velocity))) The velocity to use when "
+"searching for the home switch.  If the switch is near the end of travel, "
+"this velocity must be chosen so that the axis can decelerate to a stop "
+"before hitting the end of travel.  If the switch is only closed for a short "
+"range of travel (instead of being closed from its trip point to one end of "
+"travel), this velocity must be chosen so that the axis can decelerate to a "
+"stop before the switch opens again, and homing must always be started from "
+"the same side of the switch.  If the machine moves the wrong direction at "
+"the beginning of the homing procedure, negate the value of 'Home Search "
+"Velocity'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:225
+msgid ""
+"'Home Latch Direction' - (((Home Latch Direction))) Choose 'Same' to have "
+"the axis back off the switch, then approach it again at a very low speed.  "
+"The second time the switch closes, the home position is set.  Choose "
+"'Opposite' to have the axis back off the switch and when the switch opens, "
+"the home position is set."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:227
+msgid ""
+"'Time to accelerate to max speed' - (((Time to accelerate to max speed)))  "
+"Time to reach maximum speed calculated from 'Max Acceleration' and 'Max "
+"Velocity'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:229
+msgid ""
+"'Distance to accelerate to max speed' - (((Distance to accelerate to max "
+"speed)))  Distance to reach maximum speed from a standstill."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:233
+msgid ""
+"'Pulse rate at max speed' - (((Pulse rate at max speed)))  Information "
+"computed based on the values entered above.  The greatest 'Pulse rate at max "
+"speed' determines the 'BASE_PERIOD'.  Values above 20000Hz may lead to slow "
+"response time or even lockups (the fastest usable pulse rate varies from "
+"computer to computer)"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:235
+msgid ""
+"'Axis SCALE' - The number that will be used in the INI file [SCALE] "
+"setting.  This is how many steps per user unit."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:237
+msgid ""
+"'Test this axis' - (((Test this axis)))  This will open a window to allow "
+"testing for each axis. This can be used after filling out all the "
+"information for this axis."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:238 src/config/stepconf.adoc:239
+#, no-wrap
+msgid "Axis Test"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:239
+#, no-wrap
+msgid "images/stepconf-x-test_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:243
+msgid ""
+"Test this axis is a basic tester that only outputs step and direction "
+"signals to try different values for acceleration and velocity."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:248
+msgid ""
+"In order to use test this axis you have to manually enable the axis if this "
+"is required. If your driver has a charge pump you will have to bypass it.  "
+"Test this axis does not react to limit switch inputs. Use with caution."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:250
+#, no-wrap
+msgid "Finding Maximum Velocity(((Finding Maximum Velocity)))"
+msgstr ""
+
+#.  comment out latexmath until a fix is found for the html docs
+#. type: Plain text
+#: src/config/stepconf.adoc:253
+msgid "Begin with a low Acceleration"
+msgstr ""
+
+#.  (e.g., latexmath:[ 2 in/s^2 ] or latexmath:[ 50 mm/s^2 ])
+#. type: Plain text
+#: src/config/stepconf.adoc:260
+msgid ""
+"(for example, *+2 inches/s^2^+* or *+50 mm/s^2^+*)  and the velocity you "
+"hope to attain.  Using the buttons provided, jog the axis to near the center "
+"of travel.  Take care because with a low acceleration value, it can take a "
+"surprising distance for the axis to decelerate to a stop."
+msgstr ""
+
+#.  latexmath:[ d = 0.5 * v * v/a ]
+#. type: Plain text
+#: src/config/stepconf.adoc:270
+msgid ""
+"After gauging the amount of travel available, enter a safe distance in Test "
+"Area, keeping in mind that after a stall the motor may next start to move in "
+"an unexpected direction.  Then click Run.  The machine will begin to move "
+"back and forth along this axis.  In this test, it is important that the "
+"combination of Acceleration and Test Area allow the machine to reach the "
+"selected Velocity and 'cruise' for at least a short distance -- the more "
+"distance, the better this test is.  The formula *+d = 0.5 * v * v/a+*"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:276
+msgid ""
+"gives the minimum distance required to reach the specified velocity with the "
+"given acceleration.  If it is convenient and safe to do so, push the table "
+"against the direction of motion to simulate cutting forces.  If the machine "
+"stalls, reduce the speed and start the test again."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:281
+msgid ""
+"If the machine did not obviously stall, click the 'Run' button off. The axis "
+"now returns to the position where it started. If the position is incorrect, "
+"then the axis stalled or lost steps during the test. Reduce Velocity and "
+"start the test again."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:284
+msgid ""
+"If the machine doesn't move, stalls, or loses steps, no matter how low you "
+"turn Velocity, verify the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:286
+msgid "Correct step waveform timings"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:287
+msgid "Correct pinout, including 'Invert' on step pins"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:288
+msgid "Correct, well-shielded cabling"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:289
+msgid "Physical problems with the motor, motor coupling, leadscrew, etc."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:292
+msgid ""
+"Once you have found a speed at which the axis does not stall or lose steps "
+"during this testing procedure, reduce it by 10% and use that as the axis "
+"'Maximum Velocity'."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:294
+#, no-wrap
+msgid "Finding Maximum Acceleration(((Finding Maximum Acceleration)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:305
+msgid ""
+"With the Maximum Velocity you found in the previous step, enter the "
+"acceleration value to test.  Using the same procedure as above, adjust the "
+"Acceleration value up or down as necessary.  In this test, it is important "
+"that the combination of Acceleration and Test Area allow the machine to "
+"reach the selected Velocity.  Once you have found a value at which the axis "
+"does not stall or lose steps during this testing procedure, reduce it by 10% "
+"and use that as the axis Maximum Acceleration."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:308 src/config/stepconf.adoc:309
+#, no-wrap
+msgid "Spindle Configuration Page"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:309
+#, no-wrap
+msgid "images/stepconf-spindle_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:312
+msgid ""
+"This page only appears when 'Spindle PWM' is chosen in the 'Parallel Port "
+"Pinout' page for one of the outputs."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:313
+#, no-wrap
+msgid "Spindle Speed Control(((Spindle Speed Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:316
+msgid ""
+"If 'Spindle PWM' appears on the pinout, the following information should be "
+"entered:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:320
+msgid ""
+"'PWM Rate' - The 'carrier frequency' of the PWM signal to the spindle. Enter "
+"'0' for PDM mode, which is useful for generating an analog control voltage.  "
+"Refer to the documentation for your spindle controller for the appropriate "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:324
+msgid ""
+"'Speed 1 and 2, PWM 1 and 2' - The generated configuration file uses a "
+"simple linear relationship to determine the PWM value for a given RPM "
+"value. If the values are not known, they can be determined. For more "
+"information see <<sub:determining-spindle-calibration,Determining Spindle "
+"Calibration>>."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:325
+#, no-wrap
+msgid "Spindle-synchronized motion(((Spindle-synchronized motion)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:330
+msgid ""
+"When the appropriate signals from a spindle encoder are connected to "
+"LinuxCNC via HAL, LinuxCNC supports lathe threading.  These signals are:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:332
+msgid "'Spindle Index' - Is a pulse that occurs once per revolution of the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:334
+msgid ""
+"'Spindle Phase A' - This is a pulse that occurs in multiple equally-spaced "
+"locations as the spindle turns."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:337
+msgid ""
+"'Spindle Phase B (optional)' - This is a second pulse that occurs, but with "
+"an offset from Spindle Phase A. The advantages to using both A and B are "
+"direction sensing, increased noise immunity, and increased resolution."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:340
+msgid ""
+"If 'Spindle Phase A' and 'Spindle Index' appear on the pinout, the following "
+"information should be entered:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:344
+msgid ""
+"'Use Spindle-At-Speed' - With encoder feedback one can choose to have "
+"LinuxCNC wait for the spindle to reach the commanded speed before feed "
+"moves. Select this option and set the 'close enough' scale."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:345
+msgid ""
+"'Speed Display Filter Gain' - Setting for adjusting the stability of the "
+"visual spindle speed display."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:348
+msgid ""
+"'Cycles per revolution' - The number of cycles of the 'Spindle A' signal "
+"during one revolution of the spindle. This option is only enabled when an "
+"input has been set to 'Spindle Phase A'"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:351
+msgid ""
+"'Maximum speed in thread' - The maximum spindle speed used in threading.  "
+"For a high spindle RPM or a spindle encoder with high resolution, a low "
+"value of 'BASE_PERIOD' is required."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:353
+#, no-wrap
+msgid "Determining Spindle Calibration(((Determining Spindle Calibration)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:356
+msgid "Enter the following values in the Spindle Configuration page:"
+msgstr ""
+
+#. type: Table
+#: src/config/stepconf.adoc:359
+#, no-wrap
+msgid "Speed 1:"
+msgstr ""
+
+#. type: Table
+#: src/config/stepconf.adoc:359
+#, no-wrap
+msgid "PWM 1:"
+msgstr ""
+
+#. type: Table
+#: src/config/stepconf.adoc:360
+#, no-wrap
+msgid "Speed 2:"
+msgstr ""
+
+#. type: Table
+#: src/config/stepconf.adoc:360 src/integrator/stepper-timing.adoc:33
+#: src/integrator/stepper-timing.adoc:34 src/integrator/stepper-timing.adoc:35
+#: src/integrator/stepper-timing.adoc:36 src/integrator/stepper-timing.adoc:37
+#: src/integrator/stepper-timing.adoc:38 src/integrator/stepper-timing.adoc:40
+#: src/integrator/stepper-timing.adoc:46 src/integrator/stepper-timing.adoc:49
+#: src/integrator/stepper-timing.adoc:50 src/integrator/stepper-timing.adoc:51
+#: src/integrator/stepper-timing.adoc:54 src/integrator/stepper-timing.adoc:55
+#: src/integrator/stepper-timing.adoc:58 src/integrator/stepper-timing.adoc:61
+#: src/integrator/stepper-timing.adoc:62 src/integrator/stepper-timing.adoc:80
+#: src/integrator/stepper-timing.adoc:86
+#, no-wrap
+msgid "1000"
+msgstr ""
+
+#. type: Table
+#: src/config/stepconf.adoc:360
+#, no-wrap
+msgid "PWM 2:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:369
+msgid ""
+"Finish the remaining steps of the configuration process, then launch "
+"LinuxCNC with your configuration.  Turn the machine on and select the MDI "
+"tab.  Start the spindle turning by entering: 'M3 S100'.  Change the spindle "
+"speed by entering a different S-number: 'S800'.  Valid numbers (at this "
+"point) range from 1 to 1000."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:373
+msgid ""
+"For two different S-numbers, measure the actual spindle speed in RPM.  "
+"Record the S-numbers and actual spindle speeds. Run StepConf again.  For "
+"'Speed' enter the measured speed, and for 'PWM' enter the S-number divided "
+"by 1000."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:376
+msgid ""
+"Because most spindle drivers are somewhat nonlinear in their response "
+"curves, it is best to:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:378
+msgid "Make sure the two calibration speeds are not too close together in RPM."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:379
+msgid ""
+"Make sure the two calibration speeds are in the range of speeds you will "
+"typically use while milling."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:383
+msgid ""
+"For instance, if your spindle will go from 0 RPM to 8000 RPM, but you "
+"generally use speeds from 400 RPM (10%) to 4000 RPM (100%), then find the "
+"PWM values that give 1600 RPM (40%) and 2800 RPM (70%)."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:386 src/config/stepconf.adoc:387
+#, no-wrap
+msgid "Advanced Options Configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:387
+#, no-wrap
+msgid "images/stepconf-options_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:391
+msgid ""
+"'Include Halui' - This will add the Halui user interface component. See the "
+"<<cha:hal-user-interface,HALUI Chapter>> for more information on."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:393
+msgid ""
+"'Include PyVCP' - This option adds the PyVCP panel base file or a sample "
+"file to work on. See the <<cha:pyvcp,PyVCP Chapter>> for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:396
+msgid ""
+"'Include ClassicLadder PLC' - This option will add the ClassicLadder PLC "
+"(Programmable Logic Controller). See the <<cha:classicladder,ClassicLadder "
+"Chapter>> for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:399
+msgid ""
+"'Onscreen Prompt For Tool Change' - If this box is checked, LinuxCNC will "
+"pause and prompt you to change the tool when 'M6' is encountered. This "
+"feature is usually only useful if you have presettable tools."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepconf.adoc:400
+#, no-wrap
+msgid "Complete Machine Configuration(((Complete Machine Configuration)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:404
+msgid ""
+"Click 'Apply' to write the configuration files.  Later, you can re-run this "
+"program and tweak the settings you entered before."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepconf.adoc:405
+#, no-wrap
+msgid "Axis Travels and Homes"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:407 src/config/stepconf.adoc:408
+#, no-wrap
+msgid "Axis Travel and Home"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:408
+#, no-wrap
+msgid "images/HomeAxisTravel.png"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:412
+msgid ""
+"For each axis, there is a limited range of travel.  The physical end of "
+"travel is called the 'hard stop'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:416
+msgid ""
+"[red]#If a mechanical hard stop were to be exceeded, the screw or the "
+"machine frame would be damaged!#"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:422
+msgid ""
+"Before the 'hard stop' there is a 'limit switch'.  If the limit switch is "
+"encountered during normal operation, LinuxCNC shuts down the motor "
+"amplifier.  The distance between the 'hard stop' and 'limit switch' must be "
+"long enough to allow an unpowered motor to coast to a stop."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:427
+msgid ""
+"Before the 'limit switch' there is a 'soft limit'.  This is a limit enforced "
+"in software after homing.  If a MDI command or G-code program would pass the "
+"soft limit, it is not executed.  If a jog would pass the soft limit, it is "
+"terminated at the soft limit."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:432
+msgid ""
+"The 'home switch' can be placed anywhere within the travel (between hard "
+"stops).  As long as external hardware does not deactivate the motor "
+"amplifiers when the limit switch is reached, one of the limit switches can "
+"be used as a home switch."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:438
+msgid ""
+"The 'zero position' is the location on the axis that is 0 in the machine "
+"coordinate system.  Usually the 'zero position' will be within the 'soft "
+"limits'.  On lathes, constant surface speed mode requires that machine 'X=0' "
+"correspond to the center of spindle rotation when no tool offset is in "
+"effect."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:444
+msgid ""
+"The 'home position' is the location within travel that the axis will be "
+"moved to at the end of the homing sequence.  This value must be within the "
+"'soft limits'.  In particular, the 'home position' should never be exactly "
+"equal to a 'soft limit'."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:445
+#, no-wrap
+msgid "Operating without Limit Switches"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:450
+msgid ""
+"A machine can be operated without limit switches. In this case, only the "
+"soft limits stop the machine from reaching the hard stop.  Soft limits only "
+"operate after the machine has been homed."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:451
+#, no-wrap
+msgid "Operating without Home Switches(((Operating without Home Switches)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:462
+msgid ""
+"A machine can be operated without home switches.  If the machine has limit "
+"switches, but no home switches, it is best to use a limit switch as the home "
+"switch (e.g., choose 'Minimum Limit + Home X' in the pinout).  If the "
+"machine has no switches at all, or the limit switches cannot be used as home "
+"switches for another reason, then the machine must be homed 'by eye' or by "
+"using match marks. Homing by eye is not as repeatable as homing to switches, "
+"but it still allows the soft limits to be useful."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepconf.adoc:463
+#, no-wrap
+msgid "Home and Limit Switch wiring options"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:470
+msgid ""
+"The ideal wiring for external switches would be one input per switch.  "
+"However, the PC parallel port only offers a total of 5 inputs, while there "
+"are as many as 9 switches on a 3-axis machine.  Instead, multiple switches "
+"are wired together in various ways so that a smaller number of inputs are "
+"required."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:479
+msgid ""
+"The figures below show the general idea of wiring multiple switches to a "
+"single input pin.  In each case, when one switch is actuated, the value seen "
+"on INPUT goes from logic HIGH to LOW.  However, LinuxCNC expects a TRUE "
+"value when a switch is closed, so the corresponding 'Invert' box must be "
+"checked on the pinout configuration page.  The pull up resistor show in the "
+"diagrams pulls the input high until the connection to ground is made and "
+"then the input goes low.  Otherwise the input might float between on and off "
+"when the circuit is open.  Typically for a parallel port you might use "
+"47 kΩ;."
+msgstr ""
+
+#. type: Block title
+#: src/config/stepconf.adoc:480
+#, no-wrap
+msgid "Normally Closed Switches (N/C) wiring in series (simplified diagram)"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:481
+#, no-wrap
+msgid "Normally Closed Switches"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:481
+#, no-wrap
+msgid "images/switch-nc-series_en.svg"
+msgstr ""
+
+#. type: Block title
+#: src/config/stepconf.adoc:483
+#, no-wrap
+msgid "Normally Open Switches (N/O) wiring in parallel (simplified diagram)"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/config/stepconf.adoc:484
+#, no-wrap
+msgid "Normally Open Switches"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepconf.adoc:484
+#, no-wrap
+msgid "images/switch-no-parallel_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:487
+msgid "The following combinations of switches are permitted in StepConf:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:489
+msgid "Combine home switches for all axes"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:490
+msgid "Combine limit switches for all axes"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:491
+msgid "Combine both limit switches for one axis"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:492
+msgid "Combine both limit switches and the home switch for one axis"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:493
+msgid "Combine one limit switch and the home switch for one axis"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepconf.adoc:496
+msgid ""
+"The last two combinations are also appropriate when the type contact + home "
+"is used."
+msgstr ""
+
+#. type: Title =
+#: src/config/stepper.adoc:5
+#, no-wrap
+msgid "Stepper Configuration(((Stepper Configuration)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:17
+msgid ""
+"The preferred way to set up a standard stepper machine is with the Step "
+"Configuration Wizard.  See the <<cha:stepconf-wizard,Stepper Configuration "
+"Wizard>> Chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:20
+msgid ""
+"This chapter describes some of the more common settings for manually setting "
+"up a stepper based system.  These systems are using stepper motors with "
+"drives that accept step & direction signals."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:23
+msgid ""
+"It is one of the simpler setups, because the motors run open-loop (no "
+"feedback comes back from the motors), yet the system needs to be configured "
+"properly so the motors don't stall or lose steps."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:26
+msgid ""
+"Most of this chapter is based on a sample config released along with "
+"LinuxCNC.  The config is called stepper_inch, and can be found by running "
+"the <<cha:running-emc,Configuration Picker>>."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper.adoc:27
+#, no-wrap
+msgid "Maximum step rate"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:32
+msgid ""
+"With software step generation, the maximum step rate is one step per two "
+"BASE_PERIODs for step-and-direction output.  The maximum requested step rate "
+"is the product of an axis' MAX_VELOCITY and its INPUT_SCALE.  If the "
+"requested step rate is not attainable, following errors will occur, "
+"particularly during fast jogs and G0 moves."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:35
+msgid ""
+"If your stepper driver can accept quadrature input, use this mode.  With a "
+"quadrature signal, one step is possible for each BASE_PERIOD, doubling the "
+"maximum step rate."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:38
+msgid ""
+"The other remedies are to decrease one or more of: the BASE_PERIOD (setting "
+"this too low will cause the machine to become unresponsive or even lock up), "
+"the INPUT_SCALE (if you can select different step sizes on your stepper "
+"driver, change pulley ratios, or leadscrew pitch), or the MAX_VELOCITY and "
+"STEPGEN_MAXVEL."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:41
+msgid ""
+"If no valid combination of BASE_PERIOD, INPUT_SCALE, and MAX_VELOCITY is "
+"acceptable, then consider using hardware step generation (such as with the "
+"LinuxCNC-supported Universal Stepper Controller, Mesa cards, and others)."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper.adoc:42 src/drivers/pluto-p.adoc:136
+#: src/drivers/pluto-p.adoc:235
+#, no-wrap
+msgid "Pinout"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:47
+msgid ""
+"One of the major flaws in EMC was that you couldn't specify the pinout "
+"without recompiling the source code.  EMC2 was far more flexible, and thus "
+"now in LinuxCNC (thanks to the Hardware Abstraction Layer) you can easily "
+"specify which signal goes where.  See the <<cha:basic-hal-reference,HAL "
+"Basics>> for more information on HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:49
+msgid ""
+"As it is described in the HAL Introduction and tutorial, we have signals, "
+"pins and parameters inside the HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:52
+msgid "We are presenting one axis to keep it short, all others are similar."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:54
+msgid "The ones relevant for our pinout are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:58
+#, no-wrap
+msgid ""
+"signals: Xstep, Xdir & Xen\n"
+"pins: parport.0.pin-XX-out & parport.0.pin-XX-in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:63
+msgid ""
+"Depending on what you have chosen in your INI file you are using either "
+"standard_pinout.hal or xylotex_pinout.hal.  These are two files that "
+"instruct the HAL how to link the various signals & pins.  Further on we'll "
+"investigate the standard_pinout.hal."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper.adoc:64
+#, no-wrap
+msgid "Standard Pinout HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:67
+msgid "This file contains several HAL commands, and usually looks like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:89
+#, no-wrap
+msgid ""
+"# standard pinout config file for 3-axis steppers\n"
+"# using a parport for I/O\n"
+"#\n"
+"# first load the parport driver\n"
+"loadrt hal_parport cfg=\"0x0378\"\n"
+"#\n"
+"# next connect the parport functions to threads\n"
+"# read inputs first\n"
+"addf parport.0.read base-thread 1\n"
+"# write outputs last\n"
+"addf parport.0.write base-thread -1\n"
+"#\n"
+"# finally connect physical pins to the signals\n"
+"net Xstep => parport.0.pin-03-out\n"
+"net Xdir  => parport.0.pin-02-out\n"
+"net Ystep => parport.0.pin-05-out\n"
+"net Ydir  => parport.0.pin-04-out\n"
+"net Zstep => parport.0.pin-07-out\n"
+"net Zdir  => parport.0.pin-06-out\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:92
+#, no-wrap
+msgid ""
+"# create a signal for the estop loopback\n"
+"net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:96
+#, no-wrap
+msgid ""
+"# create signals for tool loading loopback\n"
+"net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared\n"
+"net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:99
+#, no-wrap
+msgid ""
+"# connect \"spindle on\" motion controller pin to a physical pin\n"
+"net spindle-on spindle.0.on => parport.0.pin-09-out\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:104
+#, no-wrap
+msgid ""
+"###\n"
+"### You might use something like this to enable chopper drives when machine "
+"ON\n"
+"### the Xen signal is defined in core_stepper.hal\n"
+"###\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:106
+#, no-wrap
+msgid "# net Xen => parport.0.pin-01-out\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:110
+#, no-wrap
+msgid ""
+"###\n"
+"### If you want active low for this pin, invert it like this:\n"
+"###\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:112
+#, no-wrap
+msgid "# setp parport.0.pin-01-out-invert 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:118
+#, no-wrap
+msgid ""
+"###\n"
+"### A sample home switch on the X axis (axis 0).  make a signal,\n"
+"### link the incoming parport pin to the signal, then link the signal\n"
+"### to LinuxCNC's axis 0 home switch input pin.\n"
+"###\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:120
+#, no-wrap
+msgid "# net Xhome parport.0.pin-10-in => joint.0.home-sw-in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:126
+#, no-wrap
+msgid ""
+"###\n"
+"### Shared home switches all on one parallel port pin?\n"
+"### that's ok, hook the same signal to all the axes, but be sure to\n"
+"### set HOME_IS_SHARED and HOME_SEQUENCE in the INI file.\n"
+"###\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:131
+#, no-wrap
+msgid ""
+"# net homeswitches <= parport.0.pin-10-in\n"
+"# net homeswitches => joint.0.home-sw-in\n"
+"# net homeswitches => joint.1.home-sw-in\n"
+"# net homeswitches => joint.2.home-sw-in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:135
+#, no-wrap
+msgid ""
+"###\n"
+"### Sample separate limit switches on the X axis (axis 0)\n"
+"###\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:138
+#, no-wrap
+msgid ""
+"# net X-neg-limit parport.0.pin-11-in => joint.0.neg-lim-sw-in\n"
+"# net X-pos-limit parport.0.pin-12-in => joint.0.pos-lim-sw-in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:145
+#, no-wrap
+msgid ""
+"###\n"
+"### Just like the shared home switches example, you can wire together\n"
+"### limit switches.  Beware if you hit one, LinuxCNC will stop but can't "
+"tell\n"
+"### you which switch/axis has faulted.  Use caution when recovering from "
+"this\n"
+"### extreme position to avoid a hard stop.\n"
+"###\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:147
+#, no-wrap
+msgid ""
+"# net Xlimits parport.0.pin-13-in => joint.0.neg-lim-sw-in "
+"joint.0.pos-lim-sw-in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:151
+msgid ""
+"The lines starting with '#' are comments, and their only purpose is to guide "
+"the reader through the file."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:155
+msgid ""
+"There are a couple of operations that get executed when the "
+"standard_pinout.hal gets executed/interpreted:"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:157
+msgid ""
+"The Parport driver gets loaded (see the <<cha:parport,Parport Chapter>> for "
+"details)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:159
+msgid ""
+"The read & write functions of the parport driver get assigned to the base "
+"thread footnote:[The fastest thread in the LinuxCNC setup, usually the code "
+"gets executed every few tens of microseconds.]."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:160
+msgid ""
+"The step & direction signals for axes X, Y, Z get linked to pins on the "
+"parport."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:161
+msgid "Further I/O signals get connected (estop loopback, toolchanger loopback)."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:162
+msgid "A spindle-on signal gets defined and linked to a parport pin."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper.adoc:163
+#, no-wrap
+msgid "Changing the standard_pinout.hal"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:167
+msgid ""
+"If you want to change the standard_pinout.hal file, all you need is a text "
+"editor.  Open the file and locate the parts you want to change."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:169
+msgid ""
+"If you want for example to change the pin for the X-axis Step & Directions "
+"signals, all you need to do is to change the number in the "
+"'parport.0.pin-XX-out' name:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:174
+#, no-wrap
+msgid ""
+"net Xstep parport.0.pin-03-out\n"
+"net Xdir  parport.0.pin-02-out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:177
+msgid "can be changed to:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:182
+#, no-wrap
+msgid ""
+"net Xstep parport.0.pin-02-out\n"
+"net Xdir  parport.0.pin-03-out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:185
+msgid "or basically any other 'out' pin you like."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:187
+msgid ""
+"Hint: make sure you don't have more than one signal connected to the same "
+"pin."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper.adoc:188
+#, no-wrap
+msgid "Changing polarity of a signal"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:192
+msgid ""
+"If external hardware expects an \"active low\" signal, set the corresponding "
+"'-invert' parameter.  For instance, to invert the spindle control signal:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:196
+#, no-wrap
+msgid "setp parport.0.pin-09-out-invert TRUE\n"
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper.adoc:198
+#, no-wrap
+msgid "Adding PWM Spindle Speed Control"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:201 src/examples/spindle.adoc:47
+msgid ""
+"If your spindle can be controlled by a PWM signal, use the 'pwmgen' "
+"component to create the signal:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:211
+#, no-wrap
+msgid ""
+"loadrt pwmgen output_type=0\n"
+"addf pwmgen.update servo-thread\n"
+"addf pwmgen.make-pulses base-thread\n"
+"net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value\n"
+"net spindle-on spindle.0.on => pwmgen.0.enable\n"
+"net spindle-pwm pwmgen.0.pwm => parport.0.pin-09-out\n"
+"setp pwmgen.0.scale 1800 # Change to your spindle's top speed in RPM\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:216
+msgid ""
+"This assumes that the spindle controller's response to PWM is simple: 0% PWM "
+"gives 0 RPM, 10% PWM gives 180 RPM, etc.  If there is a minimum PWM required "
+"to get the spindle to turn, follow the example in the 'nist-lathe' sample "
+"configuration to use a 'scale' component."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper.adoc:217
+#, no-wrap
+msgid "Adding an enable signal"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:221
+msgid ""
+"Some amplifiers (drives) require an enable signal before they accept and "
+"command movement of the motors.  For this reason there are already defined "
+"signals called 'Xen', 'Yen', 'Zen'."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:223
+msgid "To connect them use the following example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper.adoc:227
+#, no-wrap
+msgid "net Xen parport.0.pin-08-out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:231
+msgid ""
+"You can either have one single pin that enables all drives; or several, "
+"depending on the setup you have.  Note, however, that usually when one axis "
+"faults, all the other drives will be disabled as well, so having only one "
+"enable signal / pin for all drives is a common practice."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper.adoc:232
+#, no-wrap
+msgid "External ESTOP button"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper.adoc:236
+msgid ""
+"The standard_pinout.hal file assumes no external ESTOP button.  For more "
+"information on an external E-Stop see the estop_latch man page."
+msgstr ""
+
+#. type: Title =
+#: src/config/stepper-diagnostics.adoc:5
+#, no-wrap
+msgid "Stepper Diagnostics(((Stepper Diagnostics)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:19
+msgid ""
+"If what you get is not what you expect many times you just got some "
+"experience. Learning from the experience increases your understanding of the "
+"whole. Diagnosing problems is best done by divide and conquer.  By this I "
+"mean if you can remove 1/2 of the variables from the equation each time you "
+"will find the problem the fastest. In the real world this is not always the "
+"case, but it's usually a good place to start."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper-diagnostics.adoc:20
+#, no-wrap
+msgid "Common Problems"
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper-diagnostics.adoc:22
+#, no-wrap
+msgid "Stepper Moves One Step"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:28
+msgid ""
+"The most common reason in a new installation for a stepper motor not to move "
+"is that the step and direction signals are exchanged. If you press the jog "
+"forward and jog backward keys, alternately , and the stepper moves one step "
+"each time, and in the same direction, there is your clue."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper-diagnostics.adoc:29
+#, no-wrap
+msgid "No Steppers Move"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:33
+msgid "Many drives have an enable pin or need a charge pump to enable the output."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper-diagnostics.adoc:34
+#, no-wrap
+msgid "Distance Not Correct"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:38
+msgid ""
+"If you command the axis to move a specific distance and it does not move "
+"that distance, then your scale setting is wrong."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper-diagnostics.adoc:39 src/plasma/qtplasmac.adoc:2794
+#, no-wrap
+msgid "Error Messages"
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper-diagnostics.adoc:41
+#, no-wrap
+msgid "Following Error"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:49
+msgid ""
+"The concept of a following error is strange when talking about stepper "
+"motors. Since they are an open loop system, there is no position feedback to "
+"let you know if you actually are out of range. LinuxCNC calculates if it can "
+"keep up with the motion called for, and if not, then it gives a following "
+"error. Following errors usually are the result of one of the following on "
+"stepper systems."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:51
+msgid "FERROR too small"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:52
+msgid "MIN_FERROR too small"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:53
+msgid "MAX_VELOCITY too fast"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:54
+msgid "MAX_ACCELERATION too fast"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:55
+msgid "BASE_PERIOD set too long"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:56
+msgid "Backlash added to an axis"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:61
+msgid ""
+"Any of the above can cause the real-time pulsing to not be able to keep up "
+"the requested step rate. This can happen if you didn't run the latency test "
+"long enough to get a good number to plug into the StepConf Wizard, or if you "
+"set the Maximum Velocity or Maximum Acceleration too high."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:68
+msgid ""
+"If you added backlash you need to increase the STEPGEN_MAXACCEL up to double "
+"the MAX_ACCELERATION in the AXIS section of the INI file for each axis you "
+"added backlash to. LinuxCNC uses \"extra acceleration\" at a reversal to "
+"take up the backlash. Without backlash correction, step generator "
+"acceleration can be just a few percent above the motion planner "
+"acceleration."
+msgstr ""
+
+#. type: Title ===
+#: src/config/stepper-diagnostics.adoc:69
+#, no-wrap
+msgid "RTAPI Error"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:72
+msgid "When you get this error:"
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper-diagnostics.adoc:75
+#, no-wrap
+msgid "RTAPI: ERROR: Unexpected realtime delay on task n\n"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:86
+msgid ""
+"This error is generated by rtapi based on an indication from RTAI that a "
+"deadline was missed. It is usually an indication that the BASE_PERIOD in the "
+"[EMCMOT] section of the ini file is set too low. You should run the Latency "
+"Test for an extended period of time to see if you have any delays that would "
+"cause this problem. If you used the StepConf Wizard, run it again, and test "
+"the Base Period Jitter again, and adjust the Base Period Maximum Jitter on "
+"the Basic Machine Information page. You might have to leave the test running "
+"for an extended period of time to find out if some hardware causes "
+"intermittent problems."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:90
+msgid ""
+"LinuxCNC tracks the number of CPU cycles between invocations of the "
+"real-time thread. If some element of your hardware is causing delays or your "
+"realtime threads are set too fast you will get this error."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:95
+msgid ""
+"This error is only displayed once per session. If you had your BASE_PERIOD "
+"too low you could get hundreds of thousands of error messages per second if "
+"more than one was displayed."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper-diagnostics.adoc:96 src/motion/external-offsets.adoc:204
+#, no-wrap
+msgid "Testing"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:106
+msgid ""
+"If you are seeing an axis ending up in the wrong location over multiple "
+"moves, it is likely that you do not have the correct direction hold times or "
+"step timing for your stepper drivers. Each direction change may be losing a "
+"step or more. If the motors are stalling, it is also possible you have "
+"either the MAX_ACCELERATION or MAX_VELOCITY set too high for that axis."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-diagnostics.adoc:115
+msgid ""
+"The following program will test the Z axis configuration for proper "
+"setup. Copy the program to your \\~/emc2/nc_files directory and name it "
+"TestZ.ngc or similar. Zero your machine with Z = 0.000 at the table "
+"top. Load and run the program. It will make 200 moves back and forth from "
+"0.5 to 1\". If you have a configuration issue, you will find that the final "
+"position will not end up 0.500\" that the axis window is showing. To test "
+"another axis just replace the Z with your axis in the G0 lines."
+msgstr ""
+
+#. type: delimited block -
+#: src/config/stepper-diagnostics.adoc:142
+#, no-wrap
+msgid ""
+"( test program to see if Z axis loses position )\n"
+"( msg, test 1 of Z axis configuration )\n"
+"G20 #1000=100 ( loop 100 times )\n"
+"( this loop has delays after moves )\n"
+"( tests acc and velocity settings )\n"
+"o100 while [#1000]\n"
+"   G0 Z1.000\n"
+"   G4 P0.250\n"
+"   G0 Z0.500\n"
+"   G4 P0.250\n"
+"   #1000 = [#1000 - 1]\n"
+"o100 endwhile\n"
+"( msg, test 2 of Z axis configuration S to continue)\n"
+"M1 (stop here)\n"
+"#1000=100 ( loop 100 times )\n"
+"( the next loop has no delays after moves )\n"
+"( tests direction hold times on driver config and also max accel setting )\n"
+"o101 while [#1000]\n"
+"   G0 Z1.000\n"
+"   G0 Z0.500\n"
+"   #1000 = [#1000 - 1]\n"
+"o101 endwhile\n"
+"( msg, Done...Z should be exactly .5\" above table )\n"
+"M2\n"
+msgstr ""
+
+#. type: Title =
+#: src/config/stepper-quickstart.adoc:5
+#, no-wrap
+msgid "Stepper Quickstart"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:11
+msgid ""
+"This section assumes you have done a standard install from the Live CD.  "
+"After installation it is recommended that you connect the computer to the "
+"Internet and wait for the update manager to pop up and get the latest "
+"updates for LinuxCNC and Ubuntu before continuing."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:19
+msgid ""
+"The Latency Test determines how late your computer processor is in "
+"responding to a request. Some hardware can interrupt the processing which "
+"could cause missed steps when running a CNC machine.  This is the first "
+"thing you need to do.  Follow the instructions <<sec:latency-test,here>> to "
+"run the latency test."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper-quickstart.adoc:21
+#, no-wrap
+msgid "Sherline(((Sherline)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:26
+msgid ""
+"If you have a Sherline several predefined configurations are provided.  This "
+"is on the main menu CNC/EMC then pick the Sherline configuration that "
+"matches yours and save a copy."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper-quickstart.adoc:28
+#, no-wrap
+msgid "Xylotex(((Xylotex)))"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:33
+msgid ""
+"If you have a Xylotex you can skip the following sections and go straight to "
+"the <<cha:stepconf-wizard,Stepper Config Wizard>>.  LinuxCNC has provided "
+"quick setup for the Xylotex machines."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper-quickstart.adoc:34
+#, no-wrap
+msgid "Machine Information"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:37
+msgid "Gather the information about each axis of your machine."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:43
+msgid ""
+"Drive timing is in nano seconds. If you're unsure about the timing many "
+"popular drives are included in the stepper configuration wizard.  Note some "
+"newer Gecko drives have different timing than the original one. A "
+"https://wiki.linuxcnc.org/[list] is also on the user maintained LinuxCNC "
+"wiki site of more drives."
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:46
+#, no-wrap
+msgid "Drive Type"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:46
+#, no-wrap
+msgid "Step Time (ns)"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:46
+#, no-wrap
+msgid "Step Space (ns)"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:46
+#, no-wrap
+msgid "Dir. Hold (ns)"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:47
+#, no-wrap
+msgid "Dir. Setup (ns)"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:47 src/config/stepper-quickstart.adoc:86
+#: src/gcode/coordinates.adoc:103 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:145 src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "X"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:48 src/config/stepper-quickstart.adoc:87
+#: src/gcode/coordinates.adoc:104 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:146 src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "Y"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:49 src/config/stepper-quickstart.adoc:88
+#: src/gcode/coordinates.adoc:105 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:147 src/gcode/tool-compensation.adoc:64
+#: src/plasma/qtplasmac.adoc:688
+#, no-wrap
+msgid "Z"
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper-quickstart.adoc:53
+#, no-wrap
+msgid "Pinout Information"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:57
+msgid ""
+"Gather the information about the connections from your machine to the PC "
+"parallel port."
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:60
+#, no-wrap
+msgid "Output Pin"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:60
+#, no-wrap
+msgid "Typ. Function"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:60 src/config/stepper-quickstart.adoc:61
+#, no-wrap
+msgid "If Different"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:60
+#, no-wrap
+msgid "Input Pin"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:61
+#, no-wrap
+msgid "E-Stop Out"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:61
+#, no-wrap
+msgid "X Limit/Home"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:62 src/drivers/gm.adoc:70
+#: src/drivers/gm.adoc:126 src/drivers/gm.adoc:501
+#: src/drivers/hal_pi_gpio.adoc:30 src/drivers/hal_pi_gpio.adoc:31
+#: src/drivers/hostmot2.adoc:303 src/drivers/hostmot2.adoc:314
+#: src/drivers/hostmot2.adoc:315 src/drivers/hostmot2.adoc:331
+#: src/drivers/hostmot2.adoc:332 src/drivers/hostmot2.adoc:345
+#: src/drivers/hostmot2.adoc:372 src/drivers/hostmot2.adoc:383
+#: src/drivers/motenc.adoc:96 src/drivers/motenc.adoc:97
+#: src/gcode/g-code.adoc:776 src/gcode/g-code.adoc:1591
+#: src/gui/qtvcp-widgets.adoc:1209 src/hal/basic-hal.adoc:545
+#: src/hal/parallel-port.adoc:110 src/plasma/qtplasmac.adoc:101
+#: src/plasma/qtplasmac.adoc:155 src/plasma/qtplasmac.adoc:159
+#: src/plasma/qtplasmac.adoc:1496 src/plasma/qtplasmac.adoc:1771
+#: src/plasma/qtplasmac.adoc:3938
+#, no-wrap
+msgid "2"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:62
+#, no-wrap
+msgid "X Step"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:62 src/drivers/gm.adoc:494
+#: src/drivers/hal_pi_gpio.adoc:39 src/drivers/hal_pi_gpio.adoc:46
+#: src/gui/qtvcp-widgets.adoc:1225 src/hal/parallel-port.adoc:119
+#: src/plasma/qtplasmac.adoc:3947 src/remap/remap.adoc:1804
+#, no-wrap
+msgid "11"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:62
+#, no-wrap
+msgid "Y Limit/Home"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:63 src/drivers/gm.adoc:63
+#: src/drivers/gm.adoc:127 src/drivers/gm.adoc:494
+#: src/drivers/hal_pi_gpio.adoc:31 src/drivers/motenc.adoc:98
+#: src/gcode/g-code.adoc:777 src/gcode/g-code.adoc:1592
+#: src/gui/qtvcp-widgets.adoc:1210 src/hal/parallel-port.adoc:111
+#: src/plasma/qtplasmac.adoc:3939
+#, no-wrap
+msgid "3"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:63
+#, no-wrap
+msgid "X Direction"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:63 src/drivers/gm.adoc:500
+#: src/drivers/hal_pi_gpio.adoc:40 src/drivers/hal_pi_gpio.adoc:47
+#: src/drivers/hostmot2.adoc:313 src/drivers/hostmot2.adoc:315
+#: src/drivers/hostmot2.adoc:316 src/drivers/hostmot2.adoc:317
+#: src/drivers/hostmot2.adoc:318 src/drivers/hostmot2.adoc:330
+#: src/drivers/hostmot2.adoc:332 src/drivers/hostmot2.adoc:333
+#: src/drivers/hostmot2.adoc:334 src/drivers/hostmot2.adoc:335
+#: src/drivers/hostmot2.adoc:344 src/drivers/hostmot2.adoc:358
+#: src/drivers/hostmot2.adoc:371 src/hal/parallel-port.adoc:120
+#: src/plasma/qtplasmac.adoc:3948 src/remap/remap.adoc:1805
+#, no-wrap
+msgid "12"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:63
+#, no-wrap
+msgid "Z Limit/Home"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:64 src/drivers/gm.adoc:69
+#: src/drivers/gm.adoc:128 src/drivers/gm.adoc:500
+#: src/drivers/hal_pi_gpio.adoc:32 src/drivers/hostmot2.adoc:303
+#: src/drivers/hostmot2.adoc:315 src/drivers/hostmot2.adoc:318
+#: src/drivers/hostmot2.adoc:320 src/drivers/hostmot2.adoc:332
+#: src/drivers/hostmot2.adoc:336 src/drivers/hostmot2.adoc:345
+#: src/drivers/hostmot2.adoc:346 src/drivers/hostmot2.adoc:347
+#: src/drivers/hostmot2.adoc:348 src/drivers/hostmot2.adoc:359
+#: src/drivers/hostmot2.adoc:360 src/drivers/hostmot2.adoc:369
+#: src/drivers/hostmot2.adoc:370 src/drivers/hostmot2.adoc:371
+#: src/drivers/hostmot2.adoc:372 src/drivers/hostmot2.adoc:381
+#: src/drivers/hostmot2.adoc:382 src/drivers/hostmot2.adoc:383
+#: src/drivers/motenc.adoc:97 src/drivers/motenc.adoc:99
+#: src/gcode/g-code.adoc:778 src/gcode/g-code.adoc:1593
+#: src/gui/qtvcp-widgets.adoc:1211 src/hal/basic-hal.adoc:547
+#: src/hal/parallel-port.adoc:112 src/plasma/qtplasmac.adoc:3940
+#, no-wrap
+msgid "4"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:64
+#, no-wrap
+msgid "Y Step"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:64 src/drivers/gm.adoc:494
+#: src/drivers/hal_pi_gpio.adoc:41 src/drivers/hal_pi_gpio.adoc:56
+#: src/hal/parallel-port.adoc:121 src/plasma/qtplasmac.adoc:3949
+#: src/remap/remap.adoc:1806
+#, no-wrap
+msgid "13"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:64
+#, no-wrap
+msgid "A Limit/Home"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:65 src/drivers/gm.adoc:63
+#: src/drivers/gm.adoc:129 src/drivers/gm.adoc:494
+#: src/drivers/hal_pi_gpio.adoc:32 src/drivers/hal_pi_gpio.adoc:33
+#: src/gcode/g-code.adoc:779 src/gcode/g-code.adoc:1594
+#: src/gui/qtvcp-widgets.adoc:1212 src/hal/basic-hal.adoc:552
+#: src/hal/parallel-port.adoc:113 src/plasma/qtplasmac.adoc:3941
+#, no-wrap
+msgid "5"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:65
+#, no-wrap
+msgid "Y Direction"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:65 src/drivers/gm.adoc:494
+#: src/drivers/hal_pi_gpio.adoc:43 src/drivers/hal_pi_gpio.adoc:51
+#: src/hal/parallel-port.adoc:123 src/ladder/classic-ladder.adoc:91
+#: src/ladder/classic-ladder.adoc:92 src/plasma/qtplasmac.adoc:3951
+#: src/remap/remap.adoc:1808
+#, no-wrap
+msgid "15"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:65
+#, no-wrap
+msgid "Probe In"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:66 src/drivers/gm.adoc:69
+#: src/drivers/gm.adoc:130 src/drivers/gm.adoc:500
+#: src/drivers/hal_pi_gpio.adoc:34 src/drivers/hostmot2.adoc:322
+#: src/gcode/g-code.adoc:780 src/gcode/g-code.adoc:1595
+#: src/gui/qtvcp-widgets.adoc:1220 src/hal/parallel-port.adoc:114
+#: src/plasma/qtplasmac.adoc:3942
+#, no-wrap
+msgid "6"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:66
+#, no-wrap
+msgid "Z Step"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:67 src/drivers/gm.adoc:63
+#: src/drivers/gm.adoc:131 src/drivers/gm.adoc:494
+#: src/drivers/hal_pi_gpio.adoc:33 src/drivers/hal_pi_gpio.adoc:35
+#: src/gcode/g-code.adoc:781 src/gcode/g-code.adoc:1596
+#: src/gui/qtvcp-widgets.adoc:1221 src/hal/parallel-port.adoc:115
+#: src/plasma/qtplasmac.adoc:3943
+#, no-wrap
+msgid "7"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:67
+#, no-wrap
+msgid "Z Direction"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:68 src/drivers/gm.adoc:69
+#: src/drivers/gm.adoc:132 src/drivers/gm.adoc:500
+#: src/drivers/hal_pi_gpio.adoc:33 src/drivers/hal_pi_gpio.adoc:36
+#: src/drivers/hal_pi_gpio.adoc:43 src/drivers/hostmot2.adoc:304
+#: src/drivers/hostmot2.adoc:305 src/drivers/hostmot2.adoc:319
+#: src/drivers/hostmot2.adoc:320 src/drivers/hostmot2.adoc:321
+#: src/drivers/hostmot2.adoc:335 src/drivers/hostmot2.adoc:336
+#: src/drivers/hostmot2.adoc:337 src/drivers/hostmot2.adoc:346
+#: src/drivers/hostmot2.adoc:347 src/drivers/hostmot2.adoc:348
+#: src/drivers/hostmot2.adoc:349 src/drivers/hostmot2.adoc:359
+#: src/drivers/hostmot2.adoc:360 src/drivers/hostmot2.adoc:361
+#: src/drivers/hostmot2.adoc:368 src/drivers/hostmot2.adoc:380
+#: src/drivers/motenc.adoc:98 src/gcode/g-code.adoc:782
+#: src/gcode/g-code.adoc:1597 src/gui/qtvcp-widgets.adoc:1222
+#: src/hal/basic-hal.adoc:549 src/hal/parallel-port.adoc:116
+#: src/plasma/qtplasmac.adoc:3944
+#, no-wrap
+msgid "8"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:68
+#, no-wrap
+msgid "A Step"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:69
+#, no-wrap
+msgid "A Direction"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:70 src/drivers/gm.adoc:500
+#: src/drivers/hal_pi_gpio.adoc:42 src/hal/parallel-port.adoc:122
+#: src/plasma/qtplasmac.adoc:3950 src/remap/remap.adoc:1807
+#, no-wrap
+msgid "14"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:70
+#, no-wrap
+msgid "Spindle CW"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:71 src/drivers/gm.adoc:500
+#: src/drivers/hal_pi_gpio.adoc:34 src/drivers/hal_pi_gpio.adoc:44
+#: src/drivers/hal_pi_gpio.adoc:52 src/drivers/hostmot2.adoc:292
+#: src/drivers/hostmot2.adoc:302 src/drivers/motenc.adoc:99
+#: src/hal/parallel-port.adoc:124 src/plasma/qtplasmac.adoc:3952
+#: src/remap/remap.adoc:1809
+#, no-wrap
+msgid "16"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:71
+#, no-wrap
+msgid "Spindle PWM"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:72 src/drivers/gm.adoc:494
+#: src/drivers/hal_pi_gpio.adoc:45 src/hal/parallel-port.adoc:125
+#: src/plasma/qtplasmac.adoc:3953 src/remap/remap.adoc:1810
+#, no-wrap
+msgid "17"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:72
+#, no-wrap
+msgid "Amplifier Enable"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:77
+msgid ""
+"Note any pins not used should be set to Unused in the drop down box.  These "
+"can always be changed later by running StepConf again."
+msgstr ""
+
+#. type: Title ==
+#: src/config/stepper-quickstart.adoc:78
+#, no-wrap
+msgid "Mechanical Information"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:82
+msgid ""
+"Gather information on steps and gearing. The result of this is steps per "
+"user unit which is used for SCALE in the INI file."
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:85
+#, no-wrap
+msgid "Steps/Rev."
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:85
+#, no-wrap
+msgid "Micro Steps"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:85
+#, no-wrap
+msgid "Motor Teeth"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:85
+#, no-wrap
+msgid "Leadscrew Teeth"
+msgstr ""
+
+#. type: Table
+#: src/config/stepper-quickstart.adoc:86
+#, no-wrap
+msgid "Leadscrew Pitch"
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:95
+msgid ""
+"'Steps per revolution' - is how many stepper-motor-steps it takes to turn "
+"the stepper motor one revolution.  Typical is 200."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:101
+msgid ""
+"'Micro Steps' - is how many steps the drive needs to move the stepper motor "
+"one full step.  If microstepping is not used, this number will be 1.  If "
+"microstepping is used the value will depend on the stepper drive hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:105
+msgid ""
+"'Motor Teeth and Leadscrew Teeth' - is if you have some reduction (gears, "
+"chain, timing belt, etc.) between the motor and the leadscrew.  If not, then "
+"set these both to 1."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:110
+msgid ""
+"'Leadscrew Pitch' - is how much movement occurs (in user units) in one "
+"leadscrew turn.  If you're setting up in inches then it is inches per turn.  "
+"If you're setting up in millimeters then it is millimeters per turn."
+msgstr ""
+
+#. type: Plain text
+#: src/config/stepper-quickstart.adoc:113
+msgid ""
+"The net result you're looking for is how many CNC-output-steps it takes to "
+"move one user unit (inches or mm)."
+msgstr ""
+
+#. type: Block title
+#: src/config/stepper-quickstart.adoc:114
+#, no-wrap
+msgid "Units inches"
+msgstr ""
+
+#. type: delimited block .
+#: src/config/stepper-quickstart.adoc:122
+#, no-wrap
+msgid ""
+"Stepper         = 200 steps per revolution\n"
+"Drive           =  10 micro steps per step\n"
+"Motor Teeth     =  20\n"
+"Leadscrew Teeth =  40\n"
+"Leadscrew Pitch =   0.2000 inches per turn\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:126
+msgid "From the above information, the leadscrew moves 0.200 inches per turn."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:127
+msgid "The motor turns 2.000 times per 1 leadscrew turn."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:128
+msgid "The drive takes 10 microstep inputs to make the stepper step once."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:129
+msgid "The drive needs 2000 steps to turn the stepper one revolution."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:131
+#: src/config/stepper-quickstart.adoc:161
+msgid "So the scale needed is:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepper-quickstart.adoc:132
+#, no-wrap
+msgid "images/step-calc-inch-math.png"
+msgstr ""
+
+#. latexmath:[
+#. \frac{200 motor steps}{1 motor rev} \times
+#. \frac{10 microsteps}{1 motor step} \times
+#. \frac{2 motor revs}{1 leadscrew rev} \times
+#. \frac{1 leadscrew revs}{0.2000 inch}
+#. = \frac{20,000 microsteps}{inch} ]
+#. type: Block title
+#: src/config/stepper-quickstart.adoc:143
+#, no-wrap
+msgid "Units mm"
+msgstr ""
+
+#. type: delimited block .
+#: src/config/stepper-quickstart.adoc:151
+#, no-wrap
+msgid ""
+"    Stepper         = 200 steps per revolution\n"
+"    Drive           =   8 micro steps per step\n"
+"    Motor Teeth     =  30\n"
+"    Leadscrew Teeth =  90\n"
+"    Leadscrew Pitch =   5.00 mm per turn\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:155
+msgid "From the above information:"
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:156
+msgid "The leadscrew moves 5.00 mm per turn."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:157
+msgid "The motor turns 3.000 times per 1 leadscrew turn."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:158
+msgid "The drive takes 8 microstep inputs to make the stepper step once."
+msgstr ""
+
+#. type: delimited block =
+#: src/config/stepper-quickstart.adoc:159
+msgid "The drive needs 1600 steps to turn the stepper one revolution."
+msgstr ""
+
+#. type: Target for macro image
+#: src/config/stepper-quickstart.adoc:162
+#, no-wrap
+msgid "images/step-calc-mm-math.png"
+msgstr ""
+
+#. type: Title =
+#: src/drivers/ax5214h.adoc:5
+#, no-wrap
+msgid "AX5214H Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:18
+msgid ""
+"The Axiom Measurement & Control AX5214H is a 48 channel digital I/O "
+"board. It plugs into an ISA bus, and resembles a pair of 8255 chips. In fact "
+"it may be a pair of 8255 chips, but I'm not sure. If/when someone starts a "
+"driver for an 8255 they should look at the ax5214 code, much of the work is "
+"already done."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/ax5214h.adoc:19 src/drivers/servo-to-go.adoc:27
+#: src/hal/comp.adoc:42
+#, no-wrap
+msgid "Installing"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/ax5214h.adoc:24
+#, no-wrap
+msgid "loadrt hal_ax5214h cfg=\"<config-string>\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:39
+msgid ""
+"The config string consists of a hex port address, followed by an 8 character "
+"string of \"I\" and \"O\" which sets groups of pins as inputs and "
+"outputs. The first two character set the direction of the first two 8 bit "
+"blocks of pins (0-7 and 8-15). The next two set blocks of 4 pins (16-19 and "
+"20-23). The pattern then repeats, two more blocks of 8 bits (24-31 and "
+"32-39) and two blocks of 4 bits (40-43 and 44-47). If more than one board is "
+"installed, the data for the second board follows the first. As an example, "
+"the string '\"0x220 IIIOIIOO 0x300 OIOOIOIO\"' installs drivers for two "
+"boards. The first board is at address 0x220, and has 36 inputs (0-19 and "
+"24-39) and 12 outputs (20-23 and 40-47).  The second board is at address "
+"0x300, and has 20 inputs (8-15, 24-31, and 40-43) and 28 outputs "
+"(0-7. 16-23, 32-39, and 44-47). Up to 8 boards may be used in one system."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:43
+msgid "'(bit) ax5214.<boardnum>.out-<pinnum>' -- Drives a physical output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:44
+msgid "'(bit) ax5214.<boardnum>.in-<pinnum>' -- Tracks a physical input pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:45
+msgid ""
+"'(bit) ax5214.<boardnum>.in-<pinnum>-not' -- Tracks a physical input pin, "
+"inverted."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:48
+msgid ""
+"For each pin, <boardnum> is the board number (starts at zero), and <pinnum> "
+"is the I/O channel number (0 to 47)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:58
+msgid ""
+"Note that the driver assumes active LOW signals. This is so that modules "
+"such as OPTO-22 will work correctly (TRUE means output ON, or input "
+"energized). If the signals are being used directly without buffering or "
+"isolation the inversion needs to be accounted for. The in- HAL pin is TRUE "
+"if the physical pin is low (OPTO-22 module energized), and FALSE if the "
+"physical pin is high (OPTO-22 module off). The in-<pinnum>-not HAL pin is "
+"inverted -- it is FALSE if the physical pin is low (OPTO-22 module "
+"energized). By connecting a signal to one or the other, the user can "
+"determine the state of the input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:62
+msgid "'(bit) ax5214.<boardnum>.out-<pinnum>-invert' -- Inverts an output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:69
+msgid ""
+"The -invert parameter determines whether an output pin is active high or "
+"active low. If -invert is FALSE, setting the HAL out- pin TRUE drives the "
+"physical pin low, turning ON an attached OPTO-22 module, and FALSE drives it "
+"high, turning OFF the OPTO-22 module. If -invert is TRUE, then setting the "
+"HAL out- pin TRUE will drive the physical pin high and turn the module OFF."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:73
+msgid "'(funct) ax5214.<boardnum>.read' -- Reads all digital inputs on one board."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/ax5214h.adoc:74
+msgid ""
+"'(funct) ax5214.<boardnum>.write' -- Writes all digital outputs on one "
+"board."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/gm.adoc:5
+#, no-wrap
+msgid "General Mechatronics Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:14
+msgid "General Mechatronics GM6-PCI card based motion control system"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:16
+msgid ""
+"For detailed description, please refer to the "
+"https://www.generalmechatronics.com/data/products/robot_controller/PCI_UserManual_eng.pdf[System "
+"integration manual]."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:22
+msgid ""
+"The GM6-PCI motion control card is based on an FPGA and a PCI bridge "
+"interface ASIC. A small automated manufacturing cell can be controlled, with "
+"a short time system integration procedure. The following figure "
+"demonstrating the typical connection of devices related to the control "
+"system:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:25
+msgid ""
+"It can control up to six axis, each can be stepper or CAN bus interface or "
+"analogue servo."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:26
+msgid "GPIO: Four time eight I/O pins are placed on standard flat cable headers."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:31
+msgid ""
+"RS485 I/O expander modules: RS485 bus was designed for interfacing with "
+"compact DIN-rail mounted expander modules.  An 8-channel digital input, an "
+"8-channel relay output and an analogue I/O (4x +/-10 Volts output and 8x "
+"+/-5 Volts input) modules are available now.  Up to 16 modules can be "
+"connected to the bus altogether."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:34
+msgid ""
+"20 optically isolated input pins: Six times three for the direct connection "
+"of two end switch and one homing sensor for each joint.  And additionally, "
+"two optically isolated E-stop inputs."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/gm.adoc:35
+#, no-wrap
+msgid "GM servo control system"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/gm.adoc:35
+#, no-wrap
+msgid "images/GMsystem.png"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:38 src/drivers/motenc.adoc:24
+#: src/drivers/pico-ppmc.adoc:26
+msgid "Installing:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:42
+#, no-wrap
+msgid "loadrt hal_gm\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:46 src/drivers/motenc.adoc:32
+msgid ""
+"During loading (or attempted loading) the driver prints some useful "
+"debugging messages to the kernel log, which can be viewed with dmesg."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:48
+msgid "Up to 3 boards may be used in one system."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:50
+msgid "The following connectors can be found on the GM6-PCI card:"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:51
+#, no-wrap
+msgid "GM6-PCI card connectors and LEDs(((pci-card connectors)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/gm.adoc:52
+#, no-wrap
+msgid "GM6-PCI card connectors and LEDs"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/gm.adoc:52
+#, no-wrap
+msgid "images/GM_PCIpinout.png"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:55
+#, no-wrap
+msgid "I/O connectors"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:57
+#, no-wrap
+msgid "Pin numbering of GPIO connectors(((pin-numbering-gpio)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/gm.adoc:58
+#, no-wrap
+msgid "Pin numbering of GPIO connectors"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/gm.adoc:58
+#, no-wrap
+msgid "images/GM_IOpinout.png"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:60
+#, no-wrap
+msgid "Pinout of GPIO connectors"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:64
+#, no-wrap
+msgid "IOx/7"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:64
+#, no-wrap
+msgid "IOx/5"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:64
+#, no-wrap
+msgid "IOx/3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:64
+#, no-wrap
+msgid "IOx/1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:65
+#, no-wrap
+msgid "VCC"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:70 src/drivers/gm.adoc:495 src/drivers/gm.adoc:501
+#, no-wrap
+msgid "GND"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:70
+#, no-wrap
+msgid "IOx/6"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:70
+#, no-wrap
+msgid "IOx/4"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:70
+#, no-wrap
+msgid "IOx/2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:71
+#, no-wrap
+msgid "IOx/0"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:77
+msgid ""
+"Each pin can be configured as digital input or output.  GM6-PCI motion "
+"control card has 4 general purpose I/O (GPIO) connectors, with eight "
+"configurable I/O on each.  Every GPIO pin and parameter name begins as "
+"follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:80
+#, no-wrap
+msgid "gm.<card_no>.gpio.<gpio_con_no>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:83
+msgid "where _<gpio_con_no>_ is from 0 to 3."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:84
+#, no-wrap
+msgid "State of the first pin of the first GPIO connector on the GM6-PCI card."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:88
+#, no-wrap
+msgid "gm.0.gpio.0.in-0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:91
+msgid "HAL pins are updated by function"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:94 src/drivers/gm.adoc:179 src/drivers/gm.adoc:346
+#: src/drivers/gm.adoc:457 src/drivers/gm.adoc:517
+#, no-wrap
+msgid "gm.<card_no>.read\n"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:98
+#, no-wrap
+msgid "GPIO pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:101 src/drivers/gm.adoc:112 src/drivers/gm.adoc:184
+#: src/drivers/gm.adoc:274 src/drivers/gm.adoc:352 src/drivers/gm.adoc:383
+#: src/drivers/gm.adoc:391 src/drivers/gm.adoc:436 src/drivers/gm.adoc:447
+#: src/drivers/gm.adoc:464 src/drivers/gm.adoc:475 src/drivers/gm.adoc:524
+#: src/drivers/gm.adoc:538 src/drivers/gm.adoc:653 src/drivers/gm.adoc:660
+#: src/drivers/gm.adoc:695 src/drivers/gm.adoc:731 src/drivers/gm.adoc:741
+#: src/drivers/gm.adoc:784 src/drivers/gm.adoc:797
+#, no-wrap
+msgid "Type and direction"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:102 src/drivers/gm.adoc:185 src/drivers/gm.adoc:275
+#: src/drivers/gm.adoc:353 src/drivers/gm.adoc:384 src/drivers/gm.adoc:437
+#: src/drivers/gm.adoc:465 src/drivers/gm.adoc:525 src/drivers/gm.adoc:654
+#: src/drivers/gm.adoc:696 src/drivers/gm.adoc:732 src/drivers/gm.adoc:785
+#, no-wrap
+msgid "Pin description"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:102 src/drivers/gm.adoc:696 src/drivers/gm.adoc:790
+#, no-wrap
+msgid ".in-_<0-7>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:102 src/drivers/gm.adoc:103 src/drivers/gm.adoc:358
+#: src/drivers/gm.adoc:465 src/drivers/gm.adoc:525 src/drivers/gm.adoc:526
+#: src/drivers/gm.adoc:527 src/drivers/gm.adoc:528 src/drivers/gm.adoc:529
+#: src/drivers/gm.adoc:530 src/drivers/gm.adoc:539 src/drivers/gm.adoc:540
+#: src/drivers/gm.adoc:541 src/drivers/gm.adoc:542 src/drivers/gm.adoc:654
+#: src/drivers/gm.adoc:696 src/drivers/gm.adoc:697 src/drivers/gm.adoc:790
+#: src/drivers/gm.adoc:791
+#, no-wrap
+msgid "(bit, Out)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:103 src/drivers/gm.adoc:697 src/drivers/gm.adoc:791
+#, no-wrap
+msgid "Input pin"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:103 src/drivers/gm.adoc:697 src/drivers/gm.adoc:791
+#, no-wrap
+msgid ".in-not-_<0-7>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:104 src/drivers/gm.adoc:698 src/drivers/gm.adoc:792
+#, no-wrap
+msgid "Negated input pin"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:104
+#, no-wrap
+msgid ".out-_<0-7>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:104 src/drivers/gm.adoc:185 src/drivers/gm.adoc:275
+#: src/drivers/gm.adoc:353 src/drivers/gm.adoc:384 src/drivers/gm.adoc:437
+#: src/drivers/gm.adoc:733 src/drivers/gm.adoc:786
+#, no-wrap
+msgid "(bit, In)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:105
+#, no-wrap
+msgid "Output pin. Used only when GPIO is set to output."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:109
+#, no-wrap
+msgid "GPIO parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:113 src/drivers/gm.adoc:203 src/drivers/gm.adoc:286
+#: src/drivers/gm.adoc:392 src/drivers/gm.adoc:448 src/drivers/gm.adoc:476
+#: src/drivers/gm.adoc:539 src/drivers/gm.adoc:661 src/drivers/gm.adoc:742
+#: src/drivers/gm.adoc:798
+#, no-wrap
+msgid "Parameter description"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:113
+#, no-wrap
+msgid ".is-out-_<0-7>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:113 src/drivers/gm.adoc:114 src/drivers/gm.adoc:203
+#: src/drivers/gm.adoc:207 src/drivers/gm.adoc:219 src/drivers/gm.adoc:289
+#: src/drivers/gm.adoc:292 src/drivers/gm.adoc:293 src/drivers/gm.adoc:476
+#: src/drivers/gm.adoc:661
+#, no-wrap
+msgid "(bit, R/W)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:114
+#, no-wrap
+msgid ""
+"When True, the corresponding GPIO is set to totem-pole output, other wise "
+"set to high impedance input."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:114
+#, no-wrap
+msgid ".invert-out-_<0-7>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:115
+#, no-wrap
+msgid ""
+"When True, pin value will be inverted. Used when pin is configured as "
+"output."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:117
+#, no-wrap
+msgid "Axis connectors"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:119
+#, no-wrap
+msgid "Pin numbering of axis connectors(((pin-numbering-axis)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/gm.adoc:120
+#, no-wrap
+msgid "Pin numbering of axis connectors"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/gm.adoc:120
+#, no-wrap
+msgid "images/GM_AXISpinout.png"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:122
+#, no-wrap
+msgid "Pinout of axis connectors"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:126
+#, no-wrap
+msgid "Encoder A"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:127
+#, no-wrap
+msgid "+5 Volt (PC)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:128
+#, no-wrap
+msgid "Encoder B"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:129
+#, no-wrap
+msgid "Encoder Index"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:130
+#, no-wrap
+msgid "Fault"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:131
+#, no-wrap
+msgid "Power Enabled"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:132
+#, no-wrap
+msgid "Step/CCW/B"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:133
+#, no-wrap
+msgid "Direction/CW/A"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:134
+#, no-wrap
+msgid "Ground (PC)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:135
+#, no-wrap
+msgid "DAC serial line"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:136
+#, no-wrap
+msgid "Axis interface modules"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:144
+msgid ""
+"Small sized DIN rail mounted interface modules gives easy way of connecting "
+"different types of servo modules to the axis connectors.  Seven different "
+"system configurations are presented in the "
+"https://www.generalmechatronics.com/data/products/robot_controller/PCI_UserManual_eng.pdf[System "
+"integration manual] for evaluating typical applications. Also the detailed "
+"description of the Axis modules can be found in the System integration "
+"manual."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:147
+msgid ""
+"For evaluating the appropriate servo-drive structure the modules have to be "
+"connected as the following block diagram shows:"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:148
+#, no-wrap
+msgid "Servo axis interfaces(((axis-interface)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/gm.adoc:149
+#, no-wrap
+msgid "Servo axis interfaces"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/gm.adoc:149
+#, no-wrap
+msgid "images/GM_AxisInterface.png"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:156
+msgid ""
+"The GM6-PCI motion control card has six encoder modules.  Each encoder "
+"module has three channels:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:158
+msgid "Channel-A"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:159
+msgid "Channel-B"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:160
+msgid "Channel-I (index)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:164
+msgid ""
+"It is able to count quadrature encoder signals or step/dir signals.  Each "
+"encoder module is connected to the inputs of the corresponding RJ50 axis "
+"connector."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:166
+msgid "Every encoder pin and parameter name begins as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:169
+#, no-wrap
+msgid "gm.<card_no>.encoder.<axis_no>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:173
+msgid ""
+"where _<axis_no>_ is from 0 to 5.  For example, `gm.0.encoder.0.position` "
+"refers to the position of encoder module of axis 0."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:176
+msgid ""
+"The GM6-PCI card counts the encoder signal independently from LinuxCNC.  HAL "
+"pins are updated by function:"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:181
+#, no-wrap
+msgid "Encoder pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:185
+#, no-wrap
+msgid ".reset"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:186 src/drivers/gm.adoc:787
+#, no-wrap
+msgid "When True, resets counts and position to zero."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:186
+#, no-wrap
+msgid ".rawcounts"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:186 src/drivers/gm.adoc:187 src/drivers/gm.adoc:276
+#: src/drivers/gm.adoc:787 src/drivers/gm.adoc:788
+#, no-wrap
+msgid "(s32, Out)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:187
+#, no-wrap
+msgid "The raw count is the counts, but unaffected by reset or the index pulse."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:187
+#, no-wrap
+msgid ".counts"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:188 src/drivers/gm.adoc:788
+#: src/man/man9/encoder.9.adoc:70
+#, no-wrap
+msgid "Position in encoder counts."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:188
+#, no-wrap
+msgid ".position"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:188 src/drivers/gm.adoc:192 src/drivers/gm.adoc:277
+#: src/drivers/gm.adoc:732 src/drivers/gm.adoc:785 src/drivers/gm.adoc:789
+#, no-wrap
+msgid "(float, Out)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:189
+#, no-wrap
+msgid "Position in scaled units (=.counts/.position-scale)."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:189
+#, no-wrap
+msgid ".index-enabled"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:189
+#, no-wrap
+msgid "(bit, IO)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:192
+#, no-wrap
+msgid ""
+"When True, counts and position are rounded or reset (depends on index-mode) "
+"on next rising edge of channel-I.\n"
+"Every time position is reset because of Index, the `index-enabled` pin is "
+"set to 0 and remains 0 until connected HAL pin does not set it."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:192
+#, no-wrap
+msgid ".velocity"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:197
+#, no-wrap
+msgid ""
+"Velocity in scaled units per second.\n"
+"GM encoder uses high frequency hardware timer to measure time between "
+"encoder pulses in order to calculate velocity.\n"
+"It greatly reduces quantization noise as compared to simply differentiating "
+"the position output.\n"
+"When the measured velocity is below min-speed-estimate, the velocity output "
+"is 0."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:199
+#, no-wrap
+msgid "Encoder parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:202 src/drivers/gm.adoc:285
+#, no-wrap
+msgid "Type and Read/Write"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:203
+#, no-wrap
+msgid ".counter-mode"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:207
+#, no-wrap
+msgid ""
+"When True, the counter counts each rising edge of the channel-A input to the "
+"direction determined by channel-B.\n"
+"This is useful for counting the output of a single channel (non-quadrature) "
+"or step/dir signal sensor.\n"
+"When false, it counts in quadrature mode."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:207
+#, no-wrap
+msgid ".index-mode"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:213
+#, no-wrap
+msgid ""
+"When True and .index-enabled is also true, .counts and .position\n"
+"are rounded (based on .counts-per-rev) at rising edge of channel-I.\n"
+"This is useful to correct few pulses error caused by noise.\n"
+"In round mode, it is essential to set .counts-per-rev parameter correctly.\n"
+"When .index-mode is False and .index-enabled is true, .counts and .position "
+"are reset at channel-I pulse."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:213
+#, no-wrap
+msgid ".counts-per-rev"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:213
+#, no-wrap
+msgid "(s32, R/V)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:219
+#, no-wrap
+msgid ""
+"Determine how many counts are between two index pulses.\n"
+"It is used only in round mode, so when both .index-enabled and .index-mode "
+"parameters are True.\n"
+"GM encoder process encoder signal in 4x mode, so for example in case of a "
+"500 CPR encoder it should be set to 2000.\n"
+"This parameter can be easily measured by setting .index-enabled True and "
+".index-mode False (so that .counts resets\n"
+"at channel-I pulse), than move axis by hand and see the maximum magnitude of "
+".counts pin in halmeter."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:219
+#, no-wrap
+msgid ".index-invert"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:221
+#, no-wrap
+msgid ""
+"When True, channel-I event (reset or round) occur on falling edge of "
+"channel-I signal, otherwise on rising edge."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:221
+#, no-wrap
+msgid ".min-speed-estimate"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:221 src/drivers/gm.adoc:224 src/drivers/gm.adoc:294
+#: src/drivers/gm.adoc:296 src/drivers/gm.adoc:299 src/drivers/gm.adoc:392
+#: src/drivers/gm.adoc:393 src/drivers/gm.adoc:394 src/drivers/gm.adoc:395
+#: src/drivers/gm.adoc:448 src/drivers/gm.adoc:480 src/drivers/gm.adoc:742
+#: src/drivers/gm.adoc:744 src/drivers/gm.adoc:746 src/drivers/gm.adoc:747
+#: src/drivers/gm.adoc:748 src/drivers/gm.adoc:798 src/drivers/gm.adoc:800
+#: src/drivers/gm.adoc:802
+#, no-wrap
+msgid "(float, R/W)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:224
+#, no-wrap
+msgid ""
+"Determine the minimum measured velocity magnitude at which .velocity will be "
+"set as nonzero.\n"
+"Setting this parameter too low will cause it to take a long time for "
+"velocity to go to zero after encoder pulses have stopped arriving."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:224 src/drivers/gm.adoc:299 src/drivers/gm.adoc:448
+#, no-wrap
+msgid ".position-scale"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:227
+#, no-wrap
+msgid ""
+"Scale in counts per length unit. .position=.counts/.position-scale.\n"
+"For example, if position-scale is 2000, then 1000 counts of the encoder will "
+"produce a position of 0.5 units."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:229 src/drivers/gm.adoc:310 src/drivers/gm.adoc:664
+#: src/drivers/gm.adoc:700 src/drivers/gm.adoc:751 src/drivers/gm.adoc:805
+#: src/drivers/mitsub-vfd.adoc:104 src/drivers/vfs11.adoc:209
+#, no-wrap
+msgid "HAL example"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:231
+#, no-wrap
+msgid ""
+"Setting encoder module of axis 0 to receive 500 CPR quadrature encoder "
+"signal and use reset to round position."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:240
+#, no-wrap
+msgid ""
+"setp gm.0.encoder.0.counter-mode 0         # 0: quad, 1: stepDir\n"
+"setp gm.0.encoder.0.index-mode 1           # 0: reset pos at index, 1:round "
+"pos at index\n"
+"setp gm.0.encoder.0.counts-per-rev 2000    # GM process encoder in 4x mode, "
+"4x500=2000\n"
+"setp gm.0.encoder.0.index-invert 0         #\n"
+"setp gm.0.encoder.0.min-speed-estimate 0.1 # in position unit/s\n"
+"setp gm.0.encoder.0.position-scale 20000   # 10 encoder rev cause the "
+"machine to move one position unit (10x2000)\n"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:242
+#, no-wrap
+msgid "Connect encoder position to LinuxCNC joint position feedback"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:246
+#, no-wrap
+msgid "net Xpos-fb gm.0.encoder.0.position => joint.0.motor-pos-fb\n"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:248
+#, no-wrap
+msgid "StepGen module"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:254
+msgid ""
+"The GM6-PCI motion control card has six StepGen modules, one for each "
+"joint.  Each module has two output signals. It can produce Step/Direction, "
+"Up/Down or Quadrature (A/B) pulses. Each StepGen module is connected to the "
+"pins of the corresponding RJ50 axis connector."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:256
+msgid "Every StepGen pin and parameter name begins as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:259
+#, no-wrap
+msgid "gm.<card_no>.stepgen.<axis_no>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:263
+msgid ""
+"where _<axis_no>_ is from 0 to 5.  For example, "
+"`gm.0.stepgen.0.position-cmd` refers to the position command of StepGen "
+"module of axis 0 on card 0."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:266
+msgid ""
+"The GM6-PCI card generates step pulses independently from LinuxCNC.  HAL "
+"pins are updated by function"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:269 src/drivers/gm.adoc:378 src/drivers/gm.adoc:429
+#, no-wrap
+msgid "gm.<card_no>.write\n"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:271
+#, no-wrap
+msgid "StepGen module pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:275 src/drivers/gm.adoc:384 src/drivers/gm.adoc:437
+#, no-wrap
+msgid ".enable"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:276
+#, no-wrap
+msgid "StepGen produces pulses only when this pin is true."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:276
+#, no-wrap
+msgid ".count-fb"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:277
+#, no-wrap
+msgid "Position feedback in counts unit."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:277 src/drivers/gm.adoc:439
+#, no-wrap
+msgid ".position-fb"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:278
+#, no-wrap
+msgid "Position feedback in position unit."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:278 src/drivers/gm.adoc:438
+#, no-wrap
+msgid ".position-cmd"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:278 src/drivers/gm.adoc:279 src/drivers/gm.adoc:385
+#: src/drivers/gm.adoc:438 src/drivers/gm.adoc:439 src/drivers/gm.adoc:735
+#, no-wrap
+msgid "(float, In)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:279
+#, no-wrap
+msgid "Commanded position in position units. Used in position mode only."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:279
+#, no-wrap
+msgid ".velocity-cmd"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:280
+#, no-wrap
+msgid "Commanded velocity in position units per second. Used in velocity mode only."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:282
+#, no-wrap
+msgid "StepGen module parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:286
+#, no-wrap
+msgid ".step-type"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:286 src/drivers/gm.adoc:300 src/drivers/gm.adoc:301
+#: src/drivers/gm.adoc:302
+#, no-wrap
+msgid "(u32, R/W)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:289
+#, no-wrap
+msgid ""
+"When 0, module produces Step/Dir signal. When 1, it\n"
+"  produces Up/Down step signals. And when it is 2, it\n"
+"  produces quadrature output signals."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:289
+#, no-wrap
+msgid ".control-type"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:292
+#, no-wrap
+msgid ""
+"When True, .velocity-cmd is used as reference and velocityvcontrol calculate "
+"pulse rate output.\n"
+"When False, .position-cmd is used as reference and position control "
+"calculate pulse rate output."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:292
+#, no-wrap
+msgid ".invert-step1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:293
+#, no-wrap
+msgid "Invert the output of channel 1 (Step signal in StepDir mode)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:293
+#, no-wrap
+msgid ".invert-step2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:294
+#, no-wrap
+msgid "Invert the output of channel 2 (Dir signal in StepDir mode)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:294
+#, no-wrap
+msgid ".maxvel"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:296
+#, no-wrap
+msgid ""
+"Maximum velocity in position units per second. If it is set to 0.0, .maxvel "
+"parameter is ignored."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:296
+#, no-wrap
+msgid ".maxaccel"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:299
+#, no-wrap
+msgid ""
+"Maximum acceleration in position units per second squared.\n"
+"mf it is set to 0.0, .maxaccel parameter is ignored."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:300
+#, no-wrap
+msgid "Scale in steps per length unit."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:300
+#, no-wrap
+msgid ".steplen"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:301
+#, no-wrap
+msgid "Length of step pulse in nano-seconds."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:301
+#, no-wrap
+msgid ".stepspace"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:302
+#, no-wrap
+msgid "Minimum time between two step pulses in nano-seconds."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:302
+#, no-wrap
+msgid ".dirdelay"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:303
+#, no-wrap
+msgid "Minimum time between step pulse and direction change in nanoseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:306
+msgid "For evaluating the appropriate values see the timing diagrams below:"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:307
+#, no-wrap
+msgid "Reference signal timing diagrams(((refsig-timing-diagram)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/gm.adoc:308
+#, no-wrap
+msgid "Reference signal timing diagrams"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/gm.adoc:308
+#, no-wrap
+msgid "images/GM_RefSignals.png"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:312
+#, no-wrap
+msgid ""
+"Setting StepGen module of axis 0 to generate 1000 step pulse per position "
+"unit"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:327
+#, no-wrap
+msgid ""
+"setp gm.0.stepgen.0.step-type 0         # 0:stepDir, 1:UpDown, 2:Quad\n"
+"setp gm.0.stepgen.0.control-type 0      # 0:Pos. control, 1:Vel. Control\n"
+"setp gm.0.stepgen.0.invert-step1 0\n"
+"setp gm.0.stepgen.0.invert-step2 0\n"
+"setp gm.0.stepgen.0.maxvel 0            # do not set maxvel for step\n"
+"                                        # generator, let interpolator "
+"control it.\n"
+"setp gm.0.stepgen.0.maxaccel 0          # do not set max acceleration for\n"
+"                                        # step generator, let interpolator "
+"control it.\n"
+"setp gm.0.stepgen.0.position-scale 1000 # 1000 step/position unit\n"
+"setp gm.0.stepgen.0.steplen 1000        # 1000 ns = 1 µs\n"
+"setp gm.0.stepgen.0.stepspace1000       # 1000 ns = 1 µs\n"
+"setp gm.0.stepgen.0.dirdelay 2000       # 2000 ns = 2 µs\n"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:329
+#, no-wrap
+msgid "Connect StepGen to axis 0 position reference and enable pins"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:334
+#, no-wrap
+msgid ""
+"net Xpos-cmd joint.0.motor-pos-cmd => gm.0.stepgen.0.position-cmd\n"
+"net Xen joint.0.amp-enable-out => gm.0.stepgen.0.enable\n"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:336
+#, no-wrap
+msgid "Enable and Fault signals"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:341
+msgid ""
+"The GM6-PCI motion control card has one enable output and one fault input "
+"HAL pins, both are connected to each RJ50 axis connector and to the CAN "
+"connector."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:343 src/drivers/gm.adoc:375 src/drivers/gm.adoc:426
+#: src/drivers/gm.adoc:514
+msgid "HAL pins are updated by function:"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:348
+#, no-wrap
+msgid "Enable and Fault signal pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:353
+#, no-wrap
+msgid "gm.<card_no>.power-enable"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:358
+#, no-wrap
+msgid ""
+"If this pin is True, +\n"
+"* and Watch Dog Timer is not expired +\n"
+"* and there is no power fault +\n"
+"then power enable pins of axis- and CAN connectors are set to high, "
+"otherwise set to low."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:358
+#, no-wrap
+msgid "gm.<card_no>.power-fault"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:359
+#, no-wrap
+msgid "Power fault input."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:361
+#, no-wrap
+msgid "Axis DAC"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:366
+msgid ""
+"The GM6-PCI motion control card has six serial axis DAC driver modules, one "
+"for each joint. Each module is connected to the pin of the corresponding "
+"RJ50 axis connector.  Every axis DAC pin and parameter name begins as "
+"follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:369
+#, no-wrap
+msgid "gm.<card_no>.dac.<axis_no>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:373
+msgid ""
+"where _<axis_no>_ is from 0 to 5.  For example, `gm.0.dac.0.value` refers to "
+"the output voltage of DAC module of axis 0."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:380
+#, no-wrap
+msgid "Axis DAC pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:385
+#, no-wrap
+msgid "Enable DAC output. When enable is false, DAC output is 0.0 V."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:385
+#, no-wrap
+msgid ".value"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:386 src/drivers/gm.adoc:736
+#, no-wrap
+msgid "Value of DAC output in Volts."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:388
+#, no-wrap
+msgid "Axis DAC parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:392
+#, no-wrap
+msgid ".offset"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:393 src/drivers/gm.adoc:747
+#, no-wrap
+msgid "Offset is added to the value before the hardware is updated."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:393
+#, no-wrap
+msgid ".high-limit"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:394 src/drivers/gm.adoc:748
+#, no-wrap
+msgid "Maximum output voltage of the hardware in Volts."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:394
+#, no-wrap
+msgid ".low-limit"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:395 src/drivers/gm.adoc:749
+#, no-wrap
+msgid "Minimum output voltage of the hardware in Volts."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:395
+#, no-wrap
+msgid ".invert-serial"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:399
+#, no-wrap
+msgid ""
+"GM6-PCI card is communicating with DAC hardware via fast serial "
+"communication to highly reduce time delay compared to PWM.\n"
+"DAC module is recommended to be isolated which is negating serial "
+"communication line.\n"
+"In case of isolation, leave this parameter to default (0), while in case of "
+"none-isolation, set this parameter to 1."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:401
+#, no-wrap
+msgid "CAN-bus servo amplifiers"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:407
+msgid ""
+"The GM6-PCI motion control card has CAN module to drive CAN servo "
+"amplifiers.  Implementation of higher level protocols like CANopen is "
+"further development.  Currently GM produced power amplifiers has upper level "
+"driver which export pins and parameters to HAL.  They receive position "
+"reference and provide encoder feedback via CAN bus."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:412
+msgid ""
+"The frames are standard (11 bit) ID frames, with 4 byte data length.  The "
+"baud rate is 1 Mbit/s.  The position command IDs for axis 0..5 are "
+"0x10..0x15.  The position feedback IDs for axis 0..5 are 0x20..0x25."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:415
+msgid ""
+"These configuration can be changed with the modification of hal_gm.c and "
+"recompiling LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:417
+msgid "Every CAN pin and parameter name begins as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:420
+#, no-wrap
+msgid "gm.<card_no>.can-gm.<axis_no>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:424
+msgid ""
+"where _<axis_no>_ is from 0 to 5.  For example, `gm.0.can-gm.0.position` "
+"refers to the output position of axis 0 in position units."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:433
+#, no-wrap
+msgid "CAN module pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:438
+#, no-wrap
+msgid "Enable sending position references."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:439
+#, no-wrap
+msgid "Commanded position in position units."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:440
+#, no-wrap
+msgid "Feed back position in position units."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:444
+#, no-wrap
+msgid "CAN module parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:449 src/drivers/gm.adoc:803
+#, no-wrap
+msgid "Scale in per length unit."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:451
+#, no-wrap
+msgid "Watchdog timer"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:454
+msgid "Watchdog timer resets at function:"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:461
+#, no-wrap
+msgid "Watchdog pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:465
+#, no-wrap
+msgid "gm._<card_no>_.watchdog-expired"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:466
+#, no-wrap
+msgid "Indicates that watchdog timer is expired."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:469
+msgid "Watchdog timer overrun causes the set of power-enable to low in hardware."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:472
+#, no-wrap
+msgid "Watchdog parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:476
+#, no-wrap
+msgid "gm._<card_no>_.watchdog-enable"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:480
+#, no-wrap
+msgid ""
+"Enables watchdog timer. +\n"
+"It is strongly recommended to enable the watchdog timer,\n"
+"because it can disable all the servo amplifiers by pulling down all enable "
+"signals in case of a PC error."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:480
+#, no-wrap
+msgid "gm._<card_no>_.watchdog-timeout-ns"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:484
+#, no-wrap
+msgid ""
+"Time interval in within the gm._<card_no>_.read function must be executed.\n"
+"The gm._<card_no>_.read is typically added to servo-thread,\n"
+"so watch timeout is typically set to 3 times of the servo period."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:486
+#, no-wrap
+msgid "End-, homing- and E-stop switches"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:488
+#, no-wrap
+msgid "Pin numbering of homing & end switch connector(((pin-numbering-endsw)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/gm.adoc:489
+#, no-wrap
+msgid "Pin numbering of homing and end switch connector"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/gm.adoc:489
+#, no-wrap
+msgid "images/GM_ENDSWpinout.png"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:491
+#, no-wrap
+msgid "End- and homing switch connector pinout"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:494 src/drivers/hal_pi_gpio.adoc:53
+#: src/plasma/qtplasmac.adoc:3961 src/remap/remap.adoc:1824
+#, no-wrap
+msgid "25"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:494 src/drivers/hal_pi_gpio.adoc:40
+#: src/drivers/hal_pi_gpio.adoc:51 src/plasma/qtplasmac.adoc:3959
+#: src/remap/remap.adoc:1822
+#, no-wrap
+msgid "23"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:494 src/drivers/hal_pi_gpio.adoc:38
+#: src/drivers/hal_pi_gpio.adoc:49 src/plasma/qtplasmac.adoc:3957
+#: src/remap/remap.adoc:1820
+#, no-wrap
+msgid "21"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:494 src/drivers/hal_pi_gpio.adoc:39
+#: src/drivers/hal_pi_gpio.adoc:47 src/plasma/qtplasmac.adoc:3955
+#: src/remap/remap.adoc:1812
+#, no-wrap
+msgid "19"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "1/End-"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "2/End+"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "2/Hom-ing"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "3/End-"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "4/End+"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "4/Hom-ing"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "5/End-"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "6/End+"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "6/Hom-ing"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:495
+#, no-wrap
+msgid "E-Stop 2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:496 src/drivers/gm.adoc:502
+#, no-wrap
+msgid "V+ (Ext.)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:500 src/drivers/hal_pi_gpio.adoc:36
+#: src/drivers/hal_pi_gpio.adoc:54 src/plasma/qtplasmac.adoc:3962
+#: src/remap/remap.adoc:1825
+#, no-wrap
+msgid "26"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:500 src/drivers/hal_pi_gpio.adoc:37
+#: src/drivers/hal_pi_gpio.adoc:52 src/drivers/hostmot2.adoc:291
+#: src/drivers/hostmot2.adoc:292 src/drivers/hostmot2.adoc:305
+#: src/drivers/hostmot2.adoc:317 src/drivers/hostmot2.adoc:334
+#: src/drivers/hostmot2.adoc:373 src/drivers/hostmot2.adoc:384
+#: src/plasma/qtplasmac.adoc:3960 src/remap/remap.adoc:1823
+#, no-wrap
+msgid "24"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:500 src/drivers/hal_pi_gpio.adoc:50
+#: src/drivers/hal_pi_gpio.adoc:54 src/plasma/qtplasmac.adoc:3958
+#: src/remap/remap.adoc:1821
+#, no-wrap
+msgid "22"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:500 src/drivers/hal_pi_gpio.adoc:48
+#: src/gcode/overview.adoc:472 src/ladder/classic-ladder.adoc:85
+#: src/ladder/classic-ladder.adoc:86 src/plasma/qtplasmac.adoc:3956
+#: src/remap/remap.adoc:1819
+#, no-wrap
+msgid "20"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:500 src/drivers/hal_pi_gpio.adoc:46
+#: src/drivers/hal_pi_gpio.adoc:53 src/plasma/qtplasmac.adoc:3954
+#: src/remap/remap.adoc:1811
+#, no-wrap
+msgid "18"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "1/End+"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "1/Hom-ing"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "2/End-"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "3/End+"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "3/Hom-ing"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "4/End-"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "5/End+"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "5/Hom-ing"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "6/End-"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:501
+#, no-wrap
+msgid "E-Stop 1"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:505
+msgid ""
+"The GM6-PCI motion control card has two limit- and one homing switch input "
+"for each joint. All the names of these pins begin as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:508
+#, no-wrap
+msgid "gm.<card_no>.joint.<axis_no>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:512
+msgid ""
+"where _<axis_no>_ is from 0 to 5.  For example, `gm.0.joint.0.home-sw-in` "
+"indicates the state of the axis 0 home switch."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:521
+#, no-wrap
+msgid "End- and homing switch pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:525
+#, no-wrap
+msgid ".home-sw-in"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:526
+#, no-wrap
+msgid "Home switch input"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:526
+#, no-wrap
+msgid ".home-sw-in-not"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:527
+#, no-wrap
+msgid "Negated home switch input"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:527
+#, no-wrap
+msgid ".neg-lim-sw-in"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:528
+#, no-wrap
+msgid "Negative limit switch input"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:528
+#, no-wrap
+msgid ".neg-lim-sw-in-not"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:529
+#, no-wrap
+msgid "Negated negative limit switch input"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:529
+#, no-wrap
+msgid ".pos-lim-sw-in"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:530
+#, no-wrap
+msgid "Positive limit switch input"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:530
+#, no-wrap
+msgid ".pos-lim-sw-in-not"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:531
+#, no-wrap
+msgid "Negated positive limit switch input"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:535
+#, no-wrap
+msgid "E-stop switch parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:539
+#, no-wrap
+msgid "gm.0.estop.0.in"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:540
+#, no-wrap
+msgid "Estop 0 input"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:540
+#, no-wrap
+msgid "gm.0.estop.0.in-not"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:541
+#, no-wrap
+msgid "Negated Estop 0 input"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:541
+#, no-wrap
+msgid "gm.0.estop.1.in"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:542
+#, no-wrap
+msgid "Estop 1 input"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:542
+#, no-wrap
+msgid "gm.0.estop.1.in-not"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:543
+#, no-wrap
+msgid "Negated Estop 1 input"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:545
+#, no-wrap
+msgid "Status LEDs"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:547
+#, no-wrap
+msgid "CAN"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:550 src/drivers/gm.adoc:558
+msgid "Color: Orange"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:552
+msgid "Blink, during data communication."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:553
+msgid "On, when any of the buffers are full - communication error."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:554
+msgid "Off, when no data communication."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:555 src/plasma/qtplasmac.adoc:800
+#, no-wrap
+msgid "RS485"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:560
+msgid "Blink, during initialization of modules on the bus"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:561
+msgid "On, when the data communication is up between all initialized modules."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:562
+msgid "Off, when any of the initialized modules dropped off because of an error."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:566
+msgid "Color: White"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:568
+msgid "Blink, when LinuxCNC is running."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:569 src/drivers/gm.adoc:576
+msgid "Otherwise off."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:570
+#, no-wrap
+msgid "Boot"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:573
+msgid "Color: Green"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:575
+msgid "On, when system booted successfully."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:577
+#, no-wrap
+msgid "Error"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:580
+msgid "Color: Red"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:582
+msgid "Off, when there is no fault in the system."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:583
+msgid "Blink, when PCI communication error."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:584
+msgid "On, when watchdog timer overflowed."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:585
+#, no-wrap
+msgid "RS485 I/O expander modules"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:589
+msgid ""
+"These modules were developed for expanding the I/O and function capability "
+"along an RS485 line of the GM6-PCI motion control card."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:591
+msgid "Available module types:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:593
+msgid ""
+"8-channel relay output module - gives eight NO-NC relay output on a three "
+"pole terminal connector for each channel."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:594
+msgid ""
+"8-channel digital input module - gives eight optical isolated digital input "
+"pins."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:597
+msgid ""
+"8 channel ADC and 4-channel DAC module - gives four digital-to-analogue "
+"converter outputs and eight analogue-to-digital inputs.  This module is also "
+"optically isolated from the GM6-PCI card."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:598
+#, no-wrap
+msgid "Automatic node recognizing"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:602
+msgid ""
+"Each node connected to the bus was recognized by the GM6-PCI card "
+"automatically.  During starting LinuxCNC, the driver export pins and "
+"parameters of all available modules automatically."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:603
+#, no-wrap
+msgid "Fault handling"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:608
+msgid ""
+"If a module does not answer regularly the GM6-PCI card drops down the "
+"module.  If a module with output do not gets data with correct CRC "
+"regularly, the module switch to error state (green LED blinking), and turns "
+"all outputs to error state."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:609
+#, no-wrap
+msgid "Connecting the nodes"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:613
+msgid ""
+"The modules on the bus have to be connected in serial topology, with "
+"termination resistors on the end.  The start of the topology is the PCI "
+"card, and the end is the last module."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:614
+#, no-wrap
+msgid "Connecting the RS485 nodes to the GM6-PCI card(((connecting-rs485)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/gm.adoc:615
+#, no-wrap
+msgid "Connecting the RS485 nodes to the GM6-PCI card"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/gm.adoc:615
+#, no-wrap
+msgid "images/GM_RS485topology.png"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:617
+#, no-wrap
+msgid "Addressing"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:620
+msgid ""
+"Each node on the bus has a 4 bit unique address that can be set with a red "
+"DIP switch."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:621
+#, no-wrap
+msgid "Status LED"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:624
+msgid "A green LED indicates the status of the module:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:626
+msgid ""
+"Blink, when the module is only powered, but not jet identified, or when "
+"module is dropped down."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:627
+msgid "Off, during identification (computer is on, but LinuxCNC not started)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:628
+msgid "On, when it communicates continuously."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:630
+#, no-wrap
+msgid "Relay output module"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:634 src/drivers/gm.adoc:676 src/drivers/gm.adoc:712
+#: src/drivers/gm.adoc:763
+msgid ""
+"For pinout, connection and electrical charasteristics of the module, please "
+"refer to the "
+"https://www.generalmechatronics.com/data/products/robot_controller/PCI_UserManual_eng.pdf[System "
+"integration manual]."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:636 src/drivers/gm.adoc:678 src/drivers/gm.adoc:714
+#: src/drivers/gm.adoc:765
+msgid "All the pins and parameters are updated by the following function:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:639 src/drivers/gm.adoc:681 src/drivers/gm.adoc:717
+#: src/drivers/gm.adoc:768
+#, no-wrap
+msgid "gm.<card_no>.rs485\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:643 src/drivers/gm.adoc:685 src/drivers/gm.adoc:721
+#: src/drivers/gm.adoc:772
+msgid ""
+"It should be added to servo thread or other thread with larger period to "
+"avoid CPU overload.  Every RS485 module pin and parameter name begins as "
+"follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:646 src/drivers/gm.adoc:688 src/drivers/gm.adoc:724
+#: src/drivers/gm.adoc:775
+#, no-wrap
+msgid "gm.<card_no>.rs485.<module ID>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:649 src/drivers/gm.adoc:691 src/drivers/gm.adoc:727
+msgid "where _<module ID>_ is from 00 to 15."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:650
+#, no-wrap
+msgid "Relay output module pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:654
+#, no-wrap
+msgid ".relay-<0-7>"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:655
+#, no-wrap
+msgid "Output pin for relay"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:657
+#, no-wrap
+msgid "Relay output module parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:661
+#, no-wrap
+msgid ".invert-relay-<0-7>"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:662
+#, no-wrap
+msgid "Negate relay output pin"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:670
+#, no-wrap
+msgid ""
+"  gm.0.rs485.0.relay-0   # First relay of the node.\n"
+"# gm.0                   # Identifies the first GM6-PCI motion control card "
+"(PCI card address = 0)\n"
+"#     .rs485.0           # Selects node with address 0 on the RS485 bus\n"
+"#             .relay-0   # Selects the first relay\n"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:672
+#, no-wrap
+msgid "Digital input module"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:692
+#, no-wrap
+msgid "Digital input output module pins"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:706
+#, no-wrap
+msgid ""
+"  gm.0.rs485.0.in-0   # First input of the node.\n"
+"# gm.0                # Identifies the first GM6-PCI motion control card "
+"(PCI card address = 0)\n"
+"#     .rs485.0        # Selects node with address 0 on the RS485 bus\n"
+"#             .in-0   # Selects the first digital input module\n"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:708
+#, no-wrap
+msgid "DAC & ADC module"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:728
+#, no-wrap
+msgid "DAC & ADC module pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:732
+#, no-wrap
+msgid ".adc-_<0-7>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:733 src/drivers/gm.adoc:786
+#, no-wrap
+msgid "Value of ADC input in Volts."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:733
+#, no-wrap
+msgid ".dac-enable-_<0-3>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:735
+#, no-wrap
+msgid "Enable DAC output. When enable is false then DAC output is set to 0.0 V."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:735
+#, no-wrap
+msgid ".dac-_<0-3>_"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:738
+#, no-wrap
+msgid "DAC & ADC module parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:742
+#, no-wrap
+msgid ".adc-scale-_<0-7>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:744 src/drivers/gm.adoc:800
+#, no-wrap
+msgid ""
+"The input voltage will be multiplied by scale before being output to .adc- "
+"pin."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:744
+#, no-wrap
+msgid ".adc-offset-_<0-7>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:746 src/drivers/gm.adoc:802
+#, no-wrap
+msgid ""
+"Offset is subtracted from the hardware input voltage after the scale "
+"multiplier has been applied."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:746
+#, no-wrap
+msgid ".dac-offset-_<0-3>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:747
+#, no-wrap
+msgid ".dac-high-limit-_<0-3>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:748
+#, no-wrap
+msgid ".dac-low-limit-_<0-3>_"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:757
+#, no-wrap
+msgid ""
+"  gm.0.rs485.0.adc-0   # First analogue channel of the node.\n"
+"# gm.0                 # Identifies the first GM6-PCI motion control card "
+"(PCI card address = 0)\n"
+"#     .rs485.0         # Selects node with address 0 on the RS485 bus\n"
+"#             .adc-0   # Selects the first analogue input of the module\n"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:759
+#, no-wrap
+msgid "Teach Pendant module"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:780
+msgid ""
+"where _<module ID>_ is from 00 to 15.  Note that on the Teach Pendant module "
+"it cannot be changed, and pre-programmed as zero.  Upon request it can be "
+"delivered with firmware pre-programmed different ID."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:781
+#, no-wrap
+msgid "Teach Pendant module pins"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:785
+#, no-wrap
+msgid ".adc-_<0-5>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:786
+#, no-wrap
+msgid ".enc-reset"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:787
+#, no-wrap
+msgid ".enc-counts"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:788
+#, no-wrap
+msgid ".enc-rawcounts"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:789
+#, no-wrap
+msgid "The raw count is the counts, but unaffected by reset."
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:789
+#, no-wrap
+msgid ".enc-position"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:790
+#, no-wrap
+msgid "Position in scaled units (=.enc-counts/.enc-position-scale)."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:794
+#, no-wrap
+msgid "Teach Pendant module parameters"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:798
+#, no-wrap
+msgid ".adc-scale-_<0-5>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:800
+#, no-wrap
+msgid ".adc-offset-_<0-5>_"
+msgstr ""
+
+#. type: Table
+#: src/drivers/gm.adoc:802
+#, no-wrap
+msgid ".enc-position-scale"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gm.adoc:811
+#, no-wrap
+msgid ""
+"  gm.0.rs485.0.adc-0  # First analogue channel of the node.\n"
+"# gm.0                # Identifies the first GM6-PCI motion control card "
+"(PCI card address = 0)\n"
+"#     .rs485.0        # Selects node with address 0 on the RS485 bus\n"
+"#             .adc-0  # Selects the first analogue input of the module\n"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/gm.adoc:813
+#, no-wrap
+msgid "Errata"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gm.adoc:815
+#, no-wrap
+msgid "GM6-PCI card Errata"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:818
+msgid ""
+"The revision number in this section refers to the revision of the GM6-PCI "
+"card device."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/gm.adoc:819
+#, no-wrap
+msgid "Rev. 1.2"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:823
+msgid ""
+"Error: The PCI card do not boot, when Axis 1. END B switch is active (low).  "
+"Found on November 16, 2013."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:825
+msgid "Reason: This switch is connected to a boot setting pin of FPGA"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gm.adoc:827
+msgid ""
+"Problem fix/workaround: Use other switch pin, or connect only normally open "
+"switch to this switch input pin."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/gs2.adoc:5
+#, no-wrap
+msgid "GS2 VFD Driver(((GS2 VFD Driver)))"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:14
+msgid ""
+"This is a non-realtime HAL program for the GS2 series of VFDs at Automation "
+"Direct. footnote:[In Europe the equivalent can be found under the brand name "
+"Omron.]"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:16 src/drivers/mitsub-vfd.adoc:27
+#: src/drivers/pmx485.adoc:18 src/drivers/vfs11.adoc:20
+msgid "This component is loaded using the halcmd \"loadusr\" command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/gs2.adoc:20
+#, no-wrap
+msgid "loadusr -Wn spindle-vfd gs2_vfd -n spindle-vfd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:24
+msgid ""
+"The above command says: loadusr, wait for named to load, component gs2_vfd, "
+"named spindle-vfd.  The HAL `loadusr` command is described in the "
+"<<sub:hal-loadusr,loadusr>> chapter."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/gs2.adoc:25 src/drivers/mitsub-vfd.adoc:37
+#: src/drivers/pico-ppmc.adoc:44 src/drivers/vfs11.adoc:28 src/gui/mdro.adoc:54
+#, no-wrap
+msgid "Command Line Options"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:28
+msgid ""
+"'-b' or '--bits _<n>_' (default: 8) Set number of data bits to _n_, where "
+"_n_ must be from 5 to 8 inclusive."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:29
+msgid ""
+"'-d' or '--device <path>' (default: /dev/ttyS0) Set the file path to the "
+"serial device node to use."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:32
+msgid ""
+"'-g' or '--debug' Turn on debugging messages.  This will also set the "
+"verbose flag.  Debug mode will cause all modbus messages to be printed in "
+"hex on the terminal."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:34
+msgid ""
+"'-n' or '--name <string>' (default: gs2_vfd) Set the name of the HAL "
+"module.  The HAL comp name will be set to <string>, and all pin and "
+"parameter names will begin with <string>."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:35
+msgid ""
+"'-p' or '--parity {even,odd,none}' (default: odd) Set serial parity to even, "
+"odd, or none."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:37
+msgid ""
+"'-r' or '--rate _<n>_' (default: 38400) Set baud rate to _n_.  It is an "
+"error if the rate is not one of the following: 110, 300, 600, 1200, 2400, "
+"4800, 9600, 19200, 38400, 57600, 115200."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:38
+msgid "'-s' or '--stopbits {1,2}' (default: 1) Set serial stop bits to 1 or 2"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:40
+msgid ""
+"'-t' or '--target _<n>_' (default: 1) Set MODBUS target (slave) number.  "
+"This must match the device number you set on the GS2."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:41
+msgid "'-v' or '--verbose' Turn on debug messages."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:42
+msgid ""
+"'-A' or '--accel-seconds' _<n>_ (default: 10.0) Seconds to accelerate the "
+"spindle from 0 to max. RPM."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:44
+msgid ""
+"'-D' or '--decel-seconds' _<n>_ (default: 0.0) Seconds to decelerate the "
+"spindle from max. RPM to 0.  If set to 0.0 the spindle will be allowed to "
+"coast to a stop without controlled deceleration."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:48
+msgid ""
+"'-R' or '--braking-resistor' This argument should be used when a braking "
+"resistor is installed on the GS2 VFD (see Appendix A of the GS2 manual).  It "
+"disables deceleration over-voltage stall prevention (see GS2 modbus "
+"Parameter 6.05), allowing the VFD to keep braking even in situations where "
+"the motor is regenerating high voltage.  The regenerated voltage gets safely "
+"dumped into the braking resistor."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:51 src/drivers/vfs11.adoc:45
+msgid ""
+"That if there are serial configuration errors, turning on verbose may result "
+"in a flood of timeout errors."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:55
+msgid ""
+"With _<name>_ being \"gs2_vfd\" or the name given during loading with the "
+"`-n` option:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:57
+msgid "'_<name>_.DC-bus-volts' (float, out) DC bus voltage of the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:58
+msgid "'_<name>_.at-speed' (bit, out) when drive is at commanded speed"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:59
+msgid "'_<name>_.err-reset' (bit, in) reset errors sent to VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:60
+msgid "'_<name>_.firmware-revision' (s32, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:61
+msgid "'_<name>_.frequency-command' (float, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:62
+msgid "'_<name>_.frequency-out' (float, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:63
+msgid "'_<name>_.is-stopped' (bit, out) when the VFD reports 0 Hz output"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:64
+msgid "'_<name>_.load-percentage' (float, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:65
+msgid "'_<name>_.motor-RPM' (float, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:66
+msgid "'_<name>_.output-current' (float, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:67
+msgid "'_<name>_.output-voltage' (float, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:68
+msgid "'_<name>_.power-factor' (float, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:69
+msgid "'_<name>_.scale-frequency' (float, out) from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:71
+msgid ""
+"'_<name>_.speed-command' (float, in) speed sent to VFD in RPM It is an error "
+"to send a speed faster than the Motor Max RPM as set in the VFD."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:72
+msgid "'_<name>_.spindle-fwd' (bit, in) 1 for FWD and 0 for REV sent to VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:73
+msgid "'_<name>_.spindle-rev' (bit, in) 1 for REV and 0 if off"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:74
+msgid "'_<name>_.spindle-on' (bit, in) 1 for ON and 0 for OFF sent to VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:75
+msgid "'_<name>_.status-1' (s32, out) Drive Status of the VFD (see the GS2 manual)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:76
+msgid "'_<name>_.status-2' (s32, out) Drive Status of the VFD (see the GS2 manual)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:80
+msgid ""
+"The status value is a sum of all the bits that are on.  So a 163 which means "
+"the drive is in the run mode is the sum of 3 (run) + 32 (freq set by serial) "
+"+ 128 (operation set by serial)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:84
+msgid ""
+"With _<name>_ being gs2_vfd or the name given during loading with the `-n` "
+"option:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:86
+msgid "'_<name>_.error-count' (s32, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:87
+msgid ""
+"'_<name>_.loop-time' (float, RW) how often the modbus is polled (default: "
+"0.1)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:88
+msgid "'_<name>_.nameplate-HZ' (float, RW) Nameplate Hz of motor (default: 60)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:89
+msgid "'_<name>_.nameplate-RPM' (float, RW) Nameplate RPM of motor (default: 1730)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:90
+msgid "'_<name>_.retval' (s32, RW) the return value of an error in HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:91
+msgid "'_<name>_.tolerance' (s32, RW) speed tolerance (default: 0.01)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:92
+msgid ""
+"'_<name>_.ack-delay' (s32, RW) number of read/write cycles before checking "
+"at-speed (default 2)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/gs2.adoc:94
+msgid ""
+"For an example of using this component to drive a spindle see the "
+"<<cha:gs2-spindle,GS2 Spindle>> example."
+msgstr ""
+
+#.  vim: set syntax=asciidoc:
+#. type: Title =
+#: src/drivers/hal_pi_gpio.adoc:3
+#, no-wrap
+msgid "HAL Driver for Raspberry Pi GPIO pins"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:7
+msgid ""
+"Note: This driver will not be compiled into images aimed at non-ARM CPUS.  "
+"It is only really intended to work on the Raspberry Pi. It may, or may not, "
+"work on similar boards or direct clones."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hal_pi_gpio.adoc:8 src/drivers/hal_gpio.adoc:10
+#, no-wrap
+msgid "Purpose"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:12
+msgid ""
+"This driver allows the use of the Rapberry Pi GPIO pins in a way analogous "
+"to the parallel port driver on x86 PCs.  It can use the same step "
+"generators, encoder counters and similar components."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hal_pi_gpio.adoc:17
+#, no-wrap
+msgid "loadrt hal_pi_gpio dir=0x13407 exclude=0x1F64BF8\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:20
+msgid ""
+"The \"dir\" mask determines whether the pins are inputs and outputs, the "
+"exclude mask prevents the driver from using the pins (and so allows them to "
+"be used for their normal RPi purposes such as SPI or UART)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:22
+msgid ""
+"The mask can be in decimal or hexadecimal (hex may be easier as there will "
+"be no carries)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:24
+msgid ""
+"To determine the value of the masks, add up the hex/decimal values for all "
+"pins that should be configured as output, and analogously for all pins that "
+"should be excluded according to the following table."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/hal_pi_gpio.adoc:25
+#, no-wrap
+msgid ""
+"GPIO masks - mapping of GPIO numbers (leftmost column) to physical pin "
+"numbers as printed on the Raspberry Pi board (rightmost column) and the "
+"decimal/hexadecimal values that contribute to the value of the mask."
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:28
+#, no-wrap
+msgid "GPIO Num"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:28
+#, no-wrap
+msgid "Decimal"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:28
+#, no-wrap
+msgid "Hex"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:30
+#, no-wrap
+msgid "Pin Num"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:30
+#, no-wrap
+msgid "0x00000001"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:31
+#, no-wrap
+msgid "0x00000002"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:32
+#, no-wrap
+msgid "0x00000004"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:33
+#, no-wrap
+msgid "0x00000008"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:34 src/remap/remap.adoc:1828
+#, no-wrap
+msgid "29"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:34
+#, no-wrap
+msgid "0x00000010"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:35 src/remap/remap.adoc:1836
+#, no-wrap
+msgid "31"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:35 src/drivers/hal_pi_gpio.adoc:41
+#: src/remap/remap.adoc:1837
+#, no-wrap
+msgid "32"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:35
+#, no-wrap
+msgid "0x00000020"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:36 src/remap/remap.adoc:1887
+#, no-wrap
+msgid "64"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:36
+#, no-wrap
+msgid "0x00000040"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:37
+#, no-wrap
+msgid "128"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:37
+#, no-wrap
+msgid "0x00000080"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:38
+#, no-wrap
+msgid "256"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:38
+#, no-wrap
+msgid "0x00000100"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:39
+#, no-wrap
+msgid "512"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:39
+#, no-wrap
+msgid "0x00000200"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:40
+#, no-wrap
+msgid "1024"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:40
+#, no-wrap
+msgid "0x00000400"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:41
+#, no-wrap
+msgid "2048"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:41
+#, no-wrap
+msgid "0x00000800"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:42 src/remap/remap.adoc:1838
+#, no-wrap
+msgid "33"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:42
+#, no-wrap
+msgid "4096"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:42
+#, no-wrap
+msgid "0x00001000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:43
+#, no-wrap
+msgid "8192"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:43 src/remap/remap.adoc:1687
+#, no-wrap
+msgid "0x00002000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:44
+#, no-wrap
+msgid "16384"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:44 src/remap/remap.adoc:1688
+#, no-wrap
+msgid "0x00004000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:45 src/remap/remap.adoc:1841
+#, no-wrap
+msgid "36"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:45
+#, no-wrap
+msgid "32768"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:45 src/remap/remap.adoc:1689
+#, no-wrap
+msgid "0x00008000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:46
+#, no-wrap
+msgid "65536"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:46 src/remap/remap.adoc:1690
+#, no-wrap
+msgid "0x00010000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:47
+#, no-wrap
+msgid "131072"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:47
+#, no-wrap
+msgid "0x00020000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:48 src/remap/remap.adoc:1840
+#, no-wrap
+msgid "35"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:48
+#, no-wrap
+msgid "262144"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:48
+#, no-wrap
+msgid "0x00040000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:49 src/remap/remap.adoc:1843
+#, no-wrap
+msgid "38"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:49
+#, no-wrap
+msgid "524288"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:49
+#, no-wrap
+msgid "0x00080000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:50 src/remap/remap.adoc:1851
+#, no-wrap
+msgid "40"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:50
+#, no-wrap
+msgid "1048576"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:50
+#, no-wrap
+msgid "0x00100000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:51
+#, no-wrap
+msgid "2097152"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:51
+#, no-wrap
+msgid "0x00200000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:52
+#, no-wrap
+msgid "4194304"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:52
+#, no-wrap
+msgid "0x00400000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:53
+#, no-wrap
+msgid "8388608"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:53
+#, no-wrap
+msgid "0x00800000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:54
+#, no-wrap
+msgid "16777216"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:54
+#, no-wrap
+msgid "0x01000000"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:55 src/remap/remap.adoc:1842
+#, no-wrap
+msgid "37"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:55 src/plasma/qtplasmac.adoc:3963
+#: src/remap/remap.adoc:1826
+#, no-wrap
+msgid "27"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:55
+#, no-wrap
+msgid "33554432"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hal_pi_gpio.adoc:55
+#, no-wrap
+msgid "0x02000000"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:60
+msgid ""
+"Note: In the calculation of the individual pin's mask value its GPIO numbers "
+"are used, the value being derived as 2^(_GPIO number_ - 2), whereas in the "
+"naming of the HAL pins it is the Raspberry Pi header pin numbers."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:62
+msgid ""
+"So, for example, if you enable GPIO 17 as an output (dir=0x8000) then that "
+"output will be controlled by the hal pin *hal_pi_gpio.pin-11-out*."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:66
+msgid "hal_pi_gpio.pin-__NN__-out"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:67
+msgid "hal_pi_gpio.pin-__NN__-in"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:69
+msgid "Depending on the dir and exclude masks."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:73
+msgid ""
+"Only the standard timing parameters which are created for all components "
+"exist."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:78
+#, no-wrap
+msgid ""
+"*hal_pi_gpio.read.tmax\n"
+"*hal_pi_gpio.read.tmax-increased\n"
+"*hal_pi_gpio.write.tmax\n"
+"*hal_pi_gpio.write.tmax-increased\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:80
+msgid "For unknown reasons the driver also creates HAL _pins_ to indicate timing"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:83
+#, no-wrap
+msgid ""
+"*hal_pi_gpio.read.time\n"
+"*hal_pi_gpio.write.time\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:88
+msgid ""
+"'hal_pi_gpio.read' - Add this to the base thread to update the HAL pin "
+"values to match the physical input values."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:89
+msgid ""
+"'hal_pi_gpio.write' - Add this to the base thread to update the physical "
+"pins to match the HAL values."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:91
+msgid ""
+"Typically the 'read' function will be early in the call list, before any "
+"encoder counters and the 'write' function will be later in the call list, "
+"after stepgen.make-pulses."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hal_pi_gpio.adoc:93 src/drivers/opto22.adoc:153
+#, no-wrap
+msgid "Pin Numbering"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:98
+msgid ""
+"The GPIO connector and the pinout has been consistent since around 2015.  "
+"These older Pi models are probably a poor choice for LinuxCNC anyway.  "
+"However, this driver is designed to work with them, and will detect and "
+"correctly configure for the two alternative pinouts."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:100
+msgid ""
+"The current pinout mapping between GPIO numbers and connector pin numbers is "
+"included in the table above."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:102
+msgid ""
+"Note that the config string uses GPIO numbers, but once the driver is loaded "
+"the HAL pin names refer to connector pin numbers."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:104
+msgid ""
+"This may be more logical than it first appears. When setting up you need to "
+"configure enough pins of each type, whilst avoiding overwriting any other "
+"functions that your system needs. Then once the driver is loaded, in the HAL "
+"layer you just want to know where to connect the wires for each HAL pin."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hal_pi_gpio.adoc:105 src/drivers/hal_gpio.adoc:151
+#, no-wrap
+msgid "Known Bugs"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_pi_gpio.adoc:107
+msgid ""
+"At the moment (2023-07-16) this driver only seems to work on Raspbian as the "
+"generic Debian image does not set up the correct interfaces in /dev/gpiomem "
+"and restricts access to the /sys/mem interface."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/hostmot2.adoc:5
+#, no-wrap
+msgid "Mesa HostMot2 Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:23
+msgid ""
+"HostMot2 is an FPGA configuration developed by Mesa Electronics for their "
+"line of 'Anything I/O' motion control cards.  The firmware is open source, "
+"portable and flexible.  It can be configured (at compile-time)  with zero or "
+"more instances (an object created at runtime) of each of several Modules: "
+"encoders (quadrature counters), PWM generators, and step/dir generators.  "
+"The firmware can be configured (at run-time) to connect each of these "
+"instances to pins on the I/O headers.  I/O pins not driven by a Module "
+"instance revert to general-purpose bi-directional digital I/O."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:24
+#, no-wrap
+msgid "Firmware Binaries"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/hostmot2.adoc:26
+#, no-wrap
+msgid "50 Pin Header FPGA cards"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:30
+msgid ""
+"Several pre-compiled HostMot2 firmware binaries are available for the "
+"different Anything I/O boards.  This list is incomplete, check the "
+"hostmot2-firmware distribution for up-to-date firmware lists."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:32
+msgid "3x20 (144 I/O pins): using hm2_pci module"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:33
+msgid "24-channel servo"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:34
+msgid "16-channel servo plus 24 step/dir generators"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:36
+msgid "5I22 (96 I/O pins): using hm2_pci module"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:37
+msgid "16-channel servo"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:38
+msgid "8-channel servo plus 24 step/dir generators"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:40
+msgid "5I20, 5I23, 4I65, 4I68 (72 I/O pins): using hm2_pci module"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:41
+msgid "12-channel servo"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:42
+msgid "8-channel servo plus 4 step/dir generators"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:43
+msgid "4-channel servo plus 8 step/dir generators"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:45
+msgid "7I43 (48 I/O pins): using hm2_7i43 module"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:46
+msgid "8-channel servo (8 PWM generators & 8 encoders)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:47
+msgid "4-channel servo plus 4 step/dir generators"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/hostmot2.adoc:48
+#, no-wrap
+msgid "DB25 FPGA cards"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:52
+msgid ""
+"The 5I25 Superport FPGA card is preprogrammed when purchased and does not "
+"need a firmware binary."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:53
+#, no-wrap
+msgid "Installing Firmware"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:60
+msgid ""
+"Depending on how you installed LinuxCNC you may have to open the Synaptic "
+"Package Manager from the System menu and install the package for your Mesa "
+"card. The quickest way to find them is to do a search for 'hostmot2' in the "
+"Synaptic Package Manager. Mark the firmware for installation, then apply."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:61
+#, no-wrap
+msgid "Loading HostMot2"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:68
+msgid ""
+"The LinuxCNC support for the HostMot2 firmware is split into a generic "
+"driver called 'hostmot2' and two low-level I/O drivers for the Anything I/O "
+"boards. The low-level I/O drivers are 'hm2_7i43' and 'hm2_pci' (for all the "
+"PCI- and PC-104/Plus-based Anything I/O boards). The hostmot2 driver must be "
+"loaded first, using a HAL command like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:72
+#, no-wrap
+msgid "loadrt hostmot2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:75
+msgid "See the hostmot2(9) man page for details."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:80
+msgid ""
+"The hostmot2 driver by itself does nothing, it needs access to actual boards "
+"running the HostMot2 firmware. The low-level I/O drivers provide this "
+"access. The low-level I/O drivers are loaded with commands like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:85
+#, no-wrap
+msgid ""
+"loadrt hm2_pci config=\"firmware=hm2/5i20/SVST8_4.BIT\n"
+"       num_encoders=3 num_pwmgens=3 num_stepgens=1\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:88
+msgid "The config parameters are described in the hostmot2 man page."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/hostmot2.adoc:89 src/man/man9/hostmot2.9.adoc:1441
+#, no-wrap
+msgid "Watchdog"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:93
+msgid ""
+"The HostMot2 firmware may include a watchdog Module; if it does, the "
+"hostmot2 driver will use it."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:96
+msgid ""
+"The watchdog must be petted by LinuxCNC periodically or it will bite.  The "
+"hm2 write function (see below) pets the watchdog."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:104
+msgid ""
+"When the watchdog bites, all the board's I/O pins are disconnected from "
+"their Module instances and become high-impedance inputs (pulled high).  The "
+"state of the HostMot2 firmware modules is not disturbed (except for the "
+"configuration of the I/O Pins). Encoder instances keep counting quadrature "
+"pulses, and pwm- and step-generators keep generating signals (which are not "
+"relayed to the motors, because the I/O Pins have become inputs)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:107
+msgid ""
+"Resetting the watchdog resets the I/O pins to the configuration chosen at "
+"load-time."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:110 src/man/man9/hostmot2.9.adoc:1464
+msgid ""
+"If the firmware includes a watchdog, the following HAL objects will be "
+"exported:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:116
+msgid ""
+"'has_bit' - (bit i/o) True if the watchdog has bit, False if the watchdog "
+"has not bit. If the watchdog has bit and the has_bit bit is True, the user "
+"can reset it to False to resume operation."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:123
+msgid ""
+"'timeout_ns' - (u32 read/write) Watchdog timeout, in nanoseconds.  This is "
+"initialized to 5,000,000 (5 milliseconds) at module load time.  If more than "
+"this amount of time passes between calls to the hm2 write function, the "
+"watchdog will bite."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:124
+#, no-wrap
+msgid "HostMot2 Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:127
+msgid "'hm2_<BoardType>.<BoardNum>.read' - Read all inputs, update input HAL pins."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:129
+msgid "'hm2_<BoardType>.<BoardNum>.write' - Write all outputs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:132
+msgid ""
+"'hm2_<BoardType>.<BoardNum>.read_gpio' - Read the GPIO input pins only.  "
+"(This function is not available on the 7I43 due to limitations of the EPP "
+"bus.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:135
+msgid ""
+"'hm2_<BoardType>.<BoardNum>.write_gpio' - Write the GPIO control registers "
+"and output pins only.  (This function is not available on the 7I43 due to "
+"limitations of the EPP bus.)"
+msgstr ""
+
+#. type: delimited block =
+#: src/drivers/hostmot2.adoc:142
+msgid ""
+"The above 'read_gpio' and 'write_gpio' functions should not normally be "
+"needed, since the GPIO bits are read and written along with everything else "
+"in the standard 'read' and 'write' functions above, which are normally run "
+"in the servo thread."
+msgstr ""
+
+#. type: delimited block =
+#: src/drivers/hostmot2.adoc:148
+msgid ""
+"The 'read_gpio' and 'write_gpio' functions were provided in case some very "
+"fast (frequently updated) I/O is needed. These functions should be run in "
+"the base thread. If you have need for this, please send an email and tell us "
+"about it, and what your application is."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:150
+#, no-wrap
+msgid "Pinouts"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:158
+msgid ""
+"The hostmot2 driver does not have a particular pinout. The pinout comes from "
+"the firmware that the hostmot2 driver sends to the Anything I/O board. Each "
+"firmware has different pinout, and the pinout depends on how many of the "
+"available encoders, pwmgens, and stepgens are used. To get a pinout list for "
+"your configuration after loading LinuxCNC in the terminal window type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:161
+#, no-wrap
+msgid "dmesg > hm2.txt\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:165
+msgid ""
+"The resulting text file will contain lots of information as well as the "
+"pinout for the HostMot2 and any error and warning messages."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:168
+msgid ""
+"To reduce the clutter by clearing the message buffer before loading LinuxCNC "
+"type the following in the terminal window:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:180
+msgid ""
+"Now when you run LinuxCNC and then do a 'dmesg > hm2.txt' in the terminal "
+"only the info from the time you loaded LinuxCNC will be in your file along "
+"with your pinout. The file will be in the current directory of the terminal "
+"window. Each line will contain the card name, the card number, the I/O Pin "
+"number, the connector and pin, and the usage. From this printout you will "
+"know the physical connections to your card based on your configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:182
+msgid "An example of a 5I20 configuration:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:189
+#, no-wrap
+msgid ""
+"[HOSTMOT2]\n"
+"DRIVER=hm2_pci\n"
+"BOARD=5i20\n"
+"CONFIG=\"firmware=hm2/5i20/SVST8_4.BIT num_encoders=1 num_pwmgens=1 "
+"num_stepgens=3\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:192
+msgid "The above configuration produced this printout."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:222
+#, no-wrap
+msgid ""
+"[ 1141.053386] hm2/hm2_5i20.0: 72 I/O Pins used:\n"
+"[ 1141.053394] hm2/hm2_5i20.0: IO Pin 000 (P2-01): IOPort\n"
+"[ 1141.053397] hm2/hm2_5i20.0: IO Pin 001 (P2-03): IOPort\n"
+"[ 1141.053401] hm2/hm2_5i20.0: IO Pin 002 (P2-05): Encoder #0, pin B "
+"(Input)\n"
+"[ 1141.053405] hm2/hm2_5i20.0: IO Pin 003 (P2-07): Encoder #0, pin A "
+"(Input)\n"
+"[ 1141.053408] hm2/hm2_5i20.0: IO Pin 004 (P2-09): IOPort\n"
+"[ 1141.053411] hm2/hm2_5i20.0: IO Pin 005 (P2-11): Encoder #0, pin Index "
+"(Input)\n"
+"[ 1141.053415] hm2/hm2_5i20.0: IO Pin 006 (P2-13): IOPort\n"
+"[ 1141.053418] hm2/hm2_5i20.0: IO Pin 007 (P2-15): PWMGen #0, pin Out0 (PWM "
+"or Up) (Output)\n"
+"[ 1141.053422] hm2/hm2_5i20.0: IO Pin 008 (P2-17): IOPort\n"
+"[ 1141.053425] hm2/hm2_5i20.0: IO Pin 009 (P2-19): PWMGen #0, pin Out1 (Dir "
+"or Down) (Output)\n"
+"[ 1141.053429] hm2/hm2_5i20.0: IO Pin 010 (P2-21): IOPort\n"
+"[ 1141.053432] hm2/hm2_5i20.0: IO Pin 011 (P2-23): PWMGen #0, pin Not-Enable "
+"(Output)\n"
+"<snip>...\n"
+"[ 1141.053589] hm2/hm2_5i20.0: IO Pin 060 (P4-25): StepGen #2, pin Step "
+"(Output)\n"
+"[ 1141.053593] hm2/hm2_5i20.0: IO Pin 061 (P4-27): StepGen #2, pin Direction "
+"(Output)\n"
+"[ 1141.053597] hm2/hm2_5i20.0: IO Pin 062 (P4-29): StepGen #2, pin (unused) "
+"(Output)\n"
+"[ 1141.053601] hm2/hm2_5i20.0: IO Pin 063 (P4-31): StepGen #2, pin (unused) "
+"(Output)\n"
+"[ 1141.053605] hm2/hm2_5i20.0: IO Pin 064 (P4-33): StepGen #2, pin (unused) "
+"(Output)\n"
+"[ 1141.053609] hm2/hm2_5i20.0: IO Pin 065 (P4-35): StepGen #2, pin (unused) "
+"(Output)\n"
+"[ 1141.053613] hm2/hm2_5i20.0: IO Pin 066 (P4-37): IOPort\n"
+"[ 1141.053616] hm2/hm2_5i20.0: IO Pin 067 (P4-39): IOPort\n"
+"[ 1141.053619] hm2/hm2_5i20.0: IO Pin 068 (P4-41): IOPort\n"
+"[ 1141.053621] hm2/hm2_5i20.0: IO Pin 069 (P4-43): IOPort\n"
+"[ 1141.053624] hm2/hm2_5i20.0: IO Pin 070 (P4-45): IOPort\n"
+"[ 1141.053627] hm2/hm2_5i20.0: IO Pin 071 (P4-47): IOPort\n"
+"[ 1141.053811] hm2/hm2_5i20.0: registered\n"
+"[ 1141.053815] hm2_5i20.0: initialized AnyIO board at 0000:02:02.0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:228
+msgid ""
+"That the I/O Pin nnn will correspond to the pin number shown on the HAL "
+"Configuration screen for GPIOs. Some of the StepGen, Encoder and PWMGen will "
+"also show up as GPIOs in the HAL Configuration screen."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:229
+#, no-wrap
+msgid "PIN Files"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:233
+msgid ""
+"The default pinout is described in a .PIN file (human-readable text).  When "
+"you install a firmware package the .PIN files are installed in"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:236
+#, no-wrap
+msgid "/usr/share/doc/hostmot2-firmware-<board>/\n"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/hostmot2.adoc:238 src/drivers/hostmot2.adoc:290
+#: src/drivers/hostmot2.adoc:301 src/drivers/hostmot2.adoc:312
+#: src/drivers/hostmot2.adoc:329 src/drivers/hostmot2.adoc:343
+#: src/drivers/hostmot2.adoc:357 src/drivers/hostmot2.adoc:367
+#: src/drivers/hostmot2.adoc:379 src/drivers/hostmot2.adoc:706
+#, no-wrap
+msgid "Firmware"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:245
+msgid ""
+"The selected firmware (.BIT file) and configuration is uploaded from the PC "
+"motherboard to the Mesa mothercard on LinuxCNC startup.  If you are using "
+"Run In Place, you must still install a hostmot2-firmware-<board> "
+"package. There is more information about firmware and configuration in the "
+"'Configurations' section."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:246 src/gcode/m-code.adoc:235
+#: src/gui/gmoccapy.adoc:518 src/gui/pyvcp.adoc:322 src/gui/qtdragon.adoc:437
+#: src/gui/qtdragon.adoc:810 src/gui/qtdragon.adoc:875
+#: src/motion/external-offsets.adoc:47 src/motion/switchkins.adoc:109
+#, no-wrap
+msgid "HAL Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:252
+msgid ""
+"The HAL pins for each configuration can be seen by opening up 'Show HAL "
+"Configuration' from the Machine menu. All the HAL pins and parameters can be "
+"found there. The following figure is of the 5I20 configuration used above."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/hostmot2.adoc:254 src/drivers/hostmot2.adoc:255
+#, no-wrap
+msgid "5i20 HAL Pins"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/hostmot2.adoc:255
+#, no-wrap
+msgid "images/5i20-halpins.png"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:257
+#, no-wrap
+msgid "Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:263
+msgid ""
+"The Hostmot2 firmware is available in several versions, depending on what "
+"you are trying to accomplish. You can get a reminder of what a particular "
+"firmware is for by looking at the name. Let's look at a couple of examples."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:269
+msgid ""
+"In the 7I43 (two ports), SV8 ('Servo 8') would be for having 8 servos or "
+"fewer, using the 'classic' 7I33 4-axis (per port) servo board.  So 8 servos "
+"would use up all 48 signals in the two ports. But if you only needed 3 "
+"servos, you could say 'num_encoders=3' and 'num_pwmgens=3' and recover 5 "
+"servos at 6 signals each, thus gaining 30 bits of GPIO."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:278
+msgid ""
+"Or, in the 5I22 (four ports), SVST8_24 ('Servo 8, Stepper 24') would be for "
+"having 8 servos or fewer (7I33 x2 again), and 24 steppers or fewer (7I47 "
+"x2). This would use up all four ports.  If you only needed 4 servos you "
+"could say 'num_encoders=4' and 'num_pwmgens=4' and recover 1 port (and save "
+"a 7I33).  And if you only needed 12 steppers you could say 'num_stepgens=12' "
+"and free up one port (and save a 7I47).  So in this way we can save two "
+"ports (48 bits) for GPIO."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:283
+msgid ""
+"Here are tables of the firmwares available in the official packages.  There "
+"may be additional firmwares available at the Mesanet.com website that have "
+"not yet made it into the LinuxCNC official firmware packages, so check there "
+"too."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:287
+msgid ""
+"3x20 (6-port various) Default Configurations (The 3x20 comes in 1M, 1.5M, "
+"and 2M gate versions.  So far, all firmware is available in all gate sizes.)"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:290 src/drivers/hostmot2.adoc:562
+#, no-wrap
+msgid "PWMGen"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:290 src/drivers/hostmot2.adoc:301
+#: src/drivers/hostmot2.adoc:312 src/drivers/hostmot2.adoc:329
+#: src/drivers/hostmot2.adoc:343 src/drivers/hostmot2.adoc:357
+#: src/drivers/hostmot2.adoc:367 src/drivers/hostmot2.adoc:379
+#: src/drivers/hostmot2.adoc:464
+#, no-wrap
+msgid "StepGen"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:291 src/drivers/hostmot2.adoc:302
+#: src/drivers/hostmot2.adoc:313 src/drivers/hostmot2.adoc:330
+#: src/drivers/hostmot2.adoc:344 src/drivers/hostmot2.adoc:358
+#: src/drivers/hostmot2.adoc:368 src/drivers/hostmot2.adoc:380
+#: src/drivers/hostmot2.adoc:398
+#, no-wrap
+msgid "GPIO"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:291
+#, no-wrap
+msgid "SV24"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:292
+#, no-wrap
+msgid "SVST16_24"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:298
+msgid ""
+"5I22 (4-port PCI) Default Configurations (The 5I22 comes in 1M and 1.5M gate "
+"versions.  So far, all firmware is available in all gate sizes.)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:301 src/drivers/hostmot2.adoc:312
+#: src/drivers/hostmot2.adoc:329 src/drivers/hostmot2.adoc:343
+#: src/drivers/hostmot2.adoc:357 src/drivers/hostmot2.adoc:367
+#: src/drivers/hostmot2.adoc:379
+#, no-wrap
+msgid "PWM"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:302
+#, no-wrap
+msgid "SV16"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:303 src/drivers/hostmot2.adoc:315
+#: src/drivers/hostmot2.adoc:332 src/drivers/hostmot2.adoc:345
+#: src/drivers/hostmot2.adoc:372 src/drivers/hostmot2.adoc:383
+#, no-wrap
+msgid "SVST2_4_7I47"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:304 src/remap/remap.adoc:1901
+#, no-wrap
+msgid "72"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:304
+#, no-wrap
+msgid "SVST8_8"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:305
+#, no-wrap
+msgid "SVST8_24"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:309
+msgid "5I23 (3-port PCI) Default Configurations (The 5I23 has 400k gates.)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:313 src/drivers/hostmot2.adoc:330
+#: src/drivers/hostmot2.adoc:344 src/drivers/hostmot2.adoc:358
+#, no-wrap
+msgid "SV12"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:314 src/drivers/hostmot2.adoc:331
+#, no-wrap
+msgid "SVST2_8"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:314 src/drivers/hostmot2.adoc:318
+#: src/drivers/hostmot2.adoc:331
+#, no-wrap
+msgid "8 (tbl5)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:316 src/drivers/hostmot2.adoc:333
+#: src/drivers/hostmot2.adoc:346 src/remap/remap.adoc:1859
+#, no-wrap
+msgid "48"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:316 src/drivers/hostmot2.adoc:333
+#, no-wrap
+msgid "SV12_2X7I48_72"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:317 src/drivers/hostmot2.adoc:334
+#, no-wrap
+msgid "SV12IM_2X7I48_72"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:317 src/drivers/hostmot2.adoc:334
+#, no-wrap
+msgid "12 (+IM)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:318 src/drivers/hostmot2.adoc:346
+#, no-wrap
+msgid "SVST4_8"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:319 src/drivers/hostmot2.adoc:335
+#: src/drivers/hostmot2.adoc:347 src/drivers/hostmot2.adoc:359
+#, no-wrap
+msgid "SVST8_4"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:319 src/drivers/hostmot2.adoc:335
+#: src/drivers/hostmot2.adoc:369 src/drivers/hostmot2.adoc:381
+#, no-wrap
+msgid "4 (tbl5)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:320 src/drivers/hostmot2.adoc:336
+#: src/drivers/hostmot2.adoc:348 src/drivers/hostmot2.adoc:360
+#, no-wrap
+msgid "SVST8_4IM2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:320 src/drivers/hostmot2.adoc:321
+#: src/drivers/hostmot2.adoc:336 src/drivers/hostmot2.adoc:348
+#: src/drivers/hostmot2.adoc:349 src/drivers/hostmot2.adoc:360
+#, no-wrap
+msgid "8 (+IM)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:321 src/drivers/hostmot2.adoc:349
+#, no-wrap
+msgid "SVST8_8IM2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:322
+#, no-wrap
+msgid "SVTP6_7I39"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:322
+#, no-wrap
+msgid "0 (6 BLDC)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:326
+msgid "5I20 (3-port PCI) Default Configurations (The 5I20 has 200k gates.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:340
+msgid "4I68 (3-port PC/104) Default Configurations (The 4I68 has 400k gates.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:354
+msgid "4I65 (3-port PC/104) Default Configurations (The 4I65 has 200k gates.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:364
+msgid "7I43 (2-port parallel) 400k gate versions, Default Configurations"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:368 src/drivers/hostmot2.adoc:380
+#, no-wrap
+msgid "SV8"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:369 src/drivers/hostmot2.adoc:381
+#, no-wrap
+msgid "SVST4_4"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:370 src/drivers/hostmot2.adoc:382
+#, no-wrap
+msgid "SVST4_6"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:370 src/drivers/hostmot2.adoc:382
+#, no-wrap
+msgid "6 (tbl3)"
+msgstr ""
+
+#. type: Table
+#: src/drivers/hostmot2.adoc:371
+#, no-wrap
+msgid "SVST4_12"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:376
+msgid "7I43 (2-port parallel) 200k gate versions, Default Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:392
+msgid ""
+"Even though several cards may have the same named .BIT file you cannot use a "
+".BIT file that is not for that card. Different cards have different clock "
+"frequencies so make sure you load the proper .BIT file for your card. Custom "
+"hm2 firmwares can be created for special applications and you may see some "
+"custom hm2 firmwares in the directories with the default ones."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:397
+msgid ""
+"When you load the board-driver (hm2_pci or hm2_7i43), you can tell it to "
+"disable instances of the three primary modules (pwmgen, stepgen, and "
+"encoder) by setting the count lower. Any I/O pins belonging to disabled "
+"module instances become GPIOs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:406
+msgid ""
+"General Purpose I/O pins on the board which are not used by a module "
+"instance are exported to HAL as 'full' GPIO pins. Full GPIO pins can be "
+"configured at run-time to be inputs, outputs, or open drains, and have a HAL "
+"interface that exposes this flexibility. I/O pins that are owned by an "
+"active module instance are constrained by the requirements of the owning "
+"module, and have a restricted HAL interface."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:411
+msgid ""
+"GPIOs have names like 'hm2_<BoardType>.<BoardNum>.gpio.<IONum>.' IONum is a "
+"three-digit number. The mapping from IONum to connector and "
+"pin-on-that-connector is written to the syslog when the driver loads, and "
+"it's documented in Mesa's manual for the Anything I/O boards."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:415
+msgid ""
+"The hm2 GPIO representation is modeled after the Digital Inputs and Digital "
+"Outputs described in the Canonical Device Interface (part of the HAL General "
+"Reference document)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:417
+msgid "GPIO pins default to input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:423
+msgid ""
+"'in' - (Bit, Out) Normal state of the hardware input pin.  Both full GPIO "
+"pins and I/O pins used as inputs by active module instances have this pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:427
+msgid ""
+"'in_not' - (Bit, Out) Inverted state of the hardware input pin.  Both full "
+"GPIO pins and I/O pins used as inputs by active module instances have this "
+"pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:431
+msgid ""
+"'out' - (Bit, In) Value to be written (possibly inverted) to the hardware "
+"output pin.  Only full GPIO pins have this pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:441
+msgid ""
+"'invert_output' - (Bit, RW) This parameter only has an effect if the "
+"'is_output' parameter is true.  If this parameter is true, the output value "
+"of the GPIO will be the inverse of the value on the 'out' HAL pin. Only full "
+"GPIO pins and I/O pins used as outputs by active module instances have this "
+"parameter. To invert an active module pin you have to invert the GPIO pin "
+"not the module pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:455
+msgid ""
+"'is_opendrain' - (Bit, RW) This parameter only has an effect if the "
+"'is_output' parameter is true.  If this parameter is false, the GPIO behaves "
+"as a normal output pin: the I/O pin on the connector is driven to the value "
+"specified by the 'out' HAL pin (possibly inverted), and the value of the "
+"'in' and 'in_not' HAL pins is undefined. If this parameter is true, the GPIO "
+"behaves as an open-drain pin. Writing 0 to the 'out' HAL pin drives the I/O "
+"pin low, writing 1 to the 'out' HAL pin puts the I/O pin in a high-impedance "
+"state. In this high-impedance state the I/O pin floats (weakly pulled high), "
+"and other devices can drive the value; the resulting value on the I/O pin is "
+"available on the 'in' and 'in_not' pins. Only full GPIO pins and I/O pins "
+"used as outputs by active module instances have this parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:463
+msgid ""
+"'is_output' - (Bit, RW) If set to 0, the GPIO is an input.  The I/O pin is "
+"put in a high-impedance state (weakly pulled high), to be driven by other "
+"devices. The logic value on the I/O pin is available in the 'in' and "
+"'in_not' HAL pins. Writes to the 'out' HAL pin have no effect. If this "
+"parameter is set to 1, the GPIO is an output; its behavior then depends on "
+"the 'is_opendrain' parameter. Only full GPIO pins have this parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:470
+msgid ""
+"StepGens have names like 'hm2_<BoardType>.<BoardNum>.stepgen.<Instance>'.  "
+"'Instance' is a two-digit number that corresponds to the HostMot2 stepgen "
+"instance number.  There are 'num_stepgens' instances, starting with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:475
+msgid ""
+"Each stepgen allocates 2-6 I/O pins (selected at firmware compile time), but "
+"currently only uses two: Step and Direction outputs.  footnote:[At present, "
+"the firmware supports multi-phase stepper outputs, but the driver "
+"doesn't. Interested volunteers are solicited.]"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:481
+msgid ""
+"The StepGen representation is modeled on the stepgen software "
+"component. StepGen default is active high step output (high during step time "
+"low during step space). To invert a StepGen output pin you invert the "
+"corresponding GPIO pin that is being used by StepGen. To find the GPIO pin "
+"being used for the StepGen output run 'dmesg' as shown above."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:483
+msgid "Each StepGen instance has the following pins and parameters:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:489
+msgid ""
+"'control-type' - (Bit, In) Switches between position control mode (0)  and "
+"velocity control mode (1).  Defaults to position control (0)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:491
+msgid "'counts' - (s32, Out) Feedback position in counts (number of steps)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:494
+msgid ""
+"'enable' - (Bit, In) Enables output steps. When false, no steps are "
+"generated."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:497
+msgid ""
+"'position-cmd' - (Float, In) Target position of stepper motion, in "
+"user-defined position units."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:500
+msgid ""
+"'position-fb' - (Float, Out) Feedback position in user-defined position "
+"units (counts / position_scale)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:505
+msgid ""
+"'velocity-cmd' - (Float, In) Target velocity of stepper motion, in "
+"user-defined position units per second.  This pin is only used when the "
+"stepgen is in velocity control mode (control-type=1)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:508
+msgid ""
+"'velocity-fb' - (Float, Out) Feedback velocity in user-defined position "
+"units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:513
+msgid ""
+"'dirhold' - (u32, RW) Minimum duration of stable Direction signal after a "
+"step ends, in nanoseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:516
+msgid ""
+"'dirsetup' - (u32, RW) Minimum duration of stable Direction signal before a "
+"step begins, in nanoseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:520
+msgid ""
+"'maxaccel' - (Float, RW) Maximum acceleration, in position units per second "
+"per second.  If set to 0, the driver will not limit its acceleration."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:524
+msgid ""
+"'maxvel' - (Float, RW) Maximum speed, in position units per second.  If set "
+"to 0, the driver will choose the maximum velocity based on the values of "
+"steplen and stepspace (at the time that maxvel was set to 0)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:527
+msgid ""
+"'position-scale' - (Float, RW) Converts from counts to position units.  "
+"position = counts / position_scale"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:533
+msgid ""
+"'step_type' - (u32, RW) Output format, like the step_type modparam to the "
+"software stegen(9) component.  0 = Step/Dir, 1 = Up/Down, 2 = Quadrature. In "
+"Quadrature mode (step_type=2), the stepgen outputs one complete Gray cycle "
+"(00 \\-> 01 \\-> 11 \\-> 10 \\-> 00) for each 'step' it takes."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:535
+msgid "'steplen' - (u32, RW) Duration of the step signal, in nanoseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:538
+msgid ""
+"'stepspace' - (u32, RW) Minimum interval between step signals, in "
+"nanoseconds."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/hostmot2.adoc:539 src/drivers/hostmot2.adoc:621
+#, no-wrap
+msgid "Output Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:544
+msgid ""
+"The Step and Direction pins of each StepGen have two additional "
+"parameters. To find which I/O pin belongs to which step and direction output "
+"run 'dmesg' as described above."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:549
+msgid ""
+"'invert_output' - (Bit, RW) This parameter only has an effect if the "
+"'is_output' parameter is true.  If this parameter is true, the output value "
+"of the GPIO will be the inverse of the value on the 'out' HAL pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:561
+msgid ""
+"'is_opendrain' - (Bit, RW) If this parameter is false, the GPIO behaves as a "
+"normal output pin: the I/O pin on the connector is driven to the value "
+"specified by the 'out' HAL pin (possibly inverted).  If this parameter is "
+"true, the GPIO behaves as an open-drain pin. Writing 0 to the 'out' HAL pin "
+"drives the I/O pin low, writing 1 to the 'out' HAL pin puts the I/O pin in a "
+"high-impedance state. In this high-impedance state the I/O pin floats "
+"(weakly pulled high), and other devices can drive the value; the resulting "
+"value on the I/O pin is available on the 'in' and 'in_not' pins. Only full "
+"GPIO pins and I/O pins used as outputs by active module instances have this "
+"parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:568
+msgid ""
+"PWMgens have names like "
+"'hm2_<BoardType>.<BoardNum>.pwmgen.<Instance>'. 'Instance' is a two-digit "
+"number that corresponds to the HostMot2 pwmgen instance number. There are "
+"'num_pwmgens' instances, starting with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:573
+msgid ""
+"In HM2, each pwmgen uses three output I/O pins: Not-Enable, Out0, and "
+"Out1. To invert a PWMGen output pin you invert the corresponding GPIO pin "
+"that is being used by PWMGen. To find the GPIO pin being used for the PWMGen "
+"output run 'dmesg' as shown above."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:576
+msgid ""
+"The function of the Out0 and Out1 I/O pins varies with output-type parameter "
+"(see below)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:579
+msgid ""
+"The hm2 pwmgen representation is similar to the software pwmgen "
+"component. Each pwmgen instance has the following pins and parameters:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:586
+msgid ""
+"'enable' - (Bit, In) If true, the pwmgen will set its Not-Enable pin false "
+"and output its pulses.  If 'enable' is false, pwmgen will set its Not-Enable "
+"pin true and not output any signals."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:589
+msgid "'value' - (Float, In) The current pwmgen command value, in arbitrary units."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:596
+msgid ""
+"'output-type' - (s32, RW) This emulates the output_type load-time argument "
+"to the software pwmgen component.  This parameter may be changed at runtime, "
+"but most of the time you probably want to set it at startup and then leave "
+"it alone.  Accepted values are 1 (PWM on Out0 and Direction on Out1), 2 (Up "
+"on Out0 and Down on Out1), 3 (PDM mode, PDM on Out0 and Dir on Out1), and 4 "
+"(Direction on Out0 and PWM on Out1, 'for locked antiphase')."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:598
+msgid ""
+"'scale' - (Float, RW) Scaling factor to convert 'value' from arbitrary units "
+"to duty cycle: dc = value / scale.  Duty cycle has an effective range of "
+"-1.0 to +1.0 inclusive, anything outside that range gets clipped."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:610
+msgid ""
+"'pdm_frequency' - (u32, RW) This specifies the PDM frequency, in Hz, of all "
+"the pwmgen instances running in PDM mode (mode 3).  This is the 'pulse slot "
+"frequency'; the frequency at which the pdm generator in the Anything I/O "
+"board chooses whether to emit a pulse or a space.  Each pulse (and space) in "
+"the PDM pulse train has a duration of 1/pdm_frequency seconds.  For example, "
+"setting the pdm_frequency to 2*10^6^ Hz (2 MHz) and the duty cycle to 50% "
+"results in a 1 MHz square wave, identical to a 1 MHz PWM signal with 50% "
+"duty cycle.  The effective range of this parameter is from about 1525 Hz up "
+"to just under 100 MHz.  Note that the max frequency is determined by the "
+"ClockHigh frequency of the Anything I/O board; the 5I20 and 7I43 both have a "
+"100 MHz clock, resulting in a 100 MHz max PDM frequency.  Other boards may "
+"have different clocks, resulting in different max PDM frequencies.  If the "
+"user attempts to set the frequency too high, then it will be clipped to the "
+"max supported frequency of the board."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:620
+msgid ""
+"'pwm_frequency' - (u32, RW) This specifies the PWM frequency, in Hz, of all "
+"the pwmgen instances running in the PWM modes (modes 1 and 2).  This is the "
+"frequency of the variable-duty-cycle wave.  Its effective range is from 1 Hz "
+"up to 193 kHz.  Note that the max frequency is determined by the ClockHigh "
+"frequency of the Anything I/O board; the 5i20 and 7i43 both have a 100 MHz "
+"clock, resulting in a 193 kHz max PWM frequency.  Other boards may have "
+"different clocks, resulting in different max PWM frequencies.  If the user "
+"attempts to set the frequency too high, then it will be clipped to the max "
+"supported frequency of the board.  Frequencies below about 5 Hz are not "
+"terribly accurate, but above 5 Hz they are pretty close."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:625
+msgid ""
+"The output pins of each PWMGen have two additional parameters. To find which "
+"I/O pin belongs to which output run `dmesg` as described above."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:628
+msgid ""
+"`invert_output` - (Bit, RW) This parameter only has an effect if the "
+"`is_output` parameter is true.  If this parameter is true, the output value "
+"of the GPIO will be the inverse of the value on the `out` HAL pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:635
+msgid ""
+"`is_opendrain` - (Bit, RW) If this parameter is false, the GPIO behaves as a "
+"normal output pin: The I/O pin on the connector is driven to the value "
+"specified by the `out` HAL pin (possibly inverted).  If this parameter is "
+"true, the GPIO behaves as an open-drain pin.  Writing 0 to the `out` HAL pin "
+"drives the I/O pin low, writing 1 to the `out` HAL pin puts the I/O pin in a "
+"high-impedance state.  In this high-impedance state the I/O pin floats "
+"(weakly pulled high), and other devices can drive the value; the resulting "
+"value on the I/O pin is available on the `in` and `in_not` pins.  Only full "
+"GPIO pins and I/O pins used as outputs by active module instances have this "
+"parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:642
+msgid ""
+"Encoders have names like `hm2_<BoardType>.<BoardNum>.encoder.<Instance>.`.  "
+"`Instance` is a two-digit number that corresponds to the HostMot2 encoder "
+"instance number.  There are _num_encoders_ instances, starting with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:646
+msgid ""
+"Each encoder uses three or four input I/O pins, depending on how the "
+"firmware was compiled.  Three-pin encoders use A, B, and Index (sometimes "
+"also known as Z).  Four-pin encoders use A, B, Index, and Index-mask."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:650
+msgid ""
+"The hm2 encoder representation is similar to the one described by the "
+"Canonical Device Interface (in the HAL General Reference document), and to "
+"the software encoder component.  Each encoder instance has the following "
+"pins and parameters:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:654
+msgid "`count` - (s32, Out) Number of encoder counts since the previous reset."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:657
+msgid ""
+"`index-enable` - (Bit, I/O) When this pin is set to True, the count (and "
+"therefore also position) are reset to zero on the next Index (Phase-Z) "
+"pulse.  At the same time, index-enable is reset to zero to indicate that the "
+"pulse has occurred."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:658
+msgid ""
+"`position` - (Float, Out) Encoder position in position units (count / "
+"scale)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:659
+msgid ""
+"`rawcounts` - (s32, Out) Total number of encoder counts since the start, not "
+"adjusted for index or reset."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:662
+msgid ""
+"`reset` - (Bit, In) When this pin is TRUE, the count and position pins are "
+"set to 0.  The value of the velocity pin is not affected by this.  The "
+"driver does not reset this pin to FALSE after resetting the count to 0, that "
+"is the user's job."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:663
+msgid ""
+"`velocity` - (Float, Out) Estimated encoder velocity in position units per "
+"second."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:669
+msgid ""
+"`counter-mode` - (Bit, RW) Set to False (the default) for Quadrature.  Set "
+"to True for Up/Down or for single input on Phase A.  Can be used for a "
+"frequency to velocity converter with a single input on Phase A when set to "
+"true."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:675
+msgid ""
+"`filter` - (Bit, RW) If set to True (the default), the quadrature counter "
+"needs 15 clocks to register a change on any of the three input lines (any "
+"pulse shorter than this is rejected as noise).  If set to False, the "
+"quadrature counter needs only 3 clocks to register a change.  The encoder "
+"sample clock runs at 33 MHz on the PCI Anything I/O cards and 50 MHz on the "
+"7I43."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:679
+msgid ""
+"`index-invert` - (Bit, RW) If set to True, the rising edge of the Index "
+"input pin triggers the Index event (if index-enable is True).  If set to "
+"False, the falling edge triggers."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:683
+msgid ""
+"`index-mask` - (Bit, RW) If set to True, the Index input pin only has an "
+"effect if the Index-Mask input pin is True (or False, depending on the "
+"`index-mask-invert` pin below)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:687
+msgid ""
+"`index-mask-invert` - (Bit, RW) If set to True, Index-Mask must be False for "
+"Index to have an effect.  If set to False, the `Index-Mask` pin must be "
+"True."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:693
+msgid ""
+"`scale` - (Float, RW) Converts from 'count' units to 'position' units.  A "
+"quadrature encoder will normally have 4 counts per pulse so a 100 PPR "
+"encoder would be 400 counts per revolution. In `.counter-mode` a 100 PPR "
+"encoder would have 100 counts per revolution as it only uses the rising edge "
+"of A and direction is B."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:703
+msgid ""
+"`vel-timeout` - (Float, RW) When the encoder is moving slower than one pulse "
+"for each time that the driver reads the count from the FPGA (in the "
+"hm2_read() function), the velocity is harder to estimate.  The driver can "
+"wait several iterations for the next pulse to arrive, all the while "
+"reporting the upper bound of the encoder velocity, which can be accurately "
+"guessed.  This parameter specifies how long to wait for the next pulse, "
+"before reporting the encoder stopped.  This parameter is in seconds."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hostmot2.adoc:704
+#, no-wrap
+msgid "5I25 Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:711
+msgid ""
+"The 5I25 firmware comes preloaded for the daughter card it is purchased "
+"with.  So the `firmware=xxx.BIT` is not part of the hm2_pci configuration "
+"string when using a 5I25."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:716
+msgid ""
+"Example configurations of the 5I25/7I76 and 5I25/7I77 cards are included in "
+"the <<sub:configuration-selector,Configuration Selector>>."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:719
+msgid ""
+"If you like to roll your own configuration the following examples show how "
+"to load the drivers in the HAL file."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/hostmot2.adoc:720
+#, no-wrap
+msgid "5I25 + 7I76 Card"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:725 src/drivers/hostmot2.adoc:735
+#, no-wrap
+msgid ""
+"# load the generic driver\n"
+"loadrt hostmot2\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:728
+#, no-wrap
+msgid ""
+"# load the PCI driver and configure\n"
+"loadrt hm2_pci config=\"num_encoders=1 num_stepgens=5 "
+"sserial_port_0=0XXX\"\n"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/hostmot2.adoc:730
+#, no-wrap
+msgid "5I25 + 7I77 Card"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hostmot2.adoc:738
+#, no-wrap
+msgid ""
+"# load the PCI driver and configure\n"
+"loadrt hm2_pci config=\"num_encoders=6 num_pwmgens=6 sserial_port_0=0XXX\"\n"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/hostmot2.adoc:740
+#, no-wrap
+msgid "SSERIAL Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:747
+msgid ""
+"The `sserial_port_0=0XXX` configuration string sets some options for the "
+"smart serial daughter card. These options are specific for each daughter "
+"card. See the Mesa manual for more information on the exact usage (typically "
+"in the section called SOFTWARE PROCESS DATA MODES) or see the manual page of "
+"link:../man/man9/sserial.9.html[SSERIAL(9)]."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/hostmot2.adoc:748
+#, no-wrap
+msgid "7I77 Limits"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:752
+msgid ""
+"The minlimit and maxlimit are bounds on the pin value (in this case the "
+"analog out value) fullscalemax is the scale factor."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:754
+msgid ""
+"These are by default set to the analog in or analog range (most likely in "
+"Volts)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:756
+msgid "So for example on the 7I77 +-10 V analog outputs, the default values are:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:760
+#, no-wrap
+msgid ""
+"minlimit: -10\n"
+"maxlimit: +10\n"
+"maxfullscale: 10 +"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:763
+msgid ""
+"If you wanted to say scale the analog out of a channel to IPS for a velocity "
+"mode servo (say 24 IPS max) you could set the limits like this:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:767
+#, no-wrap
+msgid ""
+"minlimit: -24\n"
+"maxlimit: +24\n"
+"maxfullscale: 24 +"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:770
+msgid ""
+"If you wanted to scale the analog out of a channel to RPM for a 0 to 6000 "
+"RPM spindle with 0-10 V control you could set the limits like this:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:775
+#, no-wrap
+msgid ""
+"minlimit: 0\n"
+"maxlimit: 6000\n"
+"maxfullscale: 6000\n"
+"(this would prevent unwanted negative output voltages from being set)"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/hostmot2.adoc:776 src/plasma/qtplasmac.adoc:4248
+#, no-wrap
+msgid "Example Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hostmot2.adoc:787
+msgid ""
+"Several example configurations for Mesa hardware are included with "
+"LinuxCNC.  The configurations are located in the hm2-servo and hm2-stepper "
+"sections of the <<sub:configuration-selector,Configuration Selector>>.  "
+"Typically you will need the board installed for the configuration you pick "
+"to load.  The examples are a good place to start and will save you time.  "
+"Just pick the proper example from the LinuxCNC Configuration Selector and "
+"save a copy to your computer so you can edit it.  To see the exact pins and "
+"parameters that your configuration gave you, open the Show HAL Configuration "
+"window from the Machine menu, or do `dmesg` as outlined above."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/hal_gpio.adoc:6
+#, no-wrap
+msgid "Generic driver for any GPIO supported by gpiod."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:9
+msgid ""
+"This driver has been tested on the Raspberry Pi, and should also work on "
+"Banana Pi, BeagleBone, Pine64 (et al.) and other single board computers, and "
+"potentially on other platforms."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:13
+msgid ""
+"This driver allows the use of GPIO pins in a way analogous to the parallel "
+"port driver on x86 PCs. It can use the same step generators, encoder "
+"counters and similar components."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hal_gpio.adoc:21
+#, no-wrap
+msgid ""
+"loadrt hal_gpio inputs=GPIO5,GPIO6,GPIO12,GPIO13,GPIO16,GPIO17,GPIO18,GPIO19 "
+"\\\n"
+"\t\t\t\toutputs=GPIO20,GPIO21,GPIO22,GPIO23,GPIO24,GPIO25,GPIO26,GPIO27 \\\n"
+"\t\t\t\tinvert=GPIO20,GPIO27 \\\n"
+"\t\t\t\treset=GPIO21,GPIO22\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:25
+msgid ""
+"This driver relies on the libgpiod-dev library and the "
+"https://tracker.debian.org/pkg/libgpiod[gpiod] package, which contains a "
+"number of utilities for configuring and querying GPIO.  The GPIO pin names "
+"in the \"loadrt\" line of the HAL given above should be the names given by "
+"the `gpioinfo` command."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:27
+msgid "Sample output (truncated):"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hal_gpio.adoc:53
+#, no-wrap
+msgid ""
+"$ gpioinfo\n"
+"gpiochip0 - 54 lines:\n"
+"\tline   0:     \"ID_SDA\"       unused   input  active-high\n"
+"\tline   1:     \"ID_SCL\"       unused   input  active-high\n"
+"\tline   2:       \"SDA1\"       unused   input  active-high\n"
+"\tline   3:       \"SCL1\"       unused   input  active-high\n"
+"\tline   4:  \"GPIO_GCLK\"       unused   input  active-high\n"
+"\tline   5:      \"GPIO5\"       unused   input  active-high\n"
+"\tline   6:      \"GPIO6\"       unused   input  active-high\n"
+"\tline   7:  \"SPI_CE1_N\"       unused   input  active-high\n"
+"\tline   8:  \"SPI_CE0_N\"       unused   input  active-high\n"
+"\tline   9:   \"SPI_MISO\"       unused   input  active-high\n"
+"\tline  10:   \"SPI_MOSI\"       unused   input  active-high\n"
+"\tline  11:   \"SPI_SCLK\"       unused   input  active-high\n"
+"\tline  12:     \"GPIO12\"       unused   input  active-high\n"
+"\tline  13:     \"GPIO13\"       unused   input  active-high\n"
+"\tline  14:       \"TXD1\"       unused   input  active-high\n"
+"\tline  15:       \"RXD1\"       unused   input  active-high\n"
+"\tline  16:     \"GPIO16\"       unused   input  active-high\n"
+"\tline  17:     \"GPIO17\"       unused   input  active-high\n"
+"\tline  18:     \"GPIO18\"       unused   input  active-high\n"
+"\tline  19:     \"GPIO19\"       unused   input  active-high\n"
+"\tline  20:     \"GPIO20\"       unused  output  active-high\n"
+"...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:58
+msgid ""
+"A list of input and/or output pins should be specified as shown in the "
+"sample above.  The \\ character is used for line continuation in HAL, and is "
+"used to improve readability.  The pin names are case-sensitive and there "
+"must be no spaces in the strings, neither between the comma-separated pins "
+"lists nor the \"=\" signs."
+msgstr ""
+
+#. type: Labeled list
+#: src/drivers/hal_gpio.adoc:59
+#, no-wrap
+msgid "Additional modifiers are"
+msgstr ""
+
+#. type: Labeled list
+#: src/drivers/hal_gpio.adoc:60 src/gui/gladevcp.adoc:1086
+#, no-wrap
+msgid "invert"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:61
+msgid ""
+"(valid for outputs only). Inverts the sense of the physical pin relative to "
+"the value in HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:63
+msgid ""
+"(valid for outputs only). If any pins are allocated to the \"reset\" list "
+"then a HAL parameter *hal_gpio.reset_ns* will be created. This will have no "
+"effect unless the *hal_gpio.reset* function is added to a realtime "
+"thread. This should be placed after the *hal_gpio.write* function and must "
+"be in the same thread. The behaviour of this function is equivalent to the "
+"same function in the *hal_parport* driver, and it allows a step pulse every "
+"thread cycle. If the *hal_gpio.reset_ns* time is set longer than 1/4 of the "
+"period of the thread that it is added to, then the value will be reduced to "
+"1/4 the thread period. There is a lower limit to how long the pulse can "
+"be. With 8 pins in the output list the pulse width can not reduce lower than "
+"5000&#8239;ns on an RPi4, for example."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:66
+msgid ""
+"The following functions are accepted in all versions, but are only effective "
+"if a version of libgpiod_dev >= 1.6 is installed.  They should be used in "
+"the same way as the parameters described above, and will alter the "
+"electrical parameters of the GPIO pins *if* this is supported by the "
+"hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:68
+#, no-wrap
+msgid "*opendrain*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:70
+#, no-wrap
+msgid "*opensource*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:72
+#, no-wrap
+msgid "*biasdisable*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:74
+#, no-wrap
+msgid "*pulldown*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:76
+#, no-wrap
+msgid "*pullup*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:78
+msgid ""
+"The version of libgpiod-dev installed can be determined by the command "
+"`gpioinfo -v`"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:82
+msgid "hal_gpio.NAME-in - HAL_OUT The value of an input pin presented in to HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:83
+msgid ""
+"hal_gpio.NAME-in-not - HAL_OUT An inverted version of the above, for "
+"convenience"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:84
+msgid ""
+"hal_gpio.NAME-out - HAL_IN use this pin to transfer a HAL bit value to a "
+"physical output"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:89
+msgid ""
+"hal_gpio.reset_ns - HAL_RW - \"setp\" this parameter to control the pulse "
+"length of pins added to the \"reset\" list. The value will be limited "
+"between 0 and thread-period / 4."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:94
+msgid ""
+"'hal_gpio.read' - Add this to the base thread to update the HAL pin values "
+"to match the physical input values."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:96
+msgid ""
+"'hal_gpio.write' - Add this to the base thread to update the physical pins "
+"to match the HAL values."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:98
+msgid ""
+"'hal_gpio.reset' - Only exported if there are pins defined in the reset "
+"list. This should be placed after the \"write\" function, and should be in "
+"the same thread."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:100
+msgid ""
+"Typically, the 'read' function will be early in the call list, before any "
+"encoder counters and the 'write' function will be later in the call list, "
+"after `stepgen.make-pulses`."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hal_gpio.adoc:102
+#, no-wrap
+msgid "Pin Identification"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:105
+msgid ""
+"Use the pin names returned by the `gpioinfo` utility. This uses the "
+"device-tree data. If the installed OS does not have a device-tree database "
+"then the pins will all be called \"unnamed\" (or similar) and this driver "
+"can not be used."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:107
+msgid ""
+"A further update to this driver might allow access by index number, but this "
+"is not currently supported."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hal_gpio.adoc:108
+#, no-wrap
+msgid "Troubleshooting permissions problems."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:112
+msgid ""
+"If \"access denied\" messages are returned on loading the driver, try the "
+"following recipe: (Should not be needed for Raspbian, and will need to be "
+"modified to match the actual GPIO chip name on non-Pi platforms)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:114
+msgid "Create a new group `gpio` with the command"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hal_gpio.adoc:117
+#, no-wrap
+msgid "sudo groupadd gpio\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:122
+msgid ""
+"Then to setup permissions for the \"gpio\" group, create a file called "
+"`90-gpio-access` in the `/etc/udev/rules.d/` directory with the following "
+"contents (this is copied from the Raspbian install)"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hal_gpio.adoc:132
+#, no-wrap
+msgid ""
+"SUBSYSTEM==\"bcm2835-gpiomem\", GROUP=\"gpio\", MODE=\"0660\"\n"
+"SUBSYSTEM==\"gpio\", GROUP=\"gpio\", MODE=\"0660\"\n"
+"SUBSYSTEM==\"gpio*\", PROGRAM=\"/bin/sh -c '\\\n"
+"\tchown -R root:gpio /sys/class/gpio && chmod -R 770 /sys/class/gpio;\\\n"
+"\tchown -R root:gpio /sys/devices/virtual/gpio &&\\\n"
+"\tchmod -R 770 /sys/devices/virtual/gpio;\\\n"
+"\tchown -R root:gpio /sys$devpath && chmod -R 770 /sys$devpath\\\n"
+"'\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hal_gpio.adoc:138
+#, no-wrap
+msgid ""
+"SUBSYSTEM==\"pwm*\", PROGRAM=\"/bin/sh -c '\\\n"
+"\tchown -R root:gpio /sys/class/pwm && chmod -R 770 /sys/class/pwm;\\\n"
+"\tchown -R root:gpio /sys/devices/platform/soc/*.pwm/pwm/pwmchip* &&\\\n"
+"\tchmod -R 770 /sys/devices/platform/soc/*.pwm/pwm/pwmchip*\\\n"
+"'\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:141
+msgid "Add the user who runs LinuxCNC to the `gpio` group with"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/hal_gpio.adoc:144
+#, no-wrap
+msgid "sudo usermod -aG gpio <username>\n"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/hal_gpio.adoc:146
+#, no-wrap
+msgid "Author"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:149 src/man/man1/sendkeys.1.adoc:126
+#: src/man/man9/lcd.9.adoc:168 man/man9/bin2gray.9:33 man/man9/bitslice.9:35
+#: man/man9/bitwise.9:48 man/man9/bldc.9:434 man/man9/carousel.9:243
+#: man/man9/demux.9:50 man/man9/gray2bin.9:33 man/man9/lincurve.9:65
+#: man/man9/mux_generic.9:92
+msgid "Andy Pugh"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/hal_gpio.adoc:154
+msgid "None at this time."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/mb2hal.adoc:5
+#, no-wrap
+msgid "MB2HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:17
+msgid ""
+"MB2HAL is a generic non-realtime HAL component to communicate with one or "
+"more Modbus devices.  So far, there are two options to communicate with a "
+"Modbus device:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:19
+msgid ""
+"One option is to create a HAL component as a driver see "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?VFD_Modbus[VFD Modbus]."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:20
+msgid ""
+"Another option is to use Classic Ladder which has Modbus built in, see "
+"<<cha:classicladder,ClassicLadder>>."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:21
+msgid ""
+"Now there is a third option that consists of a \"generic\" driver configured "
+"by text file, this is called MB2HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:24
+msgid "Why MB2HAL? Consider using MB2HAL if:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:26
+msgid ""
+"You have to write a new driver and you don't know anything about "
+"programming."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:27
+msgid "You need to use Classic Ladder \"only\" to manage the Modbus connections."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:29
+msgid ""
+"You have to discover and configure first time the Modbus transactions.  "
+"MB2HAL have debug levels to facilitate the low level protocol debug."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:31
+msgid ""
+"You have more than one device to connect. MB2HAL is very efficiently "
+"managing multiple devices, transactions and links.  Currently I am "
+"monitoring two axis drivers using a Rs232 port, a VFD driver using another "
+"Rs232 port, and a remote I/O using TCP/IP."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:33
+msgid ""
+"You want a protocol to connect your Arduino to HAL.  Look the included "
+"sample configuration file, sketch and library for Arduino Modbus."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:37
+msgid "Create a config file from the example below"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:38
+msgid "Set component name (optional)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:40
+msgid "Set `HAL_MODULE_NAME=mymodule` (default `HAL_MODULE_NAME=mb2hal`)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:42
+msgid "Load the modbus HAL non-realtime component"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:43
+msgid "Default component name: `loadusr -W mb2hal config=config_file.ini`"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:44
+msgid "Custom component name: `loadusr -Wn mymodule mb2hal config=config_file.ini`"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:48
+#, no-wrap
+msgid "Init Section"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:51
+msgid "`[MB2HAL_INIT]`"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:54 src/drivers/mb2hal.adoc:79
+#: src/drivers/motenc.adoc:94 src/gcode/coordinates.adoc:103
+#: src/hal/basic-hal.adoc:541 src/hal/tools.adoc:228
+#, no-wrap
+msgid "Value"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/mb2hal.adoc:54 src/drivers/mb2hal.adoc:79
+#: src/hal/basic-hal.adoc:541 src/hal/intro.adoc:317
+#: src/hal/parallel-port.adoc:100
+#, no-wrap
+msgid "Type"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:54 src/drivers/mb2hal.adoc:79
+#, no-wrap
+msgid "Required"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:55
+#, no-wrap
+msgid "INIT_DEBUG"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:55 src/drivers/mb2hal.adoc:67
+#: src/drivers/mb2hal.adoc:83 src/drivers/mb2hal.adoc:85
+#: src/drivers/mb2hal.adoc:86 src/drivers/mb2hal.adoc:88
+#: src/drivers/mb2hal.adoc:89 src/drivers/mb2hal.adoc:90
+#: src/drivers/mb2hal.adoc:91 src/drivers/mb2hal.adoc:92
+#: src/drivers/mb2hal.adoc:107 src/drivers/mb2hal.adoc:110
+#, no-wrap
+msgid "Integer"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:55 src/drivers/mb2hal.adoc:61
+#: src/drivers/mb2hal.adoc:62 src/drivers/mb2hal.adoc:63
+#: src/drivers/mb2hal.adoc:83 src/drivers/mb2hal.adoc:107
+#: src/drivers/mb2hal.adoc:110 src/drivers/mb2hal.adoc:112
+#: src/drivers/mb2hal.adoc:115 src/drivers/mb2hal.adoc:118
+#: src/gcode/g-code.adoc:1236 src/gcode/g-code.adoc:1238
+#, no-wrap
+msgid "No"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:61
+#, no-wrap
+msgid ""
+"Debug level of init and INI file parsing. +\n"
+"0 = silent +\n"
+"1 = error messages (default) +\n"
+"2 = OK confirmation messages +\n"
+"3 = debugging messages +\n"
+"4 = maximum debugging messages (only in transactions) +"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:61
+#, no-wrap
+msgid "VERSION"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:61 src/drivers/mb2hal.adoc:62
+#: src/drivers/mb2hal.adoc:80 src/drivers/mb2hal.adoc:84
+#: src/drivers/mb2hal.adoc:87 src/drivers/mb2hal.adoc:96
+#: src/drivers/mb2hal.adoc:112 src/drivers/mb2hal.adoc:118
+#, no-wrap
+msgid "String"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:62
+#, no-wrap
+msgid "Version number in the format N.N[NN]. Defaults to 1.0."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:62
+#, no-wrap
+msgid "HAL_MODULE_NAME"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:63
+#, no-wrap
+msgid "HAL module (component) name. Defaults to \"mb2hal\"."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:63
+#, no-wrap
+msgid "SLOWDOWN"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:63 src/drivers/mb2hal.adoc:115
+#: src/plasma/qtplasmac.adoc:4059 src/plasma/qtplasmac.adoc:4061
+#: src/plasma/qtplasmac.adoc:4063 src/plasma/qtplasmac.adoc:4065
+#: src/plasma/qtplasmac.adoc:4067 src/plasma/qtplasmac.adoc:4069
+#, no-wrap
+msgid "Float"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:67
+#, no-wrap
+msgid ""
+"Insert a delay of \"FLOAT seconds\" between\n"
+"transactions in order to not to have a lot of logging and facilitate the "
+"debugging.\n"
+"Useful when using `DEBUG=3` (NOT `INIT_DEBUG=3`).\n"
+"It affects ALL transactions. Use \"0.0\" for normal activity."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:67
+#, no-wrap
+msgid "TOTAL_TRANSACTIONS"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:67 src/drivers/mb2hal.adoc:80
+#: src/drivers/mb2hal.adoc:90 src/drivers/mb2hal.adoc:91
+#: src/drivers/mb2hal.adoc:96 src/gcode/g-code.adoc:1235
+#: src/gcode/g-code.adoc:1237
+#, no-wrap
+msgid "Yes"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:68
+#, no-wrap
+msgid "The number of total Modbus transactions. There is no maximum."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:71
+#, no-wrap
+msgid "Transaction Sections"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:76
+msgid ""
+"One transaction section is required per transaction, starting at "
+"`[TRANSACTION_00]` and counting up sequentially.  If there is a new link "
+"(not transaction), you must provide the REQUIRED parameters 1st time.  "
+"Warning: Any OPTIONAL parameter not specified are copied from the previous "
+"transaction."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:80
+#, no-wrap
+msgid "LINK_TYPE"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:82
+#, no-wrap
+msgid ""
+"You must specify either a \"serial\" or \"tcp\" link for the first "
+"transaction.\n"
+"Later transactions will use the previous transaction link if not specified."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:82
+#, no-wrap
+msgid "TCP_IP"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:82
+#, no-wrap
+msgid "IP address"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:82
+#, no-wrap
+msgid "If `LINK_TYPE=tcp`"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:83
+#, no-wrap
+msgid "The Modbus slave device IP address. Ignored if `LINK_TYPE=serial`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:83
+#, no-wrap
+msgid "TCP_PORT"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:84
+#, no-wrap
+msgid ""
+"The Modbus slave device TCP port.  Defaults to 502.  Ignored if "
+"`LINK_TYPE=serial`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:84
+#, no-wrap
+msgid "SERIAL_PORT"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:84 src/drivers/mb2hal.adoc:85
+#: src/drivers/mb2hal.adoc:86 src/drivers/mb2hal.adoc:87
+#: src/drivers/mb2hal.adoc:88 src/drivers/mb2hal.adoc:89
+#, no-wrap
+msgid "If `LINK_TYPE=serial`"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:85
+#, no-wrap
+msgid "The serial port.  For example \"/dev/ttyS0\". Ignored if `LINK_TYPE=tcp`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:85
+#, no-wrap
+msgid "SERIAL_BAUD"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:86
+#, no-wrap
+msgid "The baud rate.  Ignored if `LINK_TYPE=tcp`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:86
+#, no-wrap
+msgid "SERIAL_BITS"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:87
+#, no-wrap
+msgid "Data bits.  One of 5, 6, 7, 8. Ignored if `LINK_TYPE=tcp`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:87
+#, no-wrap
+msgid "SERIAL_PARITY"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:88
+#, no-wrap
+msgid "Data parity.  One of: even, odd, none. Ignored if `LINK_TYPE=tcp`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:88
+#, no-wrap
+msgid "SERIAL_STOP"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:89
+#, no-wrap
+msgid "Stop bits.  One of 1, 2. Ignored if `LINK_TYPE=tcp`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:89
+#, no-wrap
+msgid "SERIAL_DELAY_MS"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:90
+#, no-wrap
+msgid ""
+"Serial port delay between transactions of this section only.  In "
+"ms. Defaults to 0. Ignored if `LINK_TYPE=tcp`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:90
+#, no-wrap
+msgid "MB_SLAVE_ID"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:91
+#, no-wrap
+msgid "Modbus slave number."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:91
+#, no-wrap
+msgid "FIRST_ELEMENT"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:92
+#, no-wrap
+msgid "The first element address."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:92
+#, no-wrap
+msgid "NELEMENTS"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:92
+#, no-wrap
+msgid "Unless `PIN_NAMES` is specified"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:94
+#, no-wrap
+msgid ""
+"The number of elements.\n"
+"It is an error to specify both `NELEMENTS` and `PIN_NAMES`. The pin names "
+"will be sequential numbers, e.g. `mb2hal.plcin.01`."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:94
+#, no-wrap
+msgid "PIN_NAMES"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:94
+#, no-wrap
+msgid "List"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:94
+#, no-wrap
+msgid "Unless `NELEMENTS` is specified"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:96
+#, no-wrap
+msgid ""
+"A list of element names.  These names will be used for the pin names, e.g.  "
+"mb2hal.plcin.cycle_start. +\n"
+"*NOTE:* There must be no white space characters in the list. Example: "
+"`PIN_NAMES=cycle_start,stop,feed_hold`"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:96
+#, no-wrap
+msgid "MB_TX_CODE"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:107
+#, no-wrap
+msgid ""
+"Modbus transaction function code (see "
+"link:https://modbus.org/specs.php[specifications]):\n"
+"\n"
+"• fnct_01_read_coils +\n"
+"• fnct_02_read_discrete_inputs +\n"
+"• fnct_03_read_holding_registers +\n"
+"• fnct_04_read_input_registers      +\n"
+"• fnct_05_write_single_coil +\n"
+"• fnct_06_write_single_register +\n"
+"• fnct_15_write_multiple_coils +\n"
+"• fnct_16_write_multiple_registers +"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:107
+#, no-wrap
+msgid "MB_RESPONSE_TIMEOUT_MS"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:110
+#, no-wrap
+msgid ""
+"Response timeout for this transaction. In ms. Defaults to 500 ms.\n"
+"This is how much to wait for 1st byte before raise an error."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:110
+#, no-wrap
+msgid "MB_BYTE_TIMEOUT_MS"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:112
+#, no-wrap
+msgid ""
+"Byte timeout for this transaction.\n"
+"In ms. Defaults to 500 ms. This is how much to wait from byte to byte before "
+"raise an error."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:112
+#, no-wrap
+msgid "HAL_TX_NAME"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:115
+#, no-wrap
+msgid ""
+"Instead of giving the transaction number, use a name. Example: "
+"`mb2hal.00.01`\n"
+"could become `mb2hal.plcin.01`. The name must not exceed 28 characters.\n"
+"*NOTE:* when using names be careful that you don't end up with two "
+"transactions using the same name."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:115
+#, no-wrap
+msgid "MAX_UPDATE_RATE"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:118
+#, no-wrap
+msgid ""
+"Maximum update rate in Hz. Defaults to 0.0 (0.0 = as soon as available = "
+"infinite).\n"
+"*NOTE:* This is a maximum rate and the actual rate may be lower. If you want "
+"to calculate it in ms use (1000 / required_ms).\n"
+"Example: 100 ms = `MAX_UPDATE_RATE=10.0`, because 1000.0 ms / 100.0 ms = "
+"10.0 Hz."
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:118 src/man/man1/vfdb_vfd.1.adoc:62
+#: src/plasma/qtplasmac.adoc:3964
+#, no-wrap
+msgid "DEBUG"
+msgstr ""
+
+#. type: Table
+#: src/drivers/mb2hal.adoc:119
+#, no-wrap
+msgid "Debug level for this transaction only.  See `INIT_DEBUG` parameter above."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:121
+#, no-wrap
+msgid "Error codes"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:124
+msgid ""
+"While debugging transactions, note the returned \"`ret[]`\" value correspond "
+"to:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:126
+msgid "Modbus protocol exceptions:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:128
+#, no-wrap
+msgid ""
+"0x01 - ILLEGAL_FUNCTION        - the FUNCTION code received in the query is "
+"not allowed or invalid.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:129
+#, no-wrap
+msgid ""
+"0x02 - ILLEGAL_DATA_ADDRESS    - the DATA ADDRESS received in the query is "
+"not an allowable address for the slave or is invalid.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:130
+#, no-wrap
+msgid ""
+"0x03 - ILLEGAL_DATA_VALUE      - a VALUE contained in the data query field "
+"is not an allowable value or is invalid.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:131
+#, no-wrap
+msgid ""
+"0x04 - SLAVE_DEVICE_FAILURE    - SLAVE (or MASTER) device unrecoverable "
+"FAILURE while attempting to perform the requested action.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:132
+#, no-wrap
+msgid "0x04 - SERVER_FAILURE          - (see above).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:133
+#, no-wrap
+msgid ""
+"0x05 - ACKNOWLEDGE             - This response is returned to PREVENT A "
+"TIMEOUT in the master. A long duration of time is required to process the "
+"request in the slave.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:134
+#, no-wrap
+msgid ""
+"0x06 - SLAVE_DEVICE_BUSY       - The slave (or server) is BUSY.  Retransmit "
+"the request later.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:135
+#, no-wrap
+msgid "0x06 - SERVER_BUSY             - (see above).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:136
+#, no-wrap
+msgid ""
+"0x07 - NEGATIVE_ACKNOWLEDGE    - Unsuccessful programming request using "
+"function code 13 or 14.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:137
+#, no-wrap
+msgid "0x08 - MEMORY_PARITY_ERROR     - SLAVE parity error in MEMORY.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:138
+#, no-wrap
+msgid "0x0A (-10) - GATEWAY_PROBLEM_PATH   - Gateway path(s) not available.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:139
+#, no-wrap
+msgid ""
+"0x0B (-11) - GATEWAY_PROBLEM_TARGET - The target device failed to respond "
+"(generated by master, not slave).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:141
+msgid "Program or connection:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:143
+msgid "0x0C (-12) - COMM_TIME_OUT"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:144
+msgid "0x0D (-13) - PORT_SOCKET_FAILURE"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:145
+msgid "0x0E (-14) - SELECT_FAILURE"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:146
+msgid "0x0F (-15) - TOO_MANY_DATAS"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:147
+msgid "0x10 (-16) - INVALID_CRC"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:148
+msgid "0x11 (-17) - INVALID_EXCEPTION_CODE"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/mb2hal.adoc:149
+#, no-wrap
+msgid "Example config file"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:152
+msgid "Click link:mb2hal_HOWTO.ini[here] to download."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/mb2hal.adoc:156
+#, no-wrap
+msgid "include::mb2hal_HOWTO.ini[]\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/drivers/mb2hal.adoc:164
+msgid ""
+"[yellow yellow-background]#Yellow# = New in MB2HAL 1.1 (LinuxCNC 2.9)  To "
+"use these new features you have to set `VERSION = 1.1`."
+msgstr ""
+
+#. type: delimited block =
+#: src/drivers/mb2hal.adoc:167
+#, no-wrap
+msgid ""
+"_m_ = Value of `HAL_TX_NAME` if set or transaction number\n"
+"_n_ = Element number (`NELEMENTS`) or name from `PIN_NAMES`"
+msgstr ""
+
+#. type: delimited block =
+#: src/drivers/mb2hal.adoc:171
+msgid "`mb2hal.00.01.int` (TRANSACTION_00, second register)"
+msgstr ""
+
+#. type: delimited block =
+#: src/drivers/mb2hal.adoc:172
+msgid "`mb2hal.readStatus.01.bit` (HAL_TX_NAME=readStatus, first bit)"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:174
+#, no-wrap
+msgid "[yellow-background]#fnct_01_read_coils#"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:177
+msgid "[yellow-background]#mb2hal.__m__.__n__.bit# _bit out_"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:178 src/drivers/mb2hal.adoc:183
+msgid "[yellow-background]#mb2hal.__m__.__n__.bit-inv# _bit out_"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:179
+#, no-wrap
+msgid "fnct_02_read_discrete_inputs"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:182
+msgid "mb2hal.__m__.__n__.[yellow-background]#bit# _bit out_"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:184
+#, no-wrap
+msgid "fnct_03_read_holding_registers"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:187 src/drivers/mb2hal.adoc:192
+msgid "mb2hal.__m__.__n__.float _float out_"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:188 src/drivers/mb2hal.adoc:193
+msgid "mb2hal.__m__.__n__.int _s32 out_"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:189
+#, no-wrap
+msgid "fnct_04_read_input_registers"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:194
+#, no-wrap
+msgid "[yellow-background]#fnct_05_write_single_coil#"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:197
+msgid "[yellow-background]#mb2hal.__m__.__n__.bit# _bit in_"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:199
+msgid "`NELEMENTS` needs to be 1 or `PIN_NAMES` must contain just one name."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:200
+#, no-wrap
+msgid "fnct_06_write_single_register"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:203 src/drivers/mb2hal.adoc:216
+msgid "mb2hal.__m__.__n__.[yellow-background]#float# _float in_"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:204 src/drivers/mb2hal.adoc:217
+msgid "[yellow-background]#mb2hal.__m__.__n__.int# _s32 in_"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:208
+msgid ""
+"`NELEMENTS` needs to be 1 or `PIN_NAMES` must contain just one name.  Both "
+"pin values are added and limited to 65535 (UINT16_MAX).  Use one and let the "
+"other open (read as 0)."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:209
+#, no-wrap
+msgid "fnct_15_write_multiple_coils"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:212
+msgid "mb2hal.__m__.__n__.[yellow-background]#bit# _bit in_"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mb2hal.adoc:213
+#, no-wrap
+msgid "fnct_16_write_multiple_registers"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mb2hal.adoc:220 src/man/man1/mb2hal.1.adoc:68
+msgid ""
+"Both pin values are added and limited to 65535 (UINT16_MAX).  Use one and "
+"let the other open (read as 0)."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/mitsub-vfd.adoc:5
+#, no-wrap
+msgid "Mitsub VFD Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:20
+#, no-wrap
+msgid ""
+"This is a non-realtime HAL program, written in Python, to control VFDs from "
+"Mitsubishi.\n"
+"Specifically the A500 F500 E500 A500 D700 E700 F700 series - others may "
+"work.\n"
+"mitsub_vfd supports serial control using the RS485 protocol.\n"
+"Conversion from USB or serial port to RS485 requires special hardware. +"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:25
+msgid ""
+"Since this is a non-realtime program it can be affected by computer loading "
+"and latency.  It is possible to lose control of the VFDs.  It is optional to "
+"set the VFD to stop if it loses communication if that is desirable.  One "
+"should always have an Estop circuit that kills the power to the unit in case "
+"of emergency."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/mitsub-vfd.adoc:31
+#, no-wrap
+msgid "loadusr -Wn coolant mitsub_vfd spindle=02 coolant=01\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:36
+#, no-wrap
+msgid ""
+"The above command says:\n"
+"loadusr, wait for coolant pins to be ready, component mitsub_vfd, with 2 "
+"slaves named spindle (slave #2) and coolant (slave #1)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:40
+msgid "The command line options are:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:42
+msgid ""
+"'-b or --baud <rate>' : set the baud rate - all networked VFDs must be the "
+"same"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:43
+msgid "'-p or --port <device path>' : sets the port to use such as /dev/ttyUSB0"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:44
+msgid "'<name>=<slave#>' : sets the HAL component/pin name and slave number."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:46
+msgid "Debugging can be toggled by setting the debug pin true."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:49
+msgid "Turning on debugging will result in a flood of text in the terminal."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:53
+msgid "Where <n> is +mitsub_vfd+ or the name given during loading."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:56
+msgid "'<n>.fwd' (bit, in)  True sets motion forward, False sets reverse."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:59
+msgid "'<n>.run' (bit, in)  True sets the VFD in motion based on the .fwd pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:62
+msgid "'<n>.debug' (bit, in)  Prints debug info to the terminal."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:65
+msgid "'<n>.alarm' (bit, out)  signals an alarm state of VFD."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:68
+msgid ""
+"'<n>.up-to-speed' (bit, out)  when drive is at commanded speed "
+"(speed-tolerance is set on vfd)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:71
+msgid ""
+"'<n>.monitor' (bit, in)  some models (eg E500) cannot monitor status - set "
+"the monitor pin to false in this case pins such as up-to-speed, amps, alarm "
+"and status bits are not updated."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:74
+msgid ""
+"'<n>.motor-cmd' (float, in)  commanded speed to the VFD (scaled to hertz by "
+"default)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:77
+msgid ""
+"'<n>.motor-fb' (float, out)  feedback speed from the VFD (scaled to hertz by "
+"default)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:80
+msgid "'<n>.motor-amps' (float, out)  Current amperage output of motor."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:83
+msgid "'<n>.motor-power' (float, out)  Current power output of motor."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:86
+msgid ""
+"'<n>.scale-cmd' (float, in)  Scales the motor-cmd pin to arbitrary "
+"units. default 1 = Hertz."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:89
+msgid ""
+"'<n>.scale-fb' (float, in)  Scales the motor-fb pin to arbitrary "
+"units. default 1 = Hertz."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:92
+msgid ""
+"'<n>.scale-amps' (float, in)  Scales the motor-amps pin to arbitrary "
+"units. default 1 = amps."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:95
+msgid ""
+"'<n>.scale-power' (float, in)  Scales the motor-power pin to arbitrary "
+"units. default 1 = ."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:98
+msgid "'<n>.estop' (bit, in)  puts the VFD into emergency-stopped status."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:103
+msgid ""
+"'<n>.status-bit-N' (bit, out)  N = 0 to 7, status bits are user configurable "
+"on the VFD.  Bit 3 should be set to at speed and bit 7 should be set to "
+"alarm.  Others are free to be set as required."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/mitsub-vfd.adoc:112
+#, no-wrap
+msgid ""
+"#\n"
+"# example usage of the Mitsubishi VFD driver\n"
+"#\n"
+"loadusr -Wn coolant mitsub_vfd spindle=02 coolant=01\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/mitsub-vfd.adoc:125
+#, no-wrap
+msgid ""
+"# **************** Spindle VFD setup slave 2 *********************\n"
+"net spindle-vel-cmd               spindle.motor-cmd\n"
+"net spindle-cw                    spindle.fwd\n"
+"net spindle-on                    spindle.run\n"
+"net spindle-at-speed              spindle.up-to-speed\n"
+"net estop-out                     spindle.estop\n"
+"#       cmd scaled to RPM\n"
+"setp spindle.scale-cmd .135\n"
+"#       feedback is in rpm\n"
+"setp spindle.scale-fb 7.411\n"
+"#       allows us to see status\n"
+"setp spindle.monitor 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/mitsub-vfd.adoc:127
+#, no-wrap
+msgid "net spindle-speed-indicator spindle.motor-fb        gladevcp.spindle-speed\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/mitsub-vfd.adoc:139
+#, no-wrap
+msgid ""
+"# *************** Coolant vfd setup slave 3 ***********************\n"
+"net coolant-flood               coolant.run\n"
+"net coolant-is-on               coolant.up-to-speed   "
+"gladevcp.coolant-on-led\n"
+"net estop-out                   coolant.estop\n"
+"#       cmd and feedback scaled to hertz\n"
+"setp coolant.scale-cmd 1\n"
+"setp coolant.scale-fb 1\n"
+"#       command full speed\n"
+"setp coolant.motor-cmd 60\n"
+"#       allows us to see status\n"
+"setp coolant.monitor 1\n"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/mitsub-vfd.adoc:141
+#, no-wrap
+msgid "Configuring the Mitsubishi VFD for serial usage"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mitsub-vfd.adoc:143 src/drivers/vfs11.adoc:266
+#, no-wrap
+msgid "Connecting the Serial Port"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:150
+#, no-wrap
+msgid ""
+"The Mitsubishi VFDs have an RJ-45 jack for serial communication.\n"
+"Since they use RS485 protocol,  they can be networked together point to "
+"point.\n"
+"This driver was tested using the Opto22 AC7A to convert from RS232 to RS485."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/mitsub-vfd.adoc:151 src/drivers/vfs11.adoc:279
+#, no-wrap
+msgid "Modbus setup"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:154
+msgid "Referenced manuals:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:157
+#, no-wrap
+msgid ""
+"'communication option reference manual' and 'A500 technical manual' for 500 "
+"series.\n"
+"'Fr-A700 F700 E700 D700 technical manual' for the 700 series"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:160
+#, no-wrap
+msgid ""
+"The VFD must have PR settings adjusted manually for serial communication.\n"
+"One must power cycle the VFD for some of these to register eg PR 79"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:163
+msgid "'PR 77' set to 1 '-to unlock other PR modification.'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:166
+msgid "'PR 79' set to 1 or 0 '-for communication thru serial.'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:169
+msgid "'PR 117' set to 0-31 '-slave number, driver must reference same number.'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:172
+msgid ""
+"'PR 118' tested with 96 '-baud rate (can be set to 48,96,192) if driver is "
+"also set.'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:175
+msgid "'PR 119' set to 0 '-stop bit/data length (8 bits, two stop)'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:178
+msgid "'PR 120' set to 0 '-no parity'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:181
+msgid "'PR 121' set to 1-10 '-if 10 (maximum) COM errors then VFD faults.'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:184
+msgid "'PR 122' tested with 9999 '-if communication is lost VFD will not error.'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:187
+msgid "'PR 123' set to 9999 '-no wait time is added to the serial data frame.'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/mitsub-vfd.adoc:190
+msgid "'PR 124' set to 0 '-no carriage return at end of line.'"
+msgstr ""
+
+#. type: Title =
+#: src/drivers/motenc.adoc:5
+#, no-wrap
+msgid "Motenc Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:14
+msgid "Vital Systems Motenc-100 and Motenc-LITE"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:22
+msgid ""
+"The Vital Systems Motenc-100 and Motenc-LITE are 8- and 4-channel servo "
+"control boards. The Motenc-100 provides 8 quadrature encoder counters, 8 "
+"analog inputs, 8 analog outputs, 64 (68?) digital inputs, and 32 digital "
+"outputs. The Motenc-LITE has only 4 encoder counters, 32 digital inputs and "
+"16 digital outputs, but it still has 8 analog inputs and 8 analog "
+"outputs. The driver automatically identifies the installed board and exports "
+"the appropriate HAL objects."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/motenc.adoc:28
+#, no-wrap
+msgid "loadrt hal_motenc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:34
+msgid "Up to 4 boards may be used in one system."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:42
+msgid ""
+"In the following pins, parameters, and functions, <board> is the board "
+"ID. According to the naming conventions the first board should always have "
+"an ID of zero. However this driver sets the ID based on a pair of jumpers on "
+"the board, so it may be non-zero even if there is only one board."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:45
+msgid "'(s32) motenc.<board>.enc-<channel>-count' - Encoder position, in counts."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:47
+msgid ""
+"'(float) motenc.<board>.enc-<channel>-position' - Encoder position, in user "
+"units."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:49
+msgid ""
+"'(bit) motenc.<board>.enc-<channel>-index' - Current status of index pulse "
+"input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:52
+msgid ""
+"'(bit) motenc.<board>.enc-<channel>-idx-latch' - Driver sets this pin true "
+"when it latches an index pulse (enabled by latch-index). Cleared by clearing "
+"latch-index."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:54
+msgid ""
+"'(bit) motenc.<board>.enc-<channel>-latch-index' - If this pin is true, the "
+"driver will reset the counter on the next index pulse."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:57
+msgid ""
+"'(bit) motenc.<board>.enc-<channel>-reset-count' - If this pin is true, the "
+"counter will immediately be reset to zero, and the pin will be cleared."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:59
+msgid ""
+"'(float) motenc.<board>.dac-<channel>-value' - Analog output value for DAC "
+"(in user units, see -gain and -offset)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:61
+msgid ""
+"'(float) motenc.<board>.adc-<channel>-value' - Analog input value read by "
+"ADC (in user units, see -gain and -offset)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:63
+msgid ""
+"'(bit) motenc.<board>.in-<channel>' - State of digital input pin, see "
+"canonical digital input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:65
+msgid ""
+"'(bit) motenc.<board>.in-<channel>-not' - Inverted state of digital input "
+"pin, see canonical digital input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:67
+msgid ""
+"'(bit) motenc.<board>.out-<channel>' - Value to be written to digital "
+"output, seen canonical digital output."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:69
+msgid ""
+"'(bit) motenc.<board>.estop-in' - Dedicated estop input, more details "
+"needed."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:71
+msgid ""
+"'(bit) motenc.<board>.estop-in-not' - Inverted state of dedicated estop "
+"input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:73
+msgid ""
+"'(bit) motenc.<board>.watchdog-reset' - Bidirectional, - Set TRUE to reset "
+"watchdog once, is automatically cleared."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:78
+msgid ""
+"'(float) motenc.<board>.enc-<channel>-scale' - The number of counts / user "
+"unit (to convert from counts to units)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:80
+msgid "'(float) motenc.<board>.dac-<channel>-offset' - Sets the DAC offset."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:82
+msgid "'(float) motenc.<board>.dac-<channel>-gain' - Sets the DAC gain (scaling)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:84
+msgid "'(float) motenc.<board>.adc-<channel>-offset' - Sets the ADC offset."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:86
+msgid "'(float) motenc.<board>.adc-<channel>-gain' - Sets the ADC gain (scaling)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:88
+msgid ""
+"'(bit) motenc.<board>.out-<channel>-invert' - Inverts a digital output, see "
+"canonical digital output."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:91
+#, no-wrap
+msgid ""
+"'(u32) motenc.<board>.watchdog-control' - Configures the watchdog.\n"
+"The value may be a bitwise OR of the following values:"
+msgstr ""
+
+#. type: Table
+#: src/drivers/motenc.adoc:94
+#, no-wrap
+msgid "Bit #"
+msgstr ""
+
+#. type: Table
+#: src/drivers/motenc.adoc:95 src/gcode/overview.adoc:121
+#, no-wrap
+msgid "Meaning"
+msgstr ""
+
+#. type: Table
+#: src/drivers/motenc.adoc:96
+#, no-wrap
+msgid "Timeout is 16ms if set, 8ms if unset"
+msgstr ""
+
+#. type: Table
+#: src/drivers/motenc.adoc:98
+#, no-wrap
+msgid "Watchdog is enabled"
+msgstr ""
+
+#. type: Table
+#: src/drivers/motenc.adoc:100
+#, no-wrap
+msgid "Watchdog is automatically reset by DAC writes (the HAL dac-write function)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:104
+msgid ""
+"Typically, the useful values are 0 (watchdog disabled) or 20 (8ms watchdog "
+"enabled, cleared by dac-write)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:107
+msgid "'(u32) motenc.<board>.led-view' - Maps some of the I/O to onboard LEDs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:112
+msgid "'(funct) motenc.<board>.encoder-read' - Reads all encoder counters."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:114
+msgid "'(funct) motenc.<board>.adc-read' - Reads the analog-to-digital converters."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:116
+msgid "'(funct) motenc.<board>.digital-in-read' - Reads digital inputs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:118
+msgid "'(funct) motenc.<board>.dac-write' - Writes the voltages to the DACs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:120
+msgid "'(funct) motenc.<board>.digital-out-write' - Writes digital outputs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/motenc.adoc:122
+msgid "'(funct) motenc.<board>.misc-update' - Updates misc stuff."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/opto22.adoc:5
+#, no-wrap
+msgid "Opto22 Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:14
+#, no-wrap
+msgid "*PCI AC5 ADAPTER CARD / HAL DRIVER*\n"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/opto22.adoc:15
+#, no-wrap
+msgid "The Adapter Card"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:25
+msgid ""
+"This is a card made by Opto22 for adapting the PCI port to solid state relay "
+"racks such as their standard or G4 series. It has 2 ports that can control "
+"up to 24 points each and has 4 on board LEDs. The ports use 50 pin "
+"connectors the same as Mesa boards. Any relay racks/breakout boards that "
+"work with Mesa Cards should work with this card with the understanding any "
+"encoder counters, PWM, etc., would have to be done in software. The AC5 does "
+"not have any 'smart' logic on board, it is just an adapter."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:27
+msgid "See the manufacturer's website for more info:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:29
+msgid "https://www.opto22.com/site/pr_details.aspx?cid=4&item=PCI-AC5"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:32
+msgid ""
+"I would like to thank Opto22 for releasing info in their manual, easing the "
+"writing of this driver!"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/opto22.adoc:33
+#, no-wrap
+msgid "The Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:39
+msgid ""
+"This driver is for the PCI AC5 card and will not work with the ISA AC5 "
+"card. The HAL driver is a realtime module. It will support 4 cards as is "
+"(more cards are possible with a change in the source code). Load the basic "
+"driver like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/opto22.adoc:43
+#, no-wrap
+msgid "loadrt opto_ac5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:50
+msgid ""
+"This will load the driver which will search for max 4 boards. It will set "
+"I/O of each board's 2 ports to a default setting. The default configuration "
+"is for 12 inputs then 12 outputs. The pin name numbers correspond to the "
+"position on the relay rack. For example the pin names for the default I/O "
+"setting of port 0 would be:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:53
+msgid "'opto_ac5.0.port0.in-00' - They would be numbered from 00 to 11"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:55
+msgid ""
+"'opto_ac5.0.port0.out-12' - They would be numbered 12 to 23 port 1 would be "
+"the same."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:59
+msgid "'opto_ac5.[BOARDNUMBER].port[PORTNUMBER].in-[PINNUMBER] OUT bit' -"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:66
+msgid ""
+"'opto_ac5.[BOARDNUMBER].port[PORTNUMBER].in-[PINNUMBER]-not OUT bit' - "
+"Connect a HAL bit signal to this pin to read an I/O point from the card. The "
+"PINNUMBER represents the position in the relay rack. Eg.  PINNUMBER 0 is "
+"position 0 in a Opto22 relay rack and would be pin 47 on the 50 pin header "
+"connector. The -not pin is inverted so that LOW gives TRUE and HIGH gives "
+"FALSE."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:72
+msgid ""
+"'opto_ac5.[BOARDNUMBER].port[PORTNUMBER].out-[PINNUMBER] IN bit' - Connect a "
+"HAL bit signal to this pin to write to an I/O point of the card. The "
+"PINNUMBER represents the position in the relay rack.Eg.  PINNUMBER 23 is "
+"position 23 in a Opto22 relay rack and would be pin 1 on the 50 pin header "
+"connector."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:75
+msgid ""
+"'opto_ac5.[BOARDNUMBER].led[NUMBER] OUT bit' - Turns one of the 4 onboard "
+"LEDs on/off. LEDs are numbered 0 to 3."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:78
+msgid ""
+"BOARDNUMBER can be 0-3 PORTNUMBER can be 0 or 1. Port 0 is closest to the "
+"card bracket."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:84
+msgid ""
+"'opto_ac5.[BOARDNUMBER].port[PORTNUMBER].out-[PINNUMBER]-invert W bit' - "
+"When TRUE, invert the meaning of the corresponding -out pin so that TRUE "
+"gives LOW and FALSE gives HIGH."
+msgstr ""
+
+#. type: SH
+#: src/drivers/opto22.adoc:85 src/man/man9/classicladder.9.adoc:61
+#: src/man/man9/counter.9.adoc:30 src/man/man9/debounce.9.adoc:35
+#: src/man/man9/encoder.9.adoc:40 src/man/man9/encoder_ratio.9.adoc:25
+#: src/man/man9/hal_bb_gpio.9.adoc:64 src/man/man9/hal_parport.9.adoc:94
+#: src/man/man9/hostmot2.9.adoc:1512 src/man/man9/lcd.9.adoc:11
+#: src/man/man9/motion.9.adoc:533 src/man/man9/opto_ac5.9.adoc:56
+#: src/man/man9/sampler.9.adoc:44 src/man/man9/setsserial.9.adoc:14
+#: src/man/man9/siggen.9.adoc:35 src/man/man9/stepgen.9.adoc:84
+#: src/man/man9/streamer.9.adoc:34 src/man/man9/supply.9.adoc:30
+#: src/man/man9/threads.9.adoc:35 src/man/man9/watchdog.9.adoc:14
+#: src/man/man9/weighted_sum.9.adoc:26 man/man9/abs.9:16 man/man9/abs_s32.9:16
+#: man/man9/and2.9:16 man/man9/axistest.9:16 man/man9/bin2gray.9:19
+#: man/man9/biquad.9:20 man/man9/bitslice.9:22 man/man9/bitwise.9:16
+#: man/man9/bldc.9:99 man/man9/blend.9:16 man/man9/carousel.9:117
+#: man/man9/charge_pump.9:25 man/man9/clarke2.9:30 man/man9/clarke3.9:27
+#: man/man9/clarkeinv.9:21 man/man9/comp.9:16 man/man9/constant.9:16
+#: man/man9/conv_bit_float.9:16 man/man9/conv_bit_s32.9:16
+#: man/man9/conv_bit_u32.9:16 man/man9/conv_float_s32.9:16
+#: man/man9/conv_float_u32.9:16 man/man9/conv_s32_bit.9:16
+#: man/man9/conv_s32_float.9:16 man/man9/conv_s32_u32.9:16
+#: man/man9/conv_u32_bit.9:16 man/man9/conv_u32_float.9:16
+#: man/man9/conv_u32_s32.9:16 man/man9/corexy_by_hal.9:50 man/man9/dbounce.9:22
+#: man/man9/ddt.9:23 man/man9/deadzone.9:16 man/man9/demux.9:27
+#: man/man9/differential.9:16 man/man9/edge.9:16
+#: man/man9/eoffset_per_angle.9:45 man/man9/estop_latch.9:82
+#: man/man9/feedcomp.9:16 man/man9/filter_kalman.9:41 man/man9/flipflop.9:16
+#: man/man9/gantry.9:36 man/man9/gearchange.9:20 man/man9/gray2bin.9:19
+#: man/man9/histobins.9:50 man/man9/hypot.9:16 man/man9/ilowpass.9:31
+#: man/man9/integ.9:16 man/man9/invert.9:17 man/man9/joyhandle.9:37
+#: man/man9/knob2float.9:16 man/man9/latencybins.9:42 man/man9/limit1.9:16
+#: man/man9/limit2.9:16 man/man9/limit3.9:18 man/man9/lincurve.9:41
+#: man/man9/logic.9:53 man/man9/lowpass.9:16 man/man9/lut5.9:143
+#: man/man9/maj3.9:16 man/man9/match8.9:16 man/man9/matrix_kb.9:54
+#: man/man9/max31855.9:43 man/man9/mesa_pktgyro_test.9:52 man/man9/message.9:41
+#: man/man9/millturn.9:45 man/man9/minmax.9:16 man/man9/moveoff.9:76
+#: man/man9/mult2.9:16 man/man9/multiclick.9:37 man/man9/multiswitch.9:22
+#: man/man9/mux16.9:16 man/man9/mux2.9:16 man/man9/mux4.9:16 man/man9/mux8.9:16
+#: man/man9/mux_generic.9:35 man/man9/near.9:16 man/man9/not.9:16
+#: man/man9/offset.9:16 man/man9/ohmic.9:39 man/man9/oneshot.9:24
+#: man/man9/or2.9:16 man/man9/orient.9:62 man/man9/pid.9:137
+#: man/man9/plasmac.9:40 man/man9/pwmgen.9:42 man/man9/sample_hold.9:16
+#: man/man9/scale.9:16 man/man9/select8.9:16 man/man9/serport.9:30
+#: man/man9/sim_axis_hardware.9:24 man/man9/sim_encoder.9:42
+#: man/man9/sim_home_switch.9:25 man/man9/sim_matrix_kb.9:16
+#: man/man9/sim_parport.9:45 man/man9/simple_tp.9:15 man/man9/sim_spindle.9:16
+#: man/man9/sphereprobe.9:16 man/man9/spindle.9:28
+#: man/man9/spindle_monitor.9:16 man/man9/steptest.9:16 man/man9/sum2.9:16
+#: man/man9/thc.9:66 man/man9/thcud.9:75 man/man9/threadtest.9:16
+#: man/man9/time.9:101 man/man9/timedelay.9:16 man/man9/timedelta.9:16
+#: man/man9/toggle2nist.9:45 man/man9/toggle.9:27 man/man9/tristate_bit.9:16
+#: man/man9/tristate_float.9:16 man/man9/updown.9:16 man/man9/userkins.9:65
+#: man/man9/wcomp.9:16 man/man9/xhc_hb04_util.9:26 man/man9/xor2.9:16
+#, no-wrap
+msgid "FUNCTIONS"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:89
+msgid ""
+"'opto_ac5.0.digital-read' - Add this to a thread to read all the input "
+"points."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:92
+msgid ""
+"'opto_ac5.0.digital-write' - Add this to a thread to write all the output "
+"points and LEDs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:95
+msgid "For example the pin names for the default I/O setting of port 0 would be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/opto22.adoc:98
+#, no-wrap
+msgid "opto_ac5.0.port0.in-00\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:101
+msgid "They would be numbered from 00 to 11"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/opto22.adoc:104
+#, no-wrap
+msgid "opto_ac5.0.port0.out-12\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:107
+msgid "They would be numbered 12 to 23 port 1 would be the same."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/opto22.adoc:108
+#, no-wrap
+msgid "Configuring I/O Ports"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:111
+msgid "To change the default setting load the driver something like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/opto22.adoc:115
+#, no-wrap
+msgid "loadrt opto_ac5 portconfig0=0xffff portconfig1=0xff0000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:119
+msgid ""
+"Of course changing the numbers to match the I/O you would like. Each port "
+"can be set up different."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:127
+msgid ""
+"Here's how to figure out the number: The configuration number represents a "
+"32 bit long code to tell the card which I/O points are output vrs input. The "
+"lower 24 bits are the I/O points of one port. The 2 highest bits are for 2 "
+"of the on board LEDs. A one in any bit position makes the I/O point an "
+"output. The two highest bits must be output for the LEDs to work. The driver "
+"will automatically set the two highest bits for you, we won't talk about "
+"them."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:140
+msgid ""
+"The easiest way to do this is to fire up the calculator under "
+"APPLICATIONS/ACCESSORIES. Set it to scientific (click view). Set it BINARY "
+"(radio button Bin). Press 1 for every output you want and/or zero for every "
+"input. Remember that HAL pin 00 corresponds to the rightmost bit. 24 numbers "
+"represent the 24 I/O points of one port. So for the default setting (12 "
+"inputs then 12 outputs) you would push 1 twelve times (that's the outputs) "
+"then 0 twelve times (that's the inputs). Notice the first I/O point is the "
+"lowest (rightmost) bit.  (that bit corresponds to HAL pin 00 .looks "
+"backwards) You should have 24 digits on the screen. Now push the Hex radio "
+"button. The displayed number (fff000) is the configport number ( put a '0x' "
+"in front of it designating it as a HEX number)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:144
+msgid ""
+"Another example: To set the port for 8 outputs and 16 inputs (the same as a "
+"Mesa card). Here is the 24 bits represented in a BINARY number. Bit 1 is the "
+"rightmost number:"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/opto22.adoc:145
+#, no-wrap
+msgid "16 zeros for the 16 inputs and 8 ones for the 8 outputs"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/opto22.adoc:148
+#, no-wrap
+msgid "000000000000000011111111\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:152
+msgid ""
+"This converts to FF on the calculator, so 0xff is the number to use for "
+"portconfig0 and/or portconfig1 when loading the driver."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:160
+msgid ""
+"HAL pin 00 corresponds to bit 1 (the rightmost) which represents position 0 "
+"on an Opto22 relay rack. HAL pin 01 corresponds to bit 2 (one spot to the "
+"left of the rightmost) which represents position 1 on an Opto22 relay "
+"rack. HAL pin 23 corresponds to bit 24 (the leftmost) which represents "
+"position 23 on an Opto22 relay rack."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:164
+msgid ""
+"HAL pin 00 connects to pin 47 on the 50 pin connector of each port.  HAL pin "
+"01 connects to pin 45 on the 50 pin connector of each port.  HAL pin 23 "
+"connects to pin 1 on the 50 pin connector of each port."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/opto22.adoc:169
+msgid ""
+"Note that Opto22 and Mesa use opposite numbering systems: Opto22 position 23 "
+"= connector pin 1, and the position goes down as the connector pin number "
+"goes up. Mesa Hostmot2 position 1 = connector pin 1, and the position number "
+"goes up as the connector pin number goes up."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/pico-ppmc.adoc:5
+#, no-wrap
+msgid "Pico Drivers"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:24
+msgid ""
+"Pico Systems has a family of boards for doing analog servo, stepper, and PWM "
+"(digital) servo control. The boards connect to the PC through a parallel "
+"port working in EPP mode. Although most users connect one board to a "
+"parallel port, in theory any mix of up to 8 or 16 boards can be used on a "
+"single parport. One driver serves all types of boards. The final mix of I/O "
+"depends on the connected board(s). The driver doesn't distinguish between "
+"boards, it simply numbers I/O channels (encoders, etc) starting from 0 on "
+"the first board.  The driver is named hal_ppmc.ko The analog servo interface "
+"is also called the PPMC for Parallel Port Motion Control.  There is also the "
+"Universal Stepper Controller, abbreviated the USC. And the Universal PWM "
+"Controller, or UPC."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/pico-ppmc.adoc:30
+#, no-wrap
+msgid "loadrt hal_ppmc port_addr=<addr1>[,<addr2>[,<addr3>...]]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:40
+msgid ""
+"The 'port_addr' parameter tells the driver what parallel port(s) to "
+"check. By default, '<addr1>' is 0x0378, and '<addr2>' and following are not "
+"used. The driver searches the entire address space of the enhanced parallel "
+"port(s) at 'port_addr', looking for any board(s) in the PPMC family. It then "
+"exports HAL pins for whatever it finds. During loading (or attempted "
+"loading) the driver prints some useful debugging messages to the kernel log, "
+"which can be viewed with 'dmesg'."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:43
+msgid ""
+"Up to 3 parport buses may be used, and each bus may have up to 8 (or "
+"possibly 16 PPMC) devices on it."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:57
+msgid ""
+"There are several options that can be specified on the loadrt command line.  "
+"First, the USC and UPC can have an 8-bit DAC added for spindle speed control "
+"and similar functions.  This can be specified with the "
+"extradac='0xnn[,0xmm]' parameter.  The part enclosed in [ ] allows you to "
+"specify this option on more than one board of the system.  The first hex "
+"digit tells which EPP bus is being referred to, it corresponds to the order "
+"of the port addresses in the port_addr parameter, where <addr1> would be "
+"zero here.  So, for the first EPP bus, the first USC or UPC board would be "
+"described as '0x00', the second USC or UPC on the same bus would be '0x02'.  "
+"(Note that each USC or UPC takes up two addresses, so if one is at 00, the "
+"next would have to be 02.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:62
+msgid ""
+"Alternatively, the 8 digital output pins can be used as additional digital "
+"outputs, it works the same way as above with the syntax : extradout=0xnn'.  "
+"The extradac and extradout options are mutually exclusive on each board, you "
+"can only specify one."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:75
+msgid ""
+"The UPC and PPMC encoder boards can timestamp the arrival of encoder counts "
+"to refine the derivation of axis velocity.  This derived velocity can be fed "
+"to the PID hal component to produce smoother D term response.  The syntax is "
+": timestamp='0xnn[,0xmm]', this works the same way as above to select which "
+"board is being configured.  Default is to not enable the timestamp option.  "
+"If you put this option on the command line, it enables the option.  The "
+"first 'n' selects the EPP bus, the second one matches the address of the "
+"board having the option enabled.  The driver checks the revision level of "
+"the board to make sure it has firmware supporting the feature, and produces "
+"an error message if the board does not support it."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:89
+msgid ""
+"The PPMC encoder board has an option to select the encoder digital filter "
+"frequeency.  (The UPC has the same ability via DIP switches on the board.)  "
+"Since the PPMC encoder board doesn't have these extra DIP switches, it needs "
+"to be selected via a command-line option.  By default, the filter runs at 1 "
+"MHz, allowing encoders to be counted up to about 900 kHz (depending on noise "
+"and quadrature accuracy of the encoder.)  The options are 1, 2.5, 5 and 10 "
+"MHz.  These are set with a parameter of 1,2,5 and 10 (decimal) which is "
+"specified as the hex digit \"A\".  These are specified in a manner similar "
+"to the above options, but with the frequency setting to the left of the "
+"bus/address digits.  So, to set 5 MHz on the encoder board at address 3 on "
+"the first EPP bus, you would write: `enc_clock='0x503'`."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:98
+msgid ""
+"It was recently discovered that some parallel port chips would not work with "
+"the ppmc driver.  Especially, the Oxford OXPCIe952 chip on the SIIG PCIe "
+"parallel port cards had this trouble.  The ppmc driver in all LinuxCNC "
+"versions starting from 2.7.8 have been corrected for this problem by "
+"default.  However, this possibly could cause problems with really old EPP "
+"parallel port hardware, so there is a command line option to go back to the "
+"previous behavior.  The new behavior is set by default, or by adding the "
+"parameter epp_dir=0 on the command line.  To get the old behavior, add "
+"epp_dir=1 to the command line.  All parallel ports I have here work with the "
+"new default behavior.  As on the other parameters, it is possible to give a "
+"list, like epp_dir=1,0,1 to set different settings for each of up to 3 "
+"parallel ports."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:118
+msgid ""
+"In the following pins, parameters, and functions, <port> is the parallel "
+"port ID. According to the naming conventions the first port should always "
+"have an ID of zero. All the boards have some method of setting the address "
+"on the EPP bus. USC and UPC have simple provisions for only two addresses, "
+"but jumper foil cuts allow up to 4 boards to be addressed.  The PPMC boards "
+"have 16 possible addresses. In all cases, the driver enumerates the boards "
+"by type and exports the appropriate HAL pins.  For instance, the encoders "
+"will be enumerated from zero up, in the same order as the address switches "
+"on the board specify.  So, the first board will have encoders 0 -- 3, the "
+"second board would have encoders 4 -- 7.  The first column after the bullet "
+"tells which boards will have this HAL pin or parameter associated with "
+"it. All means that this pin is available on all three board types.  Option "
+"means that this pin will only be exported when that option is enabled by an "
+"optional parameter in the loadrt HAL command. These options require the "
+"board to have a sufficient revision level to support the feature."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:120
+msgid ""
+"'(All s32 output) ppmc.<port>.encoder.<channel>.count' - Encoder position, "
+"in counts."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:121
+msgid ""
+"'(All s32 output) ppmc.<port>.encoder.<channel>.delta' - Change in counts "
+"since last read, in raw encoder count units."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:130
+msgid ""
+"'(All float output) 'ppmc.<port>.encoder.<channel>.velocity' - Velocity "
+"scaled in user units per second. On PPMC and USC this is derived from raw "
+"encoder counts per servo period, and hence is affected by encoder "
+"granularity. On UPC boards with the 8/21/09 and later firmware, velocity "
+"estimation by timestamping encoder counts can be used to improve the "
+"smoothness of this velocity output. This can be fed to the PID HAL component "
+"to produce a more stable servo response. This function has to be enabled in "
+"the HAL command line that starts the PPMC driver, with the timestamp=0x00 "
+"option."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:131
+msgid ""
+"'(All float output) ppmc.<port>.encoder.<channel>.position' - Encoder "
+"position, in user units."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:136
+msgid ""
+"'(All bit bidir) ppmc.<port>.encoder.<channel>.index-enable' - Connect to "
+"joint.#.index-enable for home-to-index. This is a bidirectional HAL "
+"signal. Setting it to true causes the encoder hardware to reset the count to "
+"zero on the next encoder index pulse.  The driver will detect this and set "
+"the signal back to false."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:139
+msgid ""
+"'(PPMC float output) ppmc.<port>.DAC.<channel>.value' - sends a signed value "
+"to the 16-bit Digital to Analog Converter on the PPMC DAC16 board commanding "
+"the analog output voltage of that DAC channel."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:140
+msgid ""
+"'(UPC bit input) ppmc.<port>.pwm.<channel>.enable' - Enables a PWM "
+"generator."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:146
+msgid ""
+"'(UPC float input) ppmc.<port>.pwm.<channel>.value' - Value which determines "
+"the duty cycle of the PWM waveforms. The value is divided by "
+"'pwm.<channel>.scale', and if the result is 0.6 the duty cycle will be 60%, "
+"and so on.  Negative values result in the duty cycle being based on the "
+"absolute value, and the direction pin is set to indicate negative."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:148
+msgid ""
+"'(USC bit input) ppmc.<port>.stepgen.<channel>.enable' - Enables a step "
+"pulse generator."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:154
+msgid ""
+"'(USC float input) ppmc.<port>.stepgen.<channel>.velocity' - Value which "
+"determines the step frequency. The value is multiplied by "
+"'stepgen.<channel>.scale' , and the result is the frequency in steps per "
+"second. Negative values result in the frequency being based on the absolute "
+"value, and the direction pin is set to indicate negative."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:156
+msgid ""
+"'(All bit output) ppmc.<port>.din.<channel>.in' - State of digital input "
+"pin, see canonical digital input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:158
+msgid ""
+"'(All bit output) ppmc.<port>.din.<channel>.in-not' - Inverted state of "
+"digital input pin, see canonical digital input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:160
+msgid ""
+"'(All bit input) ppmc.<port>.dout.<channel>.out' - Value to be written to "
+"digital output, see canonical digital output."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:169
+msgid ""
+"'(Option float input) ppmc.<port>.DAC8-<channel>.value' - Value to be "
+"written to analog output, range from 0 to 255. This sends 8 output bits to "
+"J8, which should have a Spindle DAC board connected to it. 0 corresponds to "
+"zero Volts, 255 corresponds to 10 Volts. The polarity of the output can be "
+"set for always minus, always plus, or can be controlled by the state of SSR1 "
+"(plus when on) and SSR2 (minus when on). You must specify extradac = 0x00 on "
+"the HAL command line that loads the PPMC driver to enable this function on "
+"the first USC ur UPC board."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:176
+msgid ""
+"'(Option bit input) ppmc.<port>.dout.<channel>.out' - Value to be written to "
+"one of the 8 extra digital output pins on J8. You must specify extradout = "
+"0x00 on the HAL command line that loads the ppmc driver to enable this "
+"function on the first USC or UPC board. extradac and extradout are mutually "
+"exclusive features as they use the same signal lines for different "
+"purposes.  These output pins will be enumerated after the standard digital "
+"outputs of the board."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:181
+msgid ""
+"'(All float) ppmc.<port>.encoder.<channel>.scale' - The number of counts / "
+"user unit (to convert from counts to units)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:185
+msgid ""
+"'(UPC float) ppmc.<port>.pwm.<channel-range>.freq' - The PWM carrier "
+"frequency, in Hz. Applies to a group of four consecutive PWM generators, as "
+"indicated by '<channel-range>'. Minimum is 610 Hz, maximum is 500 kHz."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:189
+msgid ""
+"'(PPMC float) ppmc.<port>.DAC.<channel>.scale' - Sets scale of DAC16 output "
+"channel such that an output value equal to the 1/scale value will produce an "
+"output of + or - value Volts.  So, if the scale parameter is 0.1 and you "
+"send a value of 0.5, the output will be 5.0 Volts."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:192
+msgid ""
+"'(UPC float) ppmc.<port>.pwm.<channel>.scale' - Scaling for PWM "
+"generator. If 'scale' is X, then the duty cycle will be 100% when the "
+"'value' pin is X (or -X)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:194
+msgid ""
+"'(UPC float) ppmc.<port>.pwm.<channel>.max-dc' - Maximum duty cycle, from "
+"0.0 to 1.0."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:196
+msgid ""
+"'(UPC float) ppmc.<port>.pwm.<channel>.min-dc' - Minimum duty cycle, from "
+"0.0 to 1.0."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:198
+msgid ""
+"'(UPC float) ppmc.<port>.pwm.<channel>.duty-cycle' - Actual duty cycle (used "
+"mostly for troubleshooting.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:202
+msgid ""
+"'(UPC bit) ppmc.<port>.pwm.<channel>.bootstrap' - If true, the PWM generator "
+"will generate a short sequence of pulses of both polarities when E-stop goes "
+"false, to reset the shutdown latches on some PWM servo drives."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:206
+msgid ""
+"'(USC u32) ppmc.<port>.stepgen.<channel-range>.setup-time' - Sets minimum "
+"time between direction change and step pulse, in units of 100 ns. Applies to "
+"a group of four consecutive step generators, as indicated by "
+"'<channel-range>'. Values between 200 ns and 25.5 µs can be specified."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:210
+msgid ""
+"'(USC u32) ppmc.<port>.stepgen.<channel-range>.pulse-width' - Sets width of "
+"step pulses, in units of 100 ns. Applies to a group of four consecutive step "
+"generators, as indicated by '<channel-range>'.  Values between 200 ns and "
+"25.5 µs may be specified."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:216
+msgid ""
+"'(USC u32) ppmc.<port>.stepgen.<channel-range>.pulse-space-min' - Sets "
+"minimum time between pulses, in units of 100 ns.  Applies to a group of four "
+"consecutive step generators, as indicated by '<channel-range>'. Values "
+"between 200 ns and 25.5 µs can be specified.  The maximum step rate is: "
+"image:images/pico-ppmc-math.png[]"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:219
+msgid ""
+"'(USC float) ppmc.<port>.stepgen.<channel>.scale' - Scaling for step pulse "
+"generator. The step frequency in Hz is the absolute value of 'velocity' * "
+"'scale'."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:222
+msgid ""
+"'(USC float) ppmc.<port>.stepgen.<channel>.max-vel' - The maximum value for "
+"'velocity'. Commands greater than 'max-vel' will be clamped.  Also applies "
+"to negative values. (The absolute value is clamped.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:224
+msgid ""
+"'(USC float) ppmc.<port>.stepgen.<channel>.frequency' - Actual step pulse "
+"frequency in Hz (used mostly for troubleshooting.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:228
+msgid ""
+"'(Option float) ppmc.<port>.DAC8.<channel>.scale' - Sets scale of extra DAC "
+"output such that an output value equal to scale gives a magnitude of 10.0 V "
+"output. (The sign of the output is set by jumpers and/or other digital "
+"outputs.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:230
+msgid ""
+"'(Option bit) ppmc.<port>.dout.<channel>.invert' - Inverts a digital output, "
+"see canonical digital output."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:232
+msgid ""
+"'(Option bit) ppmc.<port>.dout.<channel>.invert' - Inverts a digital output "
+"pin of J8, see canonical digital output."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:239
+msgid ""
+"'(All funct) ppmc.<port>.read' - Reads all inputs (digital inputs and "
+"encoder counters) on one port. These reads are organized into blocks of "
+"contiguous registers to be read in a block to minimize CPU overhead."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pico-ppmc.adoc:243
+msgid ""
+"'(All funct) ppmc.<port>.write' - Writes all outputs (digital outputs, "
+"stepgens, PWMs) on one port.  These writes are organized into blocks of "
+"contiguous registers to be written in a block to minimize CPU overhead."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/pluto-p.adoc:5
+#, no-wrap
+msgid "Pluto P Driver"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/pluto-p.adoc:7
+#, no-wrap
+msgid "General Info"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:10
+msgid "The Pluto-P is a FPGA board featuring the ACEX1K chip from Altera."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:14
+msgid "A Pluto-P board"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:16
+msgid ""
+"An EPP-compatible parallel port, configured for EPP mode in the system BIOS "
+"or a PCI EPP compatible parallel port card."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:22
+msgid ""
+"The Pluto P board requires EPP mode. Netmos98xx chips do not work in EPP "
+"mode.  The Pluto P board will work on some computers and not on others.  "
+"There is no known pattern to which computers work and which don't work."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:25
+msgid ""
+"For more information on PCI EPP compatible parallel port cards see the "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?LinuxCNC_Supported_Hardware[LinuxCNC "
+"Supported Hardware] page on the wiki."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:26
+#, no-wrap
+msgid "Connectors"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:33
+msgid ""
+"The Pluto-P board is shipped with the left connector presoldered, with the "
+"key in the indicated position. The other connectors are unpopulated. There "
+"does not seem to be a standard 12-pin IDC connector, but some of the pins of "
+"a 16P connector can hang off the board next to QA3/QZ3."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:37
+msgid ""
+"The bottom and right connectors are on the same .1\" grid, but the left "
+"connector is not. If OUT2…OUT9 are not required, a single IDC connector can "
+"span the bottom connector and the bottom two rows of the right connector."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:38
+#, no-wrap
+msgid "Physical Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:43
+msgid ""
+"Read the ACEX1K datasheet for information about input and output voltage "
+"thresholds. The pins are all configured in 'LVTTL/LVCMOS' mode and are "
+"generally compatible with 5V TTL logic."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:50
+msgid ""
+"Before configuration and after properly exiting LinuxCNC, all Pluto-P pins "
+"are tristated with weak pull-ups (20 kΩ min, 50 kΩ max).  If the watchdog "
+"timer is enabled (the default), these pins are also tristated after an "
+"interruption of communication between LinuxCNC and the board. The watchdog "
+"timer takes approximately 6.5 ms to activate. However, software bugs in the "
+"pluto_servo firmware or LinuxCNC can leave the Pluto-P pins in an undefined "
+"state."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:54
+msgid ""
+"In pwm+dir mode, by default dir is HIGH for negative values and LOW for "
+"positive values. To select HIGH for positive values and LOW for negative "
+"values, set the corresponding dout-NN-invert parameter TRUE to invert the "
+"signal."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:60
+msgid ""
+"The index input is triggered on the rising edge. Initial testing has shown "
+"that the QZx inputs are particularly noise sensitive, due to being polled "
+"every 25 ns. Digital filtering has been added to filter pulses shorter than "
+"175 ns (seven polling times). Additional external filtering on all input "
+"pins, such as a Schmitt buffer or inverter, RC filter, or differential "
+"receiver (if applicable) is recommended."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:66
+msgid ""
+"The IN1…IN7 pins have 22 Ω series resistors to their associated FPGA "
+"pins. No other pins have any sort of protection for out-of-spec voltages or "
+"currents. It is up to the integrator to add appropriate isolation and "
+"protection. Traditional parallel port optoisolator boards do not work with "
+"pluto_servo due to the bidirectional nature of the EPP protocol."
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:67 src/gui/gladevcp.adoc:950
+#: src/plasma/qtplasmac.adoc:1150
+#, no-wrap
+msgid "LED"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:73
+msgid ""
+"When the device is unprogrammed, the LED glows faintly. When the device is "
+"programmed, the LED glows according to the duty cycle of PWM0 ('LED' = 'UP0' "
+"'xor' 'DOWN0') or STEPGEN0 ('LED' = 'STEP0' 'xor' 'DIR0')."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:74
+#, no-wrap
+msgid "Power"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:81
+msgid ""
+"A small amount of current may be drawn from VCC. The available current "
+"depends on the unregulated DC input to the board. Alternately, regulated "
+"+3.3VDC may be supplied to the FPGA through these VCC pins.  The required "
+"current is not yet known, but is probably around 50mA plus I/O current."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:83
+msgid ""
+"The regulator on the Pluto-P board is a low-dropout type. Supplying 5V at "
+"the power jack will allow the regulator to work properly."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:84
+#, no-wrap
+msgid "PC interface"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:87
+msgid "Only a single pluto_servo or pluto_step board is supported."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:88
+#, no-wrap
+msgid "Rebuilding the FPGA firmware"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:97
+msgid ""
+"The 'src/hal/drivers/pluto_servo_firmware/' and "
+"'src/hal/drivers/pluto_step_firmware/' subdirectories contain the Verilog "
+"source code plus additional files used by Quartus for the FPGA "
+"firmwares. Altera's Quartus II software is required to rebuild the FPGA "
+"firmware. To rebuild the firmware from the .hdl and other source files, open "
+"the '.qpf' file and press CTRL-L.  Then, recompile LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:100
+msgid ""
+"Like the HAL hardware driver, the FPGA firmware is licensed under the terms "
+"of the GNU General Public License."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:103
+msgid ""
+"The gratis version of Quartus II runs only on Microsoft Windows, although "
+"there is apparently a paid version that runs on Linux."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:104
+#, no-wrap
+msgid "For more information"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:109
+msgid ""
+"Some additional information about it is available from "
+"https://www.knjn.com/FPGA-Parallel.html[KNJC LLC] and from "
+"http://emergent.unpy.net/01165081407[the developer's blog]."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/pluto-p.adoc:110
+#, no-wrap
+msgid "Pluto Servo"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:116
+msgid ""
+"The pluto_servo system is suitable for control of a 4-axis CNC mill with "
+"servo motors, a 3-axis mill with PWM spindle control, a lathe with spindle "
+"encoder, etc. The large number of inputs allows a full set of limit "
+"switches."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:118
+msgid "This driver features:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:123
+msgid ""
+"4 quadrature channels with 40 MHz sample rate. The counters operate in '4x' "
+"mode. The maximum useful quadrature rate is 8191 counts per LinuxCNC servo "
+"cycle, or about 8 MHz for LinuxCNC's default 1 ms servo rate."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:126
+msgid ""
+"4 PWM channels, 'up/down' or 'pwm+dir' style. 4095 duty cycles from -100% to "
+"+100%, including 0%. The PWM period is approximately 19.5 kHz (40 MHz / "
+"2047). A PDM-like mode is also available."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:129
+msgid ""
+"18 digital outputs: 10 dedicated, 8 shared with PWM functions.  (Example: A "
+"lathe with unidirectional PWM spindle control may use 13 total digital "
+"outputs)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:132
+msgid ""
+"20 digital inputs: 8 dedicated, 12 shared with Quadrature functions.  "
+"(Example: A lathe with index pulse only on the spindle may use 13 total "
+"digital inputs.)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:135
+msgid ""
+"EPP communication with the PC. The EPP communication typically takes around "
+"100 µs on machines tested so far, enabling servo rates above 1 kHz."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:143
+msgid ""
+"'UPx' - The 'up' (up/down mode) or 'pwm' (pwm+direction mode) signal from "
+"PWM generator X. May be used as a digital output if the corresponding PWM "
+"channel is unused, or the output on the channel is always negative. The "
+"corresponding digital output invert may be set to TRUE to make UPx active "
+"low rather than active high."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:148
+msgid ""
+"'DNx' - The 'down' (up/down mode) or 'direction' (pwm+direction mode)  "
+"signal from PWM generator X. May be used as a digital output if the "
+"corresponding PWM channel is unused, or the output on the channel is never "
+"negative. The corresponding digital output invert may be set to TRUE to make "
+"DNx active low rather than active high."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:150
+msgid ""
+"'QAx, QBx' - The A and B signals for Quadrature counter X. May be used as a "
+"digital input if the corresponding quadrature channel is unused."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:153
+msgid ""
+"'QZx' - The Z (index) signal for quadrature counter X. May be used as a "
+"digital input if the index feature of the corresponding quadrature channel "
+"is unused."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:154 src/drivers/pluto-p.adoc:240
+msgid "'INx' - Dedicated digital input #x"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:155 src/drivers/pluto-p.adoc:241
+msgid "'OUTx' - Dedicated digital output #x"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:156 src/drivers/pluto-p.adoc:242
+msgid "'GND' - Ground"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:157 src/drivers/pluto-p.adoc:243
+msgid "'VCC' - +3.3V regulated DC"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/pluto-p.adoc:158
+#, no-wrap
+msgid "Pluto-Servo Pinout(((pluto-servo pinout)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/pluto-p.adoc:159
+#, no-wrap
+msgid "Pluto-Servo Pinout"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/pluto-p.adoc:159
+#, no-wrap
+msgid "images/pluto-pinout.png"
+msgstr ""
+
+#. type: Block title
+#: src/drivers/pluto-p.adoc:161
+#, no-wrap
+msgid "Pluto-Servo Alternate Pin Functions"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:164
+#, no-wrap
+msgid "Primary function"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:164
+#, no-wrap
+msgid "Alternate Function"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:165
+#, no-wrap
+msgid "Behavior if both functions used"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:165
+#, no-wrap
+msgid "UP0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:165
+#, no-wrap
+msgid "PWM0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:166
+#, no-wrap
+msgid "When pwm-0-pwmdir is TRUE, this pin is the PWM output"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:166
+#, no-wrap
+msgid "OUT10"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:167
+#, no-wrap
+msgid "XOR'd with UP0 or PWM0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:167
+#, no-wrap
+msgid "UP1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:167
+#, no-wrap
+msgid "PWM1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:168
+#, no-wrap
+msgid "When pwm-1-pwmdir is TRUE, this pin is the PWM output"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:168
+#, no-wrap
+msgid "OUT12"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:169
+#, no-wrap
+msgid "XOR'd with UP1 or PWM1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:169
+#, no-wrap
+msgid "UP2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:169
+#, no-wrap
+msgid "PWM2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:170
+#, no-wrap
+msgid "When pwm-2-pwmdir is TRUE, this pin is the PWM output"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:170
+#, no-wrap
+msgid "OUT14"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:171
+#, no-wrap
+msgid "XOR'd with UP2 or PWM2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:171
+#, no-wrap
+msgid "UP3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:171
+#, no-wrap
+msgid "PWM3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:172
+#, no-wrap
+msgid "When pwm-3-pwmdir is TRUE, this pin is the PWM output"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:172
+#, no-wrap
+msgid "OUT16"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:173
+#, no-wrap
+msgid "XOR'd with UP3 or PWM3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:173
+#, no-wrap
+msgid "DN0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:173
+#, no-wrap
+msgid "DIR0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:174
+#, no-wrap
+msgid "When pwm-0-pwmdir is TRUE, this pin is the DIR output"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:174
+#, no-wrap
+msgid "OUT11"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:175
+#, no-wrap
+msgid "XOR'd with DN0 or DIR0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:175
+#, no-wrap
+msgid "DN1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:175
+#, no-wrap
+msgid "DIR1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:176
+#, no-wrap
+msgid "When pwm-1-pwmdir is TRUE, this pin is the DIR output"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:176
+#, no-wrap
+msgid "OUT13"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:177
+#, no-wrap
+msgid "XOR'd with DN1 or DIR1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:177
+#, no-wrap
+msgid "DN2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:177
+#, no-wrap
+msgid "DIR2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:178
+#, no-wrap
+msgid "When pwm-2-pwmdir is TRUE, this pin is the DIR output"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:178
+#, no-wrap
+msgid "OUT15"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:179
+#, no-wrap
+msgid "XOR'd with DN2 or DIR2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:179
+#, no-wrap
+msgid "DN3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:179
+#, no-wrap
+msgid "DIR3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:180
+#, no-wrap
+msgid "When pwm-3-pwmdir is TRUE, this pin is the DIR output"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:180
+#, no-wrap
+msgid "OUT17"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:181
+#, no-wrap
+msgid "XOR'd with DN3 or DIR3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:181
+#, no-wrap
+msgid "QZ0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:181
+#, no-wrap
+msgid "IN8"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:182 src/drivers/pluto-p.adoc:183
+#: src/drivers/pluto-p.adoc:184 src/drivers/pluto-p.adoc:185
+#: src/drivers/pluto-p.adoc:186 src/drivers/pluto-p.adoc:187
+#: src/drivers/pluto-p.adoc:188 src/drivers/pluto-p.adoc:189
+#: src/drivers/pluto-p.adoc:190 src/drivers/pluto-p.adoc:191
+#: src/drivers/pluto-p.adoc:192 src/drivers/pluto-p.adoc:193
+#, no-wrap
+msgid "Read same value"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:182
+#, no-wrap
+msgid "QZ1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:182
+#, no-wrap
+msgid "IN9"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:183
+#, no-wrap
+msgid "QZ2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:183
+#, no-wrap
+msgid "IN10"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:184
+#, no-wrap
+msgid "QZ3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:184
+#, no-wrap
+msgid "IN11"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:185
+#, no-wrap
+msgid "QA0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:185
+#, no-wrap
+msgid "IN12"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:186
+#, no-wrap
+msgid "QA1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:186
+#, no-wrap
+msgid "IN13"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:187
+#, no-wrap
+msgid "QA2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:187
+#, no-wrap
+msgid "IN14"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:188
+#, no-wrap
+msgid "QA3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:188
+#, no-wrap
+msgid "IN15"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:189
+#, no-wrap
+msgid "QB0"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:189
+#, no-wrap
+msgid "IN16"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:190
+#, no-wrap
+msgid "QB1"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:190
+#, no-wrap
+msgid "IN17"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:191
+#, no-wrap
+msgid "QB2"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:191
+#, no-wrap
+msgid "IN18"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:192
+#, no-wrap
+msgid "QB3"
+msgstr ""
+
+#. type: Table
+#: src/drivers/pluto-p.adoc:192
+#, no-wrap
+msgid "IN19"
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:195 src/drivers/pluto-p.adoc:253
+#, no-wrap
+msgid "Input latching and output updating"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:198
+msgid "PWM duty cycles for each channel are updated at different times."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:201
+msgid ""
+"Digital outputs OUT0 through OUT9 are all updated at the same time.  Digital "
+"outputs OUT10 through OUT17 are updated at the same time as the pwm function "
+"they are shared with."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:202
+msgid "Digital inputs IN0 through IN19 are all latched at the same time."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:203
+msgid "Quadrature positions for each channel are latched at different times."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:204 src/drivers/pluto-p.adoc:273
+#, no-wrap
+msgid "HAL Functions, Pins and Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:208
+msgid ""
+"A list of all 'loadrt' arguments, HAL function names, pin names and "
+"parameter names is in the manual page, 'pluto_servo.9'."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:209
+#, no-wrap
+msgid "Compatible driver hardware"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:219
+msgid ""
+"A schematic for a 2A, 2-axis PWM servo amplifier board is available from the "
+"(http://emergent.unpy.net/projects/01148303608[the software developer]).  "
+"The L298 H-Bridge can be used for motors up to 4A (one motor per L298) or up "
+"to 2A (two motors per L298) with the supply voltage up to 46V. However, the "
+"L298 does not have built-in current limiting, a problem for motors with high "
+"stall currents. For higher currents and voltages, some users have reported "
+"success with International Rectifier's integrated high-side/low-side "
+"drivers."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/pluto-p.adoc:221
+#, no-wrap
+msgid "Pluto Step(((pluto-step)))"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:226
+msgid ""
+"Pluto-step is suitable for control of a 3- or 4-axis CNC mill with stepper "
+"motors. The large number of inputs allows for a full set of limit switches."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:228
+msgid "The board features:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:231
+msgid ""
+"4 'step+direction' channels with 312.5 kHz maximum step rate, programmable "
+"step length, space, and direction change times"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:232
+msgid "14 dedicated digital outputs"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:233
+msgid "16 dedicated digital inputs"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:234
+msgid "EPP communication with the PC"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:238
+msgid "'STEPx' - The 'step' (clock) output of stepgen channel 'x'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:239
+msgid "'DIRx' - The 'direction' output of stepgen channel 'x'"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:249
+msgid ""
+"While the 'extended main connector' has a superset of signals usually found "
+"on a Step & Direction DB25 connector--4 step generators, 9 inputs, and 6 "
+"general-purpose outputs--the layout on this header is different than the "
+"layout of a standard 26-pin ribbon cable to DB25 connector."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/pluto-p.adoc:250
+#, no-wrap
+msgid "Pluto-Step Pinout (((pluto-step pinout)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/pluto-p.adoc:251
+#, no-wrap
+msgid "Pluto-Step Pinout"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/pluto-p.adoc:251
+#, no-wrap
+msgid "images/pluto-step-pinout.png"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:256
+msgid "Step frequencies for each channel are updated at different times."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:257
+msgid "Digital outputs are all updated at the same time."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:258
+msgid "Digital inputs are all latched at the same time."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:259
+msgid "Feedback positions for each channel are latched at different times."
+msgstr ""
+
+#. type: Title ===
+#: src/drivers/pluto-p.adoc:260
+#, no-wrap
+msgid "Step Waveform Timings"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:269
+msgid ""
+"The firmware and driver enforce step length, space, and direction change "
+"times. Timings are rounded up to the next multiple of 1.6μs, with a maximum "
+"of 49.6μs. The timings are the same as for the software stepgen component, "
+"except that 'dirhold' and 'dirsetup' have been merged into a single "
+"parameter 'dirtime' which should be the maximum of the two, and that the "
+"same step timings are always applied to all channels."
+msgstr ""
+
+#. type: Block title
+#: src/drivers/pluto-p.adoc:270
+#, no-wrap
+msgid "Pluto-Step Timings (((pluto-step timings)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/drivers/pluto-p.adoc:271
+#, no-wrap
+msgid "Pluto-Step Timings"
+msgstr ""
+
+#. type: Target for macro image
+#: src/drivers/pluto-p.adoc:271
+#, no-wrap
+msgid "images/pluto_step_waveform.png"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pluto-p.adoc:277
+msgid ""
+"A list of all 'loadrt' arguments, HAL function names, pin names and "
+"parameter names is in the manual page, 'pluto_step.9'."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/pmx485.adoc:5
+#, no-wrap
+msgid "Powermax Modbus Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:14
+msgid ""
+"This is a non-realtime HAL program, written in python, to control Hypetherm "
+"Powermax plasma cutters using the Modbus ASCII protocol over RS485."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:16
+msgid ""
+"Since this is a non-realtime program it can be affected by computer loading "
+"and latency. It is possible to lose communications which will be indicated "
+"by a change in the status output. One should always have an Estop circuit "
+"that kills the power to the unit in case of emergency."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/pmx485.adoc:22
+#, no-wrap
+msgid "loadusr -Wn pmx485 pmx485 /dev/ttyUSB0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:26
+msgid ""
+"This will load the pmx485 component using the /dev/ttyUSB0 port and wait for "
+"it to become ready."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:28
+msgid "It is necessary to name the port to use for communications."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:32
+#, no-wrap
+msgid "*pmx485.mode-set* (bit, in) # set cutting mode\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:33
+#, no-wrap
+msgid "*pmx485.current-set* (bit, in) # set cutting current\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:34
+#, no-wrap
+msgid "*pmx485.pressure-set* (bit, in) # set gas pressure\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:35
+#, no-wrap
+msgid "*pmx485.enable* (bit, in) # enable the component\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:36
+#, no-wrap
+msgid "*pmx485.mode* (bit, out) # cut mode feedback\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:37
+#, no-wrap
+msgid "*pmx485.current* (bit, out) # cutting current feedback\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:38
+#, no-wrap
+msgid "*pmx485.pressure* (bit, out) # gas pressure feedback\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:39
+#, no-wrap
+msgid "*pmx485.fault* (bit, out) # powermax fault code\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:40
+#, no-wrap
+msgid "*pmx485.status* (bit, out) # connection status\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:41
+#, no-wrap
+msgid "*pmx485.current-min* (bit, out) # minimum allowed current\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:42
+#, no-wrap
+msgid "*pmx485.current-max* (bit, out) # maximum allowed current\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:43
+#, no-wrap
+msgid "*pmx485.pressure-min* (bit, out) # minimum allowed gas pressure\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:44
+#, no-wrap
+msgid "*pmx485.pressure-max* (bit, out) # maximum allowed gas pressure\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:50
+msgid ""
+"To communicate with a Powermax, the component must first be enabled via the "
+"*enable* pin and it may then initiate a request to the Powermax by writing a "
+"valid string to the following pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:52
+#, no-wrap
+msgid "*mode-set*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:53
+#, no-wrap
+msgid "*current-set*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:54
+#, no-wrap
+msgid "*pressure-set*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:57
+msgid ""
+"A *pressure-set* value of zero is valid, the Powermax will then calculate "
+"the required pressure internally."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:61
+msgid ""
+"Communications may be validated from the Powermax display or the *status* "
+"pin. While in remote mode, the mode, current and pressure may be changed as "
+"needed."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:63
+msgid "To terminate the communications, do one of the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:66
+msgid "Set all set pins to zero: *mode-set*, *current-set*, and *pressure-set*."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:69
+msgid ""
+"Disconnect the Powermax power supply from its power source for approximately "
+"30 seconds. When you power the system back ON, it will no longer be in "
+"remote mode."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/pmx485.adoc:70
+#, no-wrap
+msgid "Reference:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/pmx485.adoc:74
+#, no-wrap
+msgid ""
+"Hypertherm Application Note #807220\n"
+"\"Powermax45 XP/65/85/105/125® Serial Communication Protocol\""
+msgstr ""
+
+#. type: Title =
+#: src/drivers/servo-to-go.adoc:5
+#, no-wrap
+msgid "Servo To Go Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:19
+msgid ""
+"The Servo-To-Go (STG) is one of the first PC motion control cards supported "
+"by LinuxCNC. It is an ISA card and it exists in different flavors (all "
+"supported by this driver). The board includes up to 8 channels of quadrature "
+"encoder input, 8 channels of analog input and output, 32 bits digital I/O, "
+"an interval timer with interrupt and a watchdog. For more information see "
+"the https://www.servotogo.com/[Servo To Go] web page."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:26
+msgid ""
+"We have had reports that the opamps on the Servo To Go card do not work with "
+"newer ATX power supplies that use modern switch mode DC-DC converters.  The "
+"failure mode is that STG card outputs a constant voltage regardless of what "
+"the driver is commanding it to do.  Older ATX power supplies with linear "
+"voltage regulators do not have this problem, and work fine with the STG "
+"cards."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/servo-to-go.adoc:33
+#, no-wrap
+msgid ""
+"loadrt hal_stg [base=<address>] [num_chan=<nr>] [dio=\"<dio-string>\"] \\\n"
+"                 [model=<model>]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:47
+msgid ""
+"The base address field is optional; if it's not provided the driver attempts "
+"to autodetect the board. The num_chan field is used to specify the number of "
+"channels available on the card, if not used the 8 axis version is "
+"assumed. The digital inputs/outputs configuration is determined by a config "
+"string passed to insmod when loading the module.  The format consists of a "
+"four character string that sets the direction of each group of pins. Each "
+"character of the direction string is either \"I\" or \"O\". The first "
+"character sets the direction of port A (Port A - DIO.0-7), the next sets "
+"port B (Port B - DIO.8-15), the next sets port C (Port C - DIO.16-23), and "
+"the fourth sets port D (Port D - DIO.24-31). The model field can be used in "
+"case the driver doesn't autodetect the right card version."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:51
+msgid ""
+"HINT: after starting up the driver, 'dmesg' can be consulted for messages "
+"relevant to the driver (e.g. autodetected version number and base "
+"address). For example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/servo-to-go.adoc:55
+#, no-wrap
+msgid "loadrt hal_stg base=0x300 num_chan=4 dio=\"IOIO\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:63
+msgid ""
+"This example installs the STG driver for a card found at the base address of "
+"0x300, 4 channels of encoder feedback, DACs and ADCs, along with 32 bits of "
+"I/O configured like this: the first 8 (Port A)  configured as Input, the "
+"next 8 (Port B) configured as Output, the next 8 (Port C) configured as "
+"Input, and the last 8 (Port D) configured as Output"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/servo-to-go.adoc:67
+#, no-wrap
+msgid "loadrt hal_stg\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:73
+msgid ""
+"This example installs the driver and attempts to autodetect the board "
+"address and board model, it installs 8 axes by default along with a standard "
+"I/O setup: Port A & B configured as Input, Port C & D configured as Output."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:77
+msgid "'stg.<channel>.counts' - (s32) Tracks the counted encoder ticks."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:78
+msgid "'stg.<channel>.position' - (float) Outputs a converted position."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:80
+msgid ""
+"'stg.<channel>.dac-value' - (float) Drives the voltage for the corresponding "
+"DAC."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:82
+msgid ""
+"'stg.<channel>.adc-value' - (float) Tracks the measured voltage from the "
+"corresponding ADC."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:83
+msgid "'stg.in-<pinnum>' - (bit) Tracks a physical input pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:85
+msgid "'stg.in-<pinnum>-not' - (bit) Tracks a physical input pin, but inverted."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:86
+msgid "'stg.out-<pinnum>' - (bit) Drives a physical output pin"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:91
+msgid ""
+"For each pin, <channel> is the axis number, and <pinnum> is the logic pin "
+"number of the STG if `IIOO` is defined, there are 16 input pins (in-00 "
+".. in-15) and 16 output pins (out-00 .. out-15), and they correspond to "
+"PORTs ABCD (in-00 is PORTA.0, out-15 is PORTD.7)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:96
+msgid ""
+"The in-<pinnum> HAL pin is TRUE if the physical pin is high, and FALSE if "
+"the physical pin is low. The in-<pinnum>-not HAL pin is inverted -- it is "
+"FALSE if the physical pin is high. By connecting a signal to one or the "
+"other, the user can determine the state of the input."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:101
+msgid ""
+"'stg.<channel>.position-scale' - (float) The number of counts / user unit "
+"(to convert from counts to units)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:103
+msgid ""
+"'stg.<channel>.dac-offset' - (float) Sets the offset for the corresponding "
+"DAC."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:105
+msgid "'stg.<channel>.dac-gain' - (float) Sets the gain of the corresponding DAC."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:107
+msgid ""
+"'stg.<channel>.adc-offset' - (float) Sets the offset of the corresponding "
+"ADC."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:109
+msgid "'stg.<channel>.adc-gain' - (float) Sets the gain of the corresponding ADC."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:110
+msgid "'stg.out-<pinnum>-invert' - (bit) Inverts an output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:116
+msgid ""
+"The -invert parameter determines whether an output pin is active high or "
+"active low. If -invert is FALSE, setting the HAL out- pin TRUE drives the "
+"physical pin high, and FALSE drives it low. If -invert is TRUE, then setting "
+"the HAL out- pin TRUE will drive the physical pin low."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:121
+msgid "'stg.capture-position' - Reads the encoder counters from the axis <channel>."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:122
+msgid "'stg.write-dacs' - Writes the voltages to the DACs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:123
+msgid "'stg.read-adcs' - Reads the voltages from the ADCs."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:125
+msgid ""
+"'stg.di-read' - Reads physical in- pins of all ports and updates all HAL "
+"in-<pinnum> and in-<pinnum>-not pins."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/servo-to-go.adoc:127
+msgid ""
+"'stg.do-write' - Reads all HAL out-<pinnum> pins and updates all physical "
+"output pins."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/shuttle.adoc:5
+#, no-wrap
+msgid "Shuttle"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:10
+msgid ""
+"Shuttle is a non-realtime HAL component that interfaces Contour Design's "
+"ShuttleXpress, ShuttlePRO, and ShuttlePRO2 devices with LinuxCNC's HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:14 src/man/man1/shuttle.1.adoc:21
+msgid ""
+"If the driver is started without command-line arguments, it will probe all "
+"/dev/hidraw* device files for Shuttle devices, and use all devices found.  "
+"If it is started with command-line arguments, it will only probe the devices "
+"specified."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:17 src/man/man1/shuttle.1.adoc:25
+msgid ""
+"The ShuttleXpress has five momentary buttons, a 10 counts/revolution jog "
+"wheel with detents, and a 15-position spring-loaded outer wheel that returns "
+"to center when released."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:20 src/man/man1/shuttle.1.adoc:29
+msgid ""
+"The ShuttlePRO has 13 momentary buttons, a 10 counts/revolution jog wheel "
+"with detents, and a 15-position spring-loaded outer wheel that returns to "
+"center when released."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:23 src/man/man1/shuttle.1.adoc:33
+msgid ""
+"The ShuttlePRO2 has 15 momentary buttons, a 10 counts/revolution jog wheel "
+"with detents, and a 15-position spring-loaded outer wheel that returns to "
+"center when released."
+msgstr ""
+
+#. type: delimited block =
+#: src/drivers/shuttle.adoc:29
+msgid ""
+"The Shuttle devices have an internal 8-bit counter for the current jog-wheel "
+"position.  The shuttle driver can not know this value until the Shuttles "
+"device sends its first event.  When the first event comes into the driver, "
+"the driver uses the device's reported jog-wheel position to initialize "
+"counts to 0."
+msgstr ""
+
+#. type: delimited block =
+#: src/drivers/shuttle.adoc:31
+msgid ""
+"This means that if the first event is generated by a jog-wheel move, that "
+"first move will be lost."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:34 src/man/man1/shuttle.1.adoc:63
+msgid ""
+"Any user interaction with the Shuttle device will generate an event, "
+"informing the driver of the jog-wheel position.  So if you (for example) "
+"push one of the buttons at startup, the jog-wheel will work fine and notice "
+"the first click."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/shuttle.adoc:37 src/gui/touchy.adoc:82
+#, no-wrap
+msgid "Setup"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:42
+msgid ""
+"The shuttle driver needs read permission to the /dev/hidraw* device "
+"files. This can be accomplished by adding a file "
+"/etc/udev/rules.d/99-shuttle.rules, with the following contents:"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/shuttle.adoc:47
+#, no-wrap
+msgid ""
+"SUBSYSTEM==\"hidraw\", ATTRS{idVendor}==\"0b33\", "
+"ATTRS{idProduct}==\"0020\", MODE=\"0444\"\n"
+"SUBSYSTEM==\"hidraw\", ATTRS{idVendor}==\"05f3\", "
+"ATTRS{idProduct}==\"0240\", MODE=\"0444\"\n"
+"SUBSYSTEM==\"hidraw\", ATTRS{idVendor}==\"0b33\", "
+"ATTRS{idProduct}==\"0030\", MODE=\"0444\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:52
+msgid ""
+"The LinuxCNC Debian package installs an appropriate udev file automatically, "
+"but if you are building LinuxCNC from source and are not using the Debian "
+"packaging you'll need to install this file by hand.  If you install the file "
+"by hand you'll need to tell udev to reload its rules files by running "
+"`udevadm control --reload-rules`."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:57
+msgid ""
+"All HAL pin names are prefixed with `shuttle` followed by the index of the "
+"device (the order in which the driver found them), for example `shuttle.0` "
+"or `shuttle.2`."
+msgstr ""
+
+#. type: Labeled list
+#: src/drivers/shuttle.adoc:58
+#, no-wrap
+msgid "_<Prefix>_`.button-<ButtonNumber>` (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:60
+msgid "These pins are True (1) when the button is pressed."
+msgstr ""
+
+#. type: Labeled list
+#: src/drivers/shuttle.adoc:60
+#, no-wrap
+msgid "_<Prefix>_`.button-<ButtonNumber>-not` (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:62
+msgid ""
+"These pins have the inverse of the button state, so they're True (1) when "
+"the button is not pressed."
+msgstr ""
+
+#. type: Labeled list
+#: src/drivers/shuttle.adoc:62
+#, no-wrap
+msgid "_<Prefix>_`.counts` (s32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:64
+msgid "Accumulated counts from the jog wheel (the inner wheel)."
+msgstr ""
+
+#. type: Labeled list
+#: src/drivers/shuttle.adoc:64
+#, no-wrap
+msgid "_<Prefix>_`.spring-wheel-s32` (s32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:67
+msgid ""
+"The current deflection of the spring-wheel (the outer wheel).  It's 0 at "
+"rest, and ranges from -7 at the counter-clockwise extreme to +7 at the "
+"clockwise extreme."
+msgstr ""
+
+#. type: Labeled list
+#: src/drivers/shuttle.adoc:67
+#, no-wrap
+msgid "_<Prefix>_`.spring-wheel-f` (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/shuttle.adoc:71
+msgid ""
+"The current deflection of the spring-wheel (the outer wheel).  It's 0.0 at "
+"rest, -1.0 at the counter-clockwise extreme, and +1.0 at the clockwise "
+"extreme.  The Shuttle devices report the spring-wheel position as an integer "
+"from -7 to +7, so this pin reports only 15 discrete values in it's range."
+msgstr ""
+
+#. type: Title =
+#: src/drivers/vfs11.adoc:5
+#, no-wrap
+msgid "VFS11 VFD Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:12
+msgid ""
+"This is a non-realtime HAL program to control the S11 series of VFDs from "
+"Toshiba."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:16
+msgid ""
+"vfs11_vfd supports serial and TCP connections.  Serial connections may be "
+"RS232 or RS485. RS485 is supported in full- and half-duplex mode.  TCP "
+"connections may be passive (wait for incoming connection), or active "
+"outgoing connections, which may be useful to connect to TCP-based devices or "
+"through a terminal server."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:18
+msgid "Regardless of the connection type, vfs11_vfd operates as a Modbus master."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:24
+#, no-wrap
+msgid "loadusr -Wn spindle-vfd vfs11_vfd -n spindle-vfd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:27
+msgid ""
+"The above command says: loadusr, wait for named to load, component "
+"vfs11_vfd, named spindle-vfd"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:31
+msgid ""
+"'vfs11_vfd' is mostly configured through INI file options. The command line "
+"options are:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:33
+msgid "'-n or --name <halname>' : set the HAL component name"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:35
+msgid ""
+"'-I or --ini <inifilename>' : take configuration from this INI file.  "
+"Defaults to environment variable INI_FILE_NAME."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:36
+msgid ""
+"'-S or --section <section name>' : take configuration from this section in "
+"the INI file. Defaults to 'VFS11'."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:37
+msgid "'-d or --debug' enable debug messages on console output."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:38
+msgid "'-m or --modbus-debug' enable modbus messages on console output"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:39
+msgid "'-r or --report-device' report device properties on console at startup"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:42
+msgid ""
+"Debugging can be toggled by sending a USR1 signal to the vfs11_vfd process.  "
+"Modbus debugging can be toggled by sending a USR2 signal to vfs11_vfd "
+"process (example: +kill -USR1 \\`pidof vfs11_vfd`+)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:49 src/drivers/vfs11.adoc:125
+msgid ""
+"Where <n> is +vfs11_vfd+ or the name given during loading with the -n "
+"option."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:51
+msgid ""
+"'<n>.acceleration-pattern' (bit, in) when true, set acceleration and "
+"deceleration times as defined in registers F500 and F501 respectively."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:52
+msgid "Used in PID loops to choose shorter ramp times to avoid oscillation."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:55
+msgid ""
+"'<n>.alarm-code' (s32, out) non-zero if drive is in alarmed state.  Bitmap "
+"describing alarm information (see register FC91 description).  Use err-reset "
+"(see below) to clear the alarm."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:57
+msgid ""
+"'<n>.at-speed' (bit, out)  when drive is at commanded speed (see "
+"speed-tolerance below)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:59
+msgid "'<n>.current-load-percentage' (float, out)  reported from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:61
+msgid "'<n>.dc-brake' (bit, in)  engage the DC brake. Also turns off spindle-on."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:64
+msgid ""
+"'<n>.enable' (bit, in)  enable the VFD.  If false, all operating parameters "
+"are still read but control is released and panel control is enabled (subject "
+"to VFD setup)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:67
+msgid ""
+"'<n>.err-reset' (bit, in)  reset errors (alarms a.k.a Trip and e-stop "
+"status).  Resetting the VFD may cause a 2-second delay until it's rebooted "
+"and Modbus is up again."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:70
+msgid ""
+"'<n>.estop' (bit, in)  put the VFD into emergency-stopped status.  No "
+"operation possible until cleared with err-reset or powercycling."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:72
+msgid ""
+"'<n>.frequency-command' (float, out)  current target frequency in Hz as set "
+"through speed-command (which is in RPM), from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:74
+msgid "'<n>.frequency-out' (float, out)  current output frequency of the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:76
+msgid "'<n>.inverter-load-percentage' (float, out)  current load report from VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:79
+msgid ""
+"'<n>.is-e-stopped' (bit, out)  the VFD is in emergency stop status (blinking "
+"\"E\" on panel).  Use err-reset to reboot the VFD and clear the e- stop "
+"status."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:81
+msgid "'<n>.is-stopped' (bit, out)  true when the VFD reports 0 Hz output"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:88
+msgid ""
+"'<n>.max-rpm' (float, R)  actual RPM limit based on maximum frequency the "
+"VFD may generate, and the motors nameplate values.  For instance, if "
+"nameplate-HZ is 50, and nameplate-RPM_ is 1410, but the VFD may generate up "
+"to 80 Hz, then max-rpm would read as 2256 (80*1410/50).  The frequency limit "
+"is read from the VFD at startup.  To increase the upper frequency limit, the "
+"UL and FH parameters must be changed on the panel.  See the VF-S11 manual "
+"for instructions how to set the maximum frequency."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:90
+msgid ""
+"'<n>.modbus-ok' (bit, out)  true when the Modbus session is successfully "
+"established and the last 10 transactions returned without error."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:92
+msgid "'<n>.motor-RPM' (float, out)  estimated current RPM value, from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:94
+msgid "'<n>.output-current-percentage' (float, out)  from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:96
+msgid "'<n>.output-voltage-percentage' (float, out)  from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:98
+msgid "'<n>.output-voltage' (float, out)  from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:100
+msgid ""
+"'<n>.speed-command' (float, in)  speed sent to VFD in RPM. It is an error to "
+"send a speed faster than the Motor Max RPM as set in the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:102
+msgid "'<n>.spindle-fwd' (bit, in)  1 for FWD and 0 for REV, sent to VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:104
+msgid ""
+"'<n>.spindle-on' (bit, in)  1 for ON and 0 for OFF sent to VFD, only on when "
+"running"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:106
+msgid "'<n>.spindle-rev' (bit, in)  1 for ON and 0 for OFF, only on when running"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:111
+msgid ""
+"'<n>.jog-mode' (bit, in)  1 for ON and 0 for OFF, enables the VF-S11 'jog "
+"mode'.  Speed control is disabled, and the output frequency is determined by "
+"register F262 (preset to 5 Hz).  This might be useful for spindle "
+"orientation.  In normal mode, the VFD shuts off if the frequency drops below "
+"12 Hz."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:114
+msgid ""
+"'<n>.status' (s32, out)  Drive Status of the VFD (see the TOSVERT VF-S11 "
+"Communications Function Instruction Manual, register FD01).  A bitmap."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:116
+msgid "'<n>.trip-code' (s32, out)  trip code if VF-S11 is in tripped state."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:118
+msgid ""
+"'<n>.error-count' (s32, out)  number of Modbus transactions which returned "
+"an error"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:121
+msgid ""
+"'<n>.max-speed' (bit, in)  ignore the loop-time parameter and run Modbus at "
+"maximum speed, at the expense of higher CPU usage.  Suggested use during "
+"spindle positioning."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:128
+msgid "'<n>.frequency-limit' (float, RO)  upper limit read from VFD setup."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:130
+msgid ""
+"'<n>.loop-time' (float, RW)  how often the Modbus is polled (default "
+"interval 0.1 seconds)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:132
+msgid ""
+"'<n>.nameplate-HZ' (float, RW)  Nameplate Hz of motor (default 50). Used to "
+"calculate target frequency (together with nameplate-RPM ) for a target RPM "
+"value as given by speed-command."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:134
+msgid "'<n>.nameplate-RPM' (float, RW)  Nameplate RPM of motor (default 1410)"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:136
+msgid ""
+"'<n>.rpm-limit' (float, RW)  do-not-exceed soft limit for motor RPM "
+"(defaults to nameplate-RPM )."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:139
+msgid ""
+"'<n>.tolerance' (float, RW)  speed tolerance (default 0.01) for determining "
+"whether spindle is at speed (0.01 meaning: Output frequency is within 1% of "
+"target frequency)"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/vfs11.adoc:140
+#, no-wrap
+msgid "INI file configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:144
+msgid ""
+"This lists all options understood by vfs11_vfd.  Typical setups for RS-232, "
+"RS-485 and TCP can be found in 'src/hal/user_comps/vfs11_vfd/*.ini'."
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:150
+#, no-wrap
+msgid ""
+"[VFS11]\n"
+"# serial connection\n"
+"TYPE=rtu\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:153
+#, no-wrap
+msgid ""
+"# serial port\n"
+"DEVICE=/dev/ttyS0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:156
+#, no-wrap
+msgid ""
+"# TCP server - wait for incoming connection\n"
+"TYPE=tcpserver\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:159
+#, no-wrap
+msgid ""
+"# tcp portnumber for TYPE=tcpserver or tcpclient\n"
+"PORT=1502\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:162
+#, no-wrap
+msgid ""
+"# TCP client - active outgoing connection\n"
+"TYPE=tcpclient\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:165
+#, no-wrap
+msgid ""
+"# destination to connect to if TYPE=tcpclient\n"
+"TCPDEST=192.168.1.1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:170
+#, no-wrap
+msgid ""
+"#---------- meaningful only if TYPE=rtu -------\n"
+"# serial device detail\n"
+"# 5 6 7 8\n"
+"BITS= 5\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:173
+#, no-wrap
+msgid ""
+"# even odd none\n"
+"PARITY=none\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:176
+#, no-wrap
+msgid ""
+"# 110, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200\n"
+"BAUD=19200\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:179
+#, no-wrap
+msgid ""
+"# 1 2\n"
+"STOPBITS=1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:182
+#, no-wrap
+msgid ""
+"#rs232 rs485\n"
+"SERIAL_MODE=rs485\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:189
+#, no-wrap
+msgid ""
+"# up down none\n"
+"# this feature might not work with a stock Ubuntu\n"
+"# libmodbus5/libmodbus-dev package, and generate a warning\n"
+"# execution will continue as if RTS_MODE=up were given.\n"
+"RTS_MODE=up\n"
+"#---------------------\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:195
+#, no-wrap
+msgid ""
+"# modbus timers in seconds\n"
+"# inter-character timer\n"
+"BYTE_TIMEOUT=0.5\n"
+"# packet timer\n"
+"RESPONSE_TIMEOUT=0.5\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:198
+#, no-wrap
+msgid ""
+"# target modbus ID\n"
+"TARGET=1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:202
+#, no-wrap
+msgid ""
+"# on I/O failure, try to reconnect after sleeping\n"
+"# for RECONNECT_DELAY seconds\n"
+"RECONNECT_DELAY=1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:207
+#, no-wrap
+msgid ""
+"# misc. parameters\n"
+"DEBUG=10\n"
+"MODBUS_DEBUG=0\n"
+"POLLCYCLES=10\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:218
+#, no-wrap
+msgid ""
+"#\n"
+"# example usage of the VF-S11 VFD driver\n"
+"#\n"
+"#\n"
+"loadusr -Wn spindle-vfd vfs11_vfd -n spindle-vfd\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:222
+#, no-wrap
+msgid ""
+"# connect the spindle direction pins to the VFD\n"
+"net vfs11-fwd spindle-vfd.spindle-fwd <= spindle.0.forward\n"
+"net vfs11-rev spindle-vfd.spindle-rev <= spindle.0.reverse\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:225
+#, no-wrap
+msgid ""
+"# connect the spindle on pin to the VF-S11\n"
+"net vfs11-run spindle-vfd.spindle-on <= spindle.0.on\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:228
+#, no-wrap
+msgid ""
+"# connect the VF-S11 at speed to the motion at speed\n"
+"net vfs11-at-speed spindle.0.at-speed <= spindle-vfd.at-speed\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:231
+#, no-wrap
+msgid ""
+"# connect the spindle RPM to the VF-S11\n"
+"net vfs11-RPM spindle-vfd.speed-command <= spindle.0.speed-out\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:236
+#, no-wrap
+msgid ""
+"# connect the VF-S11 DC brake\n"
+"# since this draws power during spindle off, the dc-brake pin would\n"
+"# better be driven by a monoflop which triggers on spindle-on falling edge\n"
+"#net vfs11-spindle-brake spindle.N.brake => spindle-vfd.dc-brake\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:240
+#, no-wrap
+msgid ""
+"# to use the VFS11 jog mode for spindle orient\n"
+"# see orient.9 and motion.9\n"
+"net spindle-orient spindle.0.orient spindle-vfd.max-speed "
+"spindle-vfd.jog-mode\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/drivers/vfs11.adoc:243
+#, no-wrap
+msgid ""
+"# take precedence over control panel\n"
+"setp spindle-vfd.enable 1\n"
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/vfs11.adoc:245
+#, no-wrap
+msgid "Panel operation"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:252
+msgid ""
+"The vfs11_vfd driver takes precedence over panel control while it is enabled "
+"(see 'enable' pin), effectively disabling the panel.  Clearing the 'enable' "
+"pin re-enables the panel.  Pins and parameters can still be set, but will "
+"not be written to the VFD untile the 'enable' pin is set.  Operating "
+"parameters are still read while bus control is disabled.  Exiting the "
+"vfs11_vfd driver in a controlled way will release the VFD from the bus and "
+"restore panel control."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:255
+msgid ""
+"See the LinuxCNC Integrators Manual for more information.  For a detailed "
+"register description of the Toshiba VFDs, see the \"TOSVERT VF-S11 "
+"Communications Function Instruction Manual\" (Toshiba document number "
+"E6581222) and the \"TOSVERT VF-S11 Instruction manual\" (Toshiba document "
+"number E6581158)."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/vfs11.adoc:256
+#, no-wrap
+msgid "Error Recovery"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:259
+msgid ""
+"+vfs11_vfd+ recovers from I/O errors as follows: First, all HAL pins are set "
+"to default values, and the driver will sleep for +RECONNECT_DELAY+ seconds "
+"(default 1 second)."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:261
+msgid "Serial (+TYPE=rtu+) mode: on error, close and reopen the serial port."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:262
+msgid ""
+"TCP server (+TYPE=tcpserver+) mode: on losing the TCP connection, the driver "
+"will go back to listen for incoming connections."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:263
+msgid ""
+"TCP client (+TYPE=tcpclient+) mode: on losing the TCP connection, the driver "
+"will reconnect to 'TCPDEST:PORTNO'."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/vfs11.adoc:264
+#, no-wrap
+msgid "Configuring the VFS11 VFD for Modbus usage"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:274
+msgid ""
+"The VF-S11 has an RJ-45 jack for serial communication.  Unfortunately, it "
+"does not have a standard RS-232 plug and logic levels.  The "
+"Toshiba-recommended way is: connect the USB001Z USB-to-serial conversion "
+"unit to the drive, and plug the USB port into the PC.  A cheaper alternative "
+"is a homebrew interface ( "
+"https://git.mah.priv.at/gitweb/vfs11-vfd.git/blob_plain/refs/heads/f12-prod:/VFS11-RJ45_e.pdf[hints "
+"from Toshiba support], "
+"https://git.mah.priv.at/gitweb/vfs11-vfd.git/blob_plain/refs/heads/f12-prod:/vfs11-rs232.pdf[circuit "
+"diagram])."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:276
+msgid "Note: the 24V output from the VFD has no short-circuit protection."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:278
+msgid ""
+"Serial port factory defaults are 9600/8/1/even, the protocol defaults to the "
+"proprietary \"Toshiba Inverter Protocol\"."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:285
+msgid ""
+"Several parameters need setting before the VF-S11 will talk to this module.  "
+"This can either be done manually with the control panel, or over the serial "
+"link - Toshiba supplies a Windows application called 'PCM001Z' which can "
+"read/set parameters in the VFD.  Note - PCM001Z only talks the Toshiba "
+"inverter protocol.  So the last parameter which you'd want to change is the "
+"protocol - set from Toshiba Inverter Protocol to Modbus; thereafter, the "
+"Windows app is useless."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:288
+msgid ""
+"To increase the upper frequency limit, the UL and FH parameters must be "
+"changed on the panel.  I increased them from 50 to 80."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:292
+msgid ""
+"See dump-params.mio for a description of non-standard VF-S11 parameters of "
+"my setup.  This file is for the "
+"https://git.mah.priv.at/gitweb/modio.git[modio Modbus interactive utility]."
+msgstr ""
+
+#. type: Title ==
+#: src/drivers/vfs11.adoc:293
+#, no-wrap
+msgid "Programming Note"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:296
+msgid ""
+"The vfs11_vfd driver uses the https://www.libmodbus.org[libmodbus version 3] "
+"library which is more recent than the version 2 code used in +gs2_vfd+."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:300
+msgid ""
+"The Ubuntu +libmodbus5+ and +libmodbus-dev+ packages are only available "
+"starting from Ubuntu 12 ('Precise Pengolin').  Moreover, these packages lack "
+"support for the MODBUS_RTS_MODE_* flags.  Therefore, building vfs11_vfd "
+"using this library might generate a warning if RTS_MODE= is specified in the "
+"INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:302
+msgid "To use the full functionality on lucid and precise:"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:304
+msgid ""
+"remove the libmodbus packages: `sudo apt-get remove libmodbus5 "
+"libmodbus-dev`"
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:306
+msgid ""
+"build and install libmodbus version 3 from source as outlined "
+"https://github.com/stephane/libmodbus/blob/master/README.rst[here]."
+msgstr ""
+
+#. type: Plain text
+#: src/drivers/vfs11.adoc:308
+msgid ""
+"Libmodbus does not build on Ubuntu Hardy, hence vfs11_vfd is not available "
+"on Hardy."
+msgstr ""
+
+#. type: Title =
+#: src/examples/gcode.adoc:5
+#, no-wrap
+msgid "G-Code Examples"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:10
+msgid ""
+"After you install LinuxCNC several sample files are placed in the /nc_files "
+"folder. Make sure the sample file is appropriate for your machine before "
+"running."
+msgstr ""
+
+#. type: Title ==
+#: src/examples/gcode.adoc:11
+#, no-wrap
+msgid "Mill Examples"
+msgstr ""
+
+#. type: Title ===
+#: src/examples/gcode.adoc:13
+#, no-wrap
+msgid "Helical Hole Milling"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:16 src/examples/gcode.adoc:21
+msgid "File Name: useful-subroutines.ngc"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:17
+msgid "Description: Subroutine for milling a hole using parameters."
+msgstr ""
+
+#. type: Title ===
+#: src/examples/gcode.adoc:18
+#, no-wrap
+msgid "Slotting"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:22
+msgid "Description: Subroutine for milling a slot using parameters."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/examples/gcode.adoc:23
+#, no-wrap
+msgid "Useful subroutines"
+msgstr ""
+
+#. type: Target for macro image
+#: src/examples/gcode.adoc:23
+#, no-wrap
+msgid "images/useful-subroutines-ngc.png"
+msgstr ""
+
+#. type: Title ===
+#: src/examples/gcode.adoc:25
+#, no-wrap
+msgid "Grid Probe"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:28
+msgid "File Name: gridprobe.ngc"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:29 src/examples/gcode.adoc:40
+msgid "Description: Rectangular Probing"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:33
+msgid ""
+"This program repeatedly probes in a regular XY grid and writes the probed "
+"location to the file 'probe-results.txt' in the same directory as the .ini "
+"file."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/examples/gcode.adoc:34
+#, no-wrap
+msgid "Grill probe"
+msgstr ""
+
+#. type: Target for macro image
+#: src/examples/gcode.adoc:34
+#, no-wrap
+msgid "images/gridprobe-ngc.png"
+msgstr ""
+
+#. type: Title ===
+#: src/examples/gcode.adoc:36
+#, no-wrap
+msgid "Smart Probe"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:39
+msgid "File Name: smartprobe.ngc"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:44
+msgid ""
+"This program repeatedly probes in a regular XY grid and writes the probed "
+"location to the file 'probe-results.txt' in the same directory as the .ini "
+"file. This is improved from the grid probe file."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/examples/gcode.adoc:45
+#, no-wrap
+msgid "The finer probing grid"
+msgstr ""
+
+#. type: Target for macro image
+#: src/examples/gcode.adoc:45
+#, no-wrap
+msgid "images/smartprobe-ngc.png"
+msgstr ""
+
+#. type: Title ===
+#: src/examples/gcode.adoc:47
+#, no-wrap
+msgid "Tool Length Probe"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:50
+msgid "File Name: tool-length-probe.ngc"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:51
+msgid "Description: Tool Length Probing"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:56
+msgid ""
+"This program shows an example of how to measure tool lengths automatically "
+"using a switch hooked to the probe input. This is useful for machines "
+"without tool holders, where the length of a tool is different every time it "
+"is inserted."
+msgstr ""
+
+#. type: Title ===
+#: src/examples/gcode.adoc:57
+#, no-wrap
+msgid "Hole Probe"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:60
+msgid "File Name: probe-hole.ngc"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:61
+msgid "Description: Finding the Center and Diameter of a hole."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:64
+msgid ""
+"The program demonstrates how to find the center of a hole, measure the hole "
+"diameter and record the results."
+msgstr ""
+
+#. type: Title ===
+#: src/examples/gcode.adoc:65 src/gcode/g-code.adoc:85 html/gcode.html:117
+#: src/plasma/qtplasmac.adoc:1866
+#, no-wrap
+msgid "Cutter Compensation"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:68
+msgid "File Name: comp-g1.ngc"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:69
+msgid "Description: Entry and exit movements with compensation of tool radius."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:73
+msgid ""
+"This program demonstrates the peculiarity of the toolpath without and with "
+"tool radius compensation. The tool radius is taken from the tool table."
+msgstr ""
+
+#. type: Title ==
+#: src/examples/gcode.adoc:74
+#, no-wrap
+msgid "Lathe Examples"
+msgstr ""
+
+#. type: Block title
+#: src/examples/gcode.adoc:76 src/lathe/lathe-user.adoc:160
+#, no-wrap
+msgid "Threading"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:79
+msgid "File Name lathe-g76.ngc"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:80
+msgid "Description: Facing, threading and parting off."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gcode.adoc:82
+msgid "This file shows an example of threading on a lathe using parameters."
+msgstr ""
+
+#. type: Title =
+#: src/examples/gs2-example.adoc:5
+#, no-wrap
+msgid "GS2 Spindle"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:17
+msgid ""
+"This example shows the connections needed to use an Automation Direct GS2 "
+"VFD to drive a spindle.  The spindle speed and direction is controlled by "
+"LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:20
+msgid ""
+"Using the GS2 component involves very little to set up.  We start with a "
+"StepConf Wizard generated config. Make sure the pins with \"Spindle CW\" and "
+"\"Spindle PWM\" are set to unused in the parallel port setup screen."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:22
+msgid ""
+"In the custom.hal file we place the following to connect LinuxCNC to the GS2 "
+"and have LinuxCNC control the drive."
+msgstr ""
+
+#. type: Block title
+#: src/examples/gs2-example.adoc:23
+#, no-wrap
+msgid "GS2 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/gs2-example.adoc:28
+#, no-wrap
+msgid ""
+"# load the non-realtime component for the Automation Direct GS2 VFDs\n"
+"loadusr -Wn spindle-vfd gs2_vfd -r 9600 -p none -s 2 -n spindle-vfd\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/gs2-example.adoc:31
+#, no-wrap
+msgid ""
+"# connect the spindle direction pin to the GS2\n"
+"net gs2-fwd spindle-vfd.spindle-fwd <= spindle.N.forward\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/gs2-example.adoc:34
+#, no-wrap
+msgid ""
+"# connect the spindle on pin to the GS2\n"
+"net gs2-run spindle-vfd.spindle-on <= spindle.N.on\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/gs2-example.adoc:37
+#, no-wrap
+msgid ""
+"# connect the GS2 at speed to the motion at speed\n"
+"net gs2-at-speed spindle.N.at-speed <= spindle-vfd.at-speed\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/gs2-example.adoc:40
+#, no-wrap
+msgid ""
+"# connect the spindle RPM to the GS2\n"
+"net gs2-RPM spindle-vfd.speed-command <= spindle.N.speed-out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:46
+msgid ""
+"The transmission speed might be able to be faster depending on the exact "
+"environment.  Both the drive and the command line options must match.  To "
+"check for transmission errors add the '-v' command line option and run from "
+"a terminal."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:50
+msgid ""
+"On the GS2 drive itself you need to set a couple of things before the modbus "
+"communications will work.  Other parameters might need to be set based on "
+"your physical requirements but these are beyond the scope of this manual.  "
+"Refer to the GS2 manual that came with the drive for more information on the "
+"drive parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:52
+msgid "The communications switches must be set to RS-232C."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:53
+msgid "The motor parameters must be set to match the motor."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:54
+msgid ""
+"P3.00 (Source of Operation Command) must be set to Operation determined by "
+"RS-485 interface, 03 or 04."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:55
+msgid ""
+"P4.00 (Source of Frequency Command) must be set to Frequency determined by "
+"RS232C/RS485 communication interface, 05."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:56
+msgid "P9.01 (Transmission Speed) must be set to 9600 baud, 01."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:57
+msgid ""
+"P9.02 (Communication Protocol) must be set to \"Modbus RTU mode, 8 data "
+"bits, no parity, 2 stop bits\", 03."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/gs2-example.adoc:59
+msgid "A PyVCP panel based on this example is <<gs2-rpm-meter,here>>."
+msgstr ""
+
+#. type: Title =
+#: src/examples/mpg.adoc:5
+#, no-wrap
+msgid "MPG Pendant"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/mpg.adoc:18
+msgid ""
+"This example is to explain how to hook up the common MPG pendants found on "
+"the market today. This example uses an MPG3 pendant and a C22 pendant "
+"interface card from CNC4PC connected to a second parallel port plugged into "
+"the PCI slot. This example gives you 3 axes with 3 step increments of 0.1, "
+"0.01, 0.001"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/mpg.adoc:23
+msgid ""
+"In your custom.hal file or jog.hal file add the following, making sure you "
+"don't have mux4 or an encoder already in use. If you do just increase the "
+"counts and change the reference numbers. More information about mux4 and "
+"encoder can be found in the HAL manual or the man page."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/mpg.adoc:30
+msgid ""
+"See the <<sub:ini:sec:hal,INI HAL Section>> of the documentation for more "
+"information on adding a HAL file.  Jog management pins are provided for each "
+"joint and all coordinate letters.  This example uses the axis jog pins for "
+"jogging in world mode.  Machines with non-identity kinematics may need use "
+"additional connections for jogging in joint mode."
+msgstr ""
+
+#. type: Block title
+#: src/examples/mpg.adoc:31
+#, no-wrap
+msgid "jog.hal"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:40
+#, no-wrap
+msgid ""
+"# Jog Pendant\n"
+"loadrt encoder num_chan=1\n"
+"loadrt mux4 count=1\n"
+"addf encoder.capture-position servo-thread\n"
+"addf encoder.update-counters base-thread\n"
+"addf mux4.0 servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:44 src/examples/mpg.adoc:108
+#, no-wrap
+msgid ""
+"# If your MPG outputs a quadrature signal per click set x4 to 1\n"
+"# If your MPG puts out 1 pulse per click set x4 to 0\n"
+"setp encoder.0.x4-mode 0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:54 src/examples/mpg.adoc:118
+#, no-wrap
+msgid ""
+"# For velocity mode, set to 1\n"
+"# In velocity mode the axis stops when the dial is stopped\n"
+"# even if that means the commanded motion is not completed,\n"
+"# For position mode (the default), set to 0\n"
+"# In position mode the axis will move exactly jog-scale\n"
+"# units for each count, regardless of how long that might take,\n"
+"setp axis.x.jog-vel-mode 0\n"
+"setp axis.y.jog-vel-mode 0\n"
+"setp axis.z.jog-vel-mode 0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:59
+#, no-wrap
+msgid ""
+"# This sets the scale that will be used based on the input to the mux4\n"
+"setp mux4.0.in0 0.1\n"
+"setp mux4.0.in1 0.01\n"
+"setp mux4.0.in2 0.001\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:63 src/examples/mpg.adoc:128
+#, no-wrap
+msgid ""
+"# The inputs to the mux4 component\n"
+"net scale1 mux4.0.sel0 <= parport.1.pin-09-in\n"
+"net scale2 mux4.0.sel1 <= parport.1.pin-10-in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:69 src/examples/mpg.adoc:137
+#, no-wrap
+msgid ""
+"# The output from the mux4 is sent to each axis jog scale\n"
+"net mpg-scale <= mux4.0.out\n"
+"net mpg-scale => axis.x.jog-scale\n"
+"net mpg-scale => axis.y.jog-scale\n"
+"net mpg-scale => axis.z.jog-scale\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:73 src/examples/mpg.adoc:141
+#, no-wrap
+msgid ""
+"# The MPG inputs\n"
+"net mpg-a encoder.0.phase-A <= parport.1.pin-02-in\n"
+"net mpg-b encoder.0.phase-B <= parport.1.pin-03-in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:78 src/examples/mpg.adoc:146
+#, no-wrap
+msgid ""
+"# The Axis select inputs\n"
+"net mpg-x axis.x.jog-enable <= parport.1.pin-04-in\n"
+"net mpg-y axis.y.jog-enable <= parport.1.pin-05-in\n"
+"net mpg-z axis.z.jog-enable <= parport.1.pin-06-in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:84
+#, no-wrap
+msgid ""
+"# The encoder output counts to the axis. Only the selected axis will move.\n"
+"net encoder-counts  <= encoder.0.counts\n"
+"net encoder-counts => axis.x.jog-counts\n"
+"net encoder-counts => axis.y.jog-counts\n"
+"net encoder-counts => axis.z.jog-counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/mpg.adoc:89
+msgid ""
+"If the machine is capable of high acceleration to smooth out the moves for "
+"each click of the MPG use the link:../man/man9/ilowpass.9.html[ilowpass] "
+"component to limit the acceleration."
+msgstr ""
+
+#. type: Block title
+#: src/examples/mpg.adoc:90
+#, no-wrap
+msgid "jog.hal with ilowpass"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:98
+#, no-wrap
+msgid ""
+"loadrt encoder num_chan=1\n"
+"loadrt mux4 count=1\n"
+"addf encoder.capture-position servo-thread\n"
+"addf encoder.update-counters base-thread\n"
+"addf mux4.0 servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:101
+#, no-wrap
+msgid ""
+"loadrt ilowpass\n"
+"addf ilowpass.0 servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:104
+#, no-wrap
+msgid ""
+"setp ilowpass.0.scale 1000\n"
+"setp ilowpass.0.gain 0.01\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:124
+#, no-wrap
+msgid ""
+"# This sets the scale that will be used based on the input to the mux4\n"
+"# The scale used here has to be multiplied by the ilowpass scale\n"
+"setp mux4.0.in0 0.0001\n"
+"setp mux4.0.in1 0.00001\n"
+"setp mux4.0.in2 0.000001\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:131
+#, no-wrap
+msgid ""
+"# The output from encoder counts is sent to ilowpass\n"
+"net mpg-out ilowpass.0.in <= encoder.0.counts\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/mpg.adoc:153
+#, no-wrap
+msgid ""
+"# The output from the ilowpass is sent to each axis jog count\n"
+"# Only the selected axis will move.\n"
+"net encoder-counts  <= ilowpass.0.out\n"
+"net encoder-counts => axis.x.jog-counts\n"
+"net encoder-counts => axis.y.jog-counts\n"
+"net encoder-counts => axis.z.jog-counts\n"
+msgstr ""
+
+#. type: Title =
+#: src/examples/pci-parallel-port.adoc:5
+#, no-wrap
+msgid "PCI Parallel Port"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/pci-parallel-port.adoc:15
+msgid ""
+"When you add a second parallel port to your PCI bus you have to find out the "
+"address before you can use it with LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/pci-parallel-port.adoc:18
+msgid ""
+"To find the address of your parallel port card open a terminal window and "
+"type"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/pci-parallel-port.adoc:25
+msgid ""
+"You will see something similar to this as well as info on everything else on "
+"the PCI bus:"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/pci-parallel-port.adoc:37
+#, no-wrap
+msgid ""
+"0000:00:10.0 Communication controller: \\\n"
+"        NetMos Technology PCI 1 port parallel adapter (rev 01)\n"
+"        Subsystem: LSI Logic / Symbios Logic: Unknown device 0010\n"
+"        Flags: medium devsel, IRQ 11\n"
+"        I/O ports at a800 [size=8]\n"
+"        I/O ports at ac00 [size=8]\n"
+"        I/O ports at b000 [size=8]\n"
+"        I/O ports at b400 [size=8]\n"
+"        I/O ports at b800 [size=8]\n"
+"        I/O ports at bc00 [size=16]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/pci-parallel-port.adoc:40
+msgid "In my case the address was the first one so I changed my .hal file from"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/pci-parallel-port.adoc:44
+#, no-wrap
+msgid "loadrt hal_parport cfg=0x378\n"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/pci-parallel-port.adoc:47
+msgid "to"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/pci-parallel-port.adoc:51
+#, no-wrap
+msgid "loadrt hal_parport cfg=\"0x378 0xa800 in\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/pci-parallel-port.adoc:54
+msgid "(Note the double quotes surrounding the addresses.)"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/pci-parallel-port.adoc:56
+msgid "and then added the following lines so the parport will be read and written:"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/pci-parallel-port.adoc:61
+#, no-wrap
+msgid ""
+"addf parport.1.read base-thread\n"
+"addf parport.1.write base-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/pci-parallel-port.adoc:65
+msgid ""
+"After doing the above then run your config and verify that the parallel port "
+"got loaded in Machine/Show HAL Configuration window."
+msgstr ""
+
+#. type: Table
+#: src/examples/spindle.adoc:5 html/gcode.html:90 html/gcode.html:91
+#: src/gcode/m-code.adoc:20
+#, no-wrap
+msgid "Spindle Control"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:18
+msgid ""
+"LinuxCNC can control up to 8 spindles. The number is set in the INI file.  "
+"The examples below all refer to a single-spindle config with spindle control "
+"pins with names like 'spindle.0..'.  In the case of a multiple spindle "
+"machine all that changes is that additional pins exist with names such as "
+"'spindle.6..'."
+msgstr ""
+
+#. type: Title ==
+#: src/examples/spindle.adoc:19
+#, no-wrap
+msgid "0-10 Volt Spindle Speed(((0-10 Volt Spindle Speed Example)))"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:24
+msgid ""
+"If your spindle speed is controlled by an analog signal, (for example, by a "
+"VFD with a 0 V to 10 V signal) and you're using a DAC card like the m5i20 to "
+"output the control signal:"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:27
+msgid ""
+"First you need to figure the scale of spindle speed to control signal, "
+"i.e. the voltage.  For this example the spindle top speed of 5000 RPM is "
+"equal to 10 Volts."
+msgstr ""
+
+#. type: Target for macro image
+#: src/examples/spindle.adoc:28
+#, no-wrap
+msgid "images/spindle-math.png"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:33
+msgid ""
+"We have to add a scale component to the HAL file to scale the "
+"_spindle.N.speed-out_ to the 0 to 10 needed by the VFD if your DAC card does "
+"not do scaling."
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:41
+#, no-wrap
+msgid ""
+"loadrt scale count=1\n"
+"addf scale.0 servo-thread\n"
+"setp scale.0.gain 0.002\n"
+"net spindle-speed-scale spindle.0.speed-out => scale.0.in\n"
+"net spindle-speed-DAC scale.0.out => <your DAC pin name>\n"
+msgstr ""
+
+#. type: Title ==
+#: src/examples/spindle.adoc:43
+#, no-wrap
+msgid "PWM Spindle Speed(((PWM Spindle Speed Example)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:58
+#, no-wrap
+msgid ""
+"loadrt pwmgen output_type=0\n"
+"addf pwmgen.update servo-thread\n"
+"addf pwmgen.make-pulses base-thread\n"
+"net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value\n"
+"net spindle-on spindle.0.on => pwmgen.0.enable\n"
+"net spindle-pwm pwmgen.0.pwm => parport.0.pin-09-out\n"
+"# Set the spindle's top speed in RPM\n"
+"setp pwmgen.0.scale 1800\n"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:64
+msgid ""
+"This assumes that the spindle controller's response to PWM is simple: 0% PWM "
+"gives 0 RPM, 10% PWM gives 180 RPM, etc. If there is a minimum PWM required "
+"to get the spindle to turn, follow the example in the nist-lathe sample "
+"configuration to use a scale component."
+msgstr ""
+
+#. type: Title ==
+#: src/examples/spindle.adoc:65
+#, no-wrap
+msgid "Spindle Enable(((Spindle Enable Example)))"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:72
+msgid ""
+"If you need a spindle enable signal, link your output pin to "
+"_spindle.0.on_.  To link these pins to a parallel port pin put something "
+"like the following in your .hal file, making sure you pick the pin that is "
+"connected to your control device."
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:76
+#, no-wrap
+msgid "net spindle-enable spindle.0.on => parport.0.pin-14-out\n"
+msgstr ""
+
+#. type: Title ==
+#: src/examples/spindle.adoc:78
+#, no-wrap
+msgid "Spindle Direction(((Spindle Direction Example)))"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:84
+msgid ""
+"If you have direction control of your spindle, then the HAL pins "
+"'spindle._N_.forward' and 'spindle._N_.reverse' are controlled by the "
+"G-codes M3 and M4. Spindle speed S__n__ must be set to a positive non-zero "
+"value for M3/M4 to turn on spindle motion."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:88
+msgid ""
+"To link these pins to a parallel port pin, put something like the following "
+"in your .hal file making sure you pick the pin that is connected to your "
+"control device."
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:93
+#, no-wrap
+msgid ""
+"net spindle-fwd spindle.0.forward => parport.0.pin-16-out\n"
+"net spindle-rev spindle.0.reverse => parport.0.pin-17-out\n"
+msgstr ""
+
+#. type: Title ==
+#: src/examples/spindle.adoc:95
+#, no-wrap
+msgid "Spindle Soft Start(((Spindle Soft Start Example)))"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:104
+msgid ""
+"If you need to ramp your spindle speed command and your control does not "
+"have that feature it can be done in HAL. Basically you need to hijack the "
+"output of 'spindle._N_.speed-out' and run it through a 'limit2' component "
+"with the scale set so it will ramp the rpm from 'spindle._N_.speed-out' to "
+"your device that receives the rpm.  The second part is to let LinuxCNC know "
+"when the spindle is at speed so motion can begin."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:106
+msgid "In the 0-10 Volt example the line"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:110
+#, no-wrap
+msgid "net spindle-speed-scale spindle.0.speed-out => scale.0.in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:113
+msgid "is changed as shown in the following example:"
+msgstr ""
+
+#. type: Block title
+#: src/examples/spindle.adoc:114
+#, no-wrap
+msgid "Intro to HAL components limit2 and near"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:118
+msgid ""
+"In case you have not run across them before, here's a quick introduction to "
+"the two HAL components used in the following example."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:123
+msgid ""
+"A 'limit2' is a HAL component (floating point) that accepts an input value "
+"and provides an output that has been limited to a max/min range, and also "
+"limited to not exceed a specified rate of change."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:125
+msgid ""
+"A 'near' is a HAL component (floating point) with a binary output that says "
+"whether two inputs are approximately equal."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:128
+msgid ""
+"More info is available in the documentation for HAL components, or from the "
+"man pages, just say 'man limit2' or 'man near' in a terminal."
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:134
+#, no-wrap
+msgid ""
+"# load the real time modules limit2 and near with names so it is easier to "
+"follow their connections\n"
+"loadrt limit2 names=spindle-ramp\n"
+"loadrt near names=spindle-at-speed\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:138
+#, no-wrap
+msgid ""
+"# add the functions to a thread\n"
+"addf spindle-ramp servo-thread\n"
+"addf spindle-at-speed servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:142
+#, no-wrap
+msgid ""
+"# set the parameter for max rate-of-change\n"
+"# (max spindle accel/decel in units per second)\n"
+"setp spindle-ramp.maxv 60\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:145
+#, no-wrap
+msgid ""
+"# hijack the spindle speed out and send it to spindle ramp in\n"
+"net spindle-cmd <= spindle.0.speed-out => spindle-ramp.in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:148
+#, no-wrap
+msgid ""
+"# the output of spindle ramp is sent to the scale in\n"
+"net spindle-ramped <= spindle-ramp.out => scale.0.in\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:155
+#, no-wrap
+msgid ""
+"# to know when to start the motion we send the near component\n"
+"# (named spindle-at-speed) to the spindle commanded speed from\n"
+"# the signal spindle-cmd and the actual spindle speed\n"
+"# provided your spindle can accelerate at the maxv setting.\n"
+"net spindle-cmd => spindle-at-speed.in1\n"
+"net spindle-ramped => spindle-at-speed.in2\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:159
+#, no-wrap
+msgid ""
+"# the output from spindle-at-speed is sent to spindle.0.at-speed\n"
+"# and when this is true motion will start\n"
+"net spindle-ready <= spindle-at-speed.out => spindle.0.at-speed\n"
+msgstr ""
+
+#. type: Title ==
+#: src/examples/spindle.adoc:161
+#, no-wrap
+msgid "Spindle Feedback"
+msgstr ""
+
+#. type: Title ===
+#: src/examples/spindle.adoc:163
+#, no-wrap
+msgid "Spindle Synchronized Motion(((Spindle Synchronized Motion Example)))"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:170
+msgid ""
+"Spindle feedback is needed by LinuxCNC to perform any spindle coordinated "
+"motions like threading and constant surface speed.  LinuxCNC can perform "
+"synchronized motion and CSS with any of up to 8 spindles. Which spindles are "
+"used is controlled from G-code. CSS is possible with several spindles "
+"simultaneously."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:174
+msgid ""
+"The StepConf Wizard can perform the connections for a single-spindle "
+"configuration for you if you select Encoder Phase A and Encoder Index as "
+"inputs."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:176
+msgid "Hardware assumptions for this example:"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:179
+msgid ""
+"An encoder is connected to the spindle and puts out 100 pulses per "
+"revolution on phase A."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:180
+msgid "The encoder A phase is connected to the parallel port pin 10."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:181
+msgid "The encoder index pulse is connected to the parallel port pin 11."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:193
+msgid ""
+"Basic Steps to add the components and configure them: footnote:[In this "
+"example, we will assume that some encoders have already been issued to "
+"axes/joints 0, 1, and 2. So the next encoder available for us to attach to "
+"the spindle would be number 3. Your situation may differ.] footnote:[The HAL "
+"encoder index-enable is an exception to the rule in that it behaves as both "
+"an input and an output, see the <<sec:encoder,Encoder Section>> for details] "
+"footnote:[It is because we selected 'non-quadrature simple counting...' "
+"above that we can get away with 'quadrature' counting without having any B "
+"quadrature input.]"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:200
+#, no-wrap
+msgid ""
+"# Add the encoder to HAL and attach it to threads.\n"
+"loadrt encoder num_chan=4\n"
+"addf encoder.update-counters base-thread\n"
+"addf encoder.capture-position servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:203
+#, no-wrap
+msgid ""
+"# Set the HAL encoder to 100 pulses per revolution.\n"
+"setp encoder.3.position-scale 100\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:206
+#, no-wrap
+msgid ""
+"# Set the HAL encoder to non-quadrature simple counting using A only.\n"
+"setp encoder.3.counter-mode true\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:211
+#, no-wrap
+msgid ""
+"# Connect the HAL encoder outputs to LinuxCNC.\n"
+"net spindle-position encoder.3.position => spindle.0.revs\n"
+"net spindle-velocity encoder.3.velocity => spindle.0.speed-in\n"
+"net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:216
+#, no-wrap
+msgid ""
+"# Connect the HAL encoder inputs to the real encoder.\n"
+"net spindle-phase-a encoder.3.phase-A <= parport.0.pin-10-in\n"
+"net spindle-phase-b encoder.3.phase-B\n"
+"net spindle-index encoder.3.phase-Z <= parport.0.pin-11-in\n"
+msgstr ""
+
+#. type: Title ===
+#: src/examples/spindle.adoc:219
+#, no-wrap
+msgid "Spindle At Speed(((Spindle At Speed Example)))"
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:227
+msgid ""
+"To enable LinuxCNC to wait for the spindle to be at speed before executing a "
+"series of moves, the spindle._N_.at-speed needs to turn true at the moment "
+"the spindle is at the commanded speed. To achieve this you need spindle "
+"feedback from an encoder. Since the feedback and the commanded speed are not "
+"usually 'exactly' the same you should to use the 'near' component to "
+"determine that the two numbers are close enough."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:235
+msgid ""
+"The connections needed are from the spindle velocity command signal to "
+"near.n.in1 and from the spindle velocity from the encoder to "
+"near.n.in2. Then the near.n.out is connected to spindle._N_.at-speed. The "
+"near.n.scale needs to be set to say how close the two numbers must be before "
+"turning on the output. Depending on your setup you may need to adjust the "
+"scale to work with your hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/examples/spindle.adoc:240
+msgid ""
+"The following is typical of the additions needed to your HAL file to enable "
+"Spindle At Speed. If you already have near in your HAL file then increase "
+"the count and adjust code to suit. Check to make sure the signal names are "
+"the same in your HAL file."
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:246
+#, no-wrap
+msgid ""
+"# load a near component and attach it to a thread\n"
+"loadrt near\n"
+"addf near.0 servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:249
+#, no-wrap
+msgid ""
+"# connect one input to the commanded spindle speed\n"
+"net spindle-cmd => near.0.in1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:252
+#, no-wrap
+msgid ""
+"# connect one input to the encoder-measured spindle speed\n"
+"net spindle-velocity => near.0.in2\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:255
+#, no-wrap
+msgid ""
+"# connect the output to the spindle-at-speed input\n"
+"net spindle-at-speed spindle.0.at-speed <= near.0.out\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/examples/spindle.adoc:258
+#, no-wrap
+msgid ""
+"# set the spindle speed inputs to agree if within 1%\n"
+"setp near.0.scale 1.01\n"
+msgstr ""
+
+#. type: Title =
+#: src/gcode/coordinates.adoc:5
+#, no-wrap
+msgid "Coordinate Systems(((Coordinate Systems)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:18
+msgid ""
+"In this chapter, we will try to demystify coordinate systems.  It is a very "
+"important concept to understand the operation of a CNC machine, its "
+"configuration and its use."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:23
+msgid ""
+"We will also show that it is very interesting to use a reference point on "
+"the blank or the part and to make the program work from this point, without "
+"having to take into account where the part is placed on the table."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:26
+msgid ""
+"This chapter introduces you to offsets as they are used by the LinuxCNC.  "
+"These include:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:28
+msgid "Machine Coordinates (G53)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:29
+msgid "Nine Coordinate System Offsets (G54-G59.3)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:30
+msgid "Global Offsets (G92) and Local Offsets (G52)"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/coordinates.adoc:32
+#, no-wrap
+msgid "Machine Coordinate System"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:39
+msgid ""
+"When LinuxCNC is started the positions of each axis is the machine origin.  "
+"Once an axis is homed, the machine origin for that axis is set to the homed "
+"position. The machine origin is the machine coordinate system on which all "
+"other coordinate systems are based. The <<gcode:g53,G53>> G-code can be used "
+"to move in the machine coordinate system."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:40
+#, no-wrap
+msgid "Machine coordinates moves: G53"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:45
+msgid ""
+"Regardless of any offset that may be active, a G53 in a line of code tells "
+"the interpreter to move to the actual axes positions (absolute positions) "
+"specified. For example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:49
+#, no-wrap
+msgid "G53 G0 X0 Y0 Z0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:56
+msgid ""
+"will move from the current position to the position where the machine "
+"coordinates of the three axes will be at zero. You can use this command if "
+"you have a fixed position for the tool change or if your machine has an "
+"automatic tool changer. You can also use this command to clear the work area "
+"and access the workpiece in the vise."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:59
+msgid ""
+"G53 is a non modal command. It must be used in every block where a move in "
+"machine coordinate system is desired."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/coordinates.adoc:60 src/user/user-concepts.adoc:195
+#, no-wrap
+msgid "Coordinate Systems"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/coordinates.adoc:63 src/gcode/coordinates.adoc:64
+#, no-wrap
+msgid "Coordinate Systems Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/coordinates.adoc:64
+#, no-wrap
+msgid "images/offsets.png"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/coordinates.adoc:66
+#, no-wrap
+msgid "Coordinate System Offsets"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:68
+msgid "G54 - use coordinate system 1"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:69
+msgid "G55 - use coordinate system 2"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:70
+msgid "G56 - use coordinate system 3"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:71
+msgid "G57 - use coordinate system 4"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:72
+msgid "G58 - use coordinate system 5"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:73
+msgid "G59 - use coordinate system 6"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:74
+msgid "G59.1 - use coordinate system 7"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:75
+msgid "G59.2 - use coordinate system 8"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:76
+msgid "G59.3 - use coordinate system 9"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:82
+msgid ""
+"Coordinate system offsets are used to shift the coordinate system from the "
+"machine coordinate system. This allows the G-code to be programmed for the "
+"part without regard to the part location on the machine. Using coordinate "
+"system offsets would allow you to machine parts in multiple locations with "
+"the same G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:87
+msgid ""
+"The values for offsets are stored in the VAR file that is requested by the "
+"INI file during the startup of an LinuxCNC. In the example below, which uses "
+"G55, the position of each axis for G55 origin is stored in a numbered "
+"variable."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:91
+msgid ""
+"In the VAR file scheme, the first variable number stores the X offset, the "
+"second the Y offset and so on for all nine axes. There are numbered sets "
+"like this for each of the coordinate system offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:98
+msgid ""
+"Each of the graphical interfaces has a way to set values for these offsets.  "
+"You can also set these values by editing the VAR file itself and then "
+"restart LinuxCNC so that the LinuxCNC reads the new values however this is "
+"not the recommended way. Using G10, G52, G92, G28.1, etc are better ways to "
+"set the variables. For our example, we will directly edit the file so that "
+"G55 will take the following values:"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/coordinates.adoc:99
+#, no-wrap
+msgid "Example of G55 parameters"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:102
+#, no-wrap
+msgid "Variable"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:103 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5241"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:104
+#, no-wrap
+msgid "2.000000"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:104 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5242"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:105
+#, no-wrap
+msgid "1.000000"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:105 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5243"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:106
+#, no-wrap
+msgid "-2.000000"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:106 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:121 src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "A"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:106 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5244"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:107 src/gcode/coordinates.adoc:108
+#: src/gcode/coordinates.adoc:109 src/gcode/coordinates.adoc:110
+#: src/gcode/coordinates.adoc:111 src/gcode/coordinates.adoc:112
+#, no-wrap
+msgid "0.000000"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:107 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:122 src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "B"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:107 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5245"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:108 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:123 src/gcode/tool-compensation.adoc:64
+#: src/gui/axis.adoc:632 src/plasma/qtplasmac.adoc:695
+#, no-wrap
+msgid "C"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:108 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5246"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:109 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:142 src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "U"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:109 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5247"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:110 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:143 src/gcode/tool-compensation.adoc:64
+#: src/gui/axis.adoc:646
+#, no-wrap
+msgid "V"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:110 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5248"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:111 src/gcode/g-code.adoc:1589
+#: src/gcode/overview.adoc:144 src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "W"
+msgstr ""
+
+#. type: Table
+#: src/gcode/coordinates.adoc:111 src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5249"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:116
+msgid ""
+"You should read this as moving the zero positions of G55 to X = 2 units, Y= "
+"1 unit, and Z = -2 units away from the absolute zero position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:126
+msgid ""
+"Once there are values assigned, a call to G55 in a program block would shift "
+"the zero reference by the values stored. The following line would then move "
+"each axis to the new zero position. Unlike G53, G54 through G59.3 are modal "
+"commands. They will act on all blocks of code after one of them has been "
+"set. The program that might be run using fixture offsets would require only "
+"a single coordinate reference for each of the locations and all of the work "
+"to be done there. The following code is offered as an example of making a "
+"square using the G55 offsets that we set above."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:140
+#, no-wrap
+msgid ""
+"G55 ; use coordinate system 2\n"
+"G0 X0 Y0 Z0\n"
+"G1 F2 Z-0.2000\n"
+"X1\n"
+"Y1\n"
+"X0\n"
+"Y0\n"
+"G0 Z0\n"
+"G54 ; use coordinate system 1\n"
+"G0 X0 Y0 Z0\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:150
+msgid ""
+"In this example the G54 near the end leaves the G54 coordinate system with "
+"all zero offsets so that there is a modal code for the absolute machine "
+"based axis positions. This program assumes that we have done that and use "
+"the ending command as a command to machine zero. It would have been possible "
+"to use G53 and arrive at the same place but that command would not have been "
+"modal and any commands issued after it would have returned to using the G55 "
+"offsets because that coordinate system would still be in effect."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:162
+#, no-wrap
+msgid ""
+"G54\tuses parameters of coordinate system 1(((G54)))\n"
+"G55\tuses parameters of coordinate system 2(((G55)))\n"
+"G56\tuses parameters of coordinate system 3(((G56)))\n"
+"G57\tuses parameters of coordinate system 4(((G57)))\n"
+"G58\tuses parameters of coordinate system 5(((G58)))\n"
+"G59\tuses parameters of coordinate system 6(((G59)))\n"
+"G59.1\tuses parameters of coordinate system 7(((G59.1)))\n"
+"G59.2\tuses parameters of coordinate system 8(((G59.2)))\n"
+"G59.3\tuses parameters of coordinate system 9(((G59.3)))\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:164
+#, no-wrap
+msgid "Default Coordinate System"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:174
+msgid ""
+"One other variable in the VAR file becomes important when we think about "
+"offset systems. This variable is named 5220. In the default files its value "
+"is set to 1.00000. This means that when the LinuxCNC starts up it should use "
+"the first coordinate system as its default. If you set this to 9.00000 it "
+"would use the ninth offset system as its default for start up and reset. Any "
+"value other than an integer (decimal really)  between 1 and 9, or a missing "
+"5220 variable will cause the LinuxCNC to revert to the default value of "
+"1.00000 on start up."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:175
+#, no-wrap
+msgid "Setting Coordinate System Offsets"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:178
+msgid "The G10 L2x command can be used to set coordinate system offsets:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:181
+msgid ""
+"'G10 L2 P(1-9)' - Set offset(s) to a value.  Current position irrelevant "
+"(see <<gcode:g10-l2,G10 L2>> for details)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:183
+msgid ""
+"'G10 L20 P(1-9)' - Set offset(s) so current position becomes a value (see "
+"<<gcode:g10-l20,G10 L20>> for details)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:187
+msgid ""
+"We only give a brief overview here, refer to the G-code sections for a full "
+"description."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/coordinates.adoc:189
+#, no-wrap
+msgid "Local and Global Offsets"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:192
+#, no-wrap
+msgid "The G52 command"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:200
+msgid ""
+"'G52' is used in a part program as a temporary \"local coordinate system "
+"offset\" within the workpiece coordinate system.  An example use case is "
+"when machining several identical features at different locations on a part.  "
+"For each feature, 'G52' programs a local reference point within workpiece "
+"coordinates, and a subprogram is called to machine the feature relative to "
+"that point."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:206
+msgid ""
+"'G52' axis offsets are programmed relative to workpiece coordinate offsets "
+"'G54' through 'G59.3'.  As a local offset, 'G52' is applied after the "
+"workpiece offset, including rotation.  Thus, a part feature will be machined "
+"identically on each part regardless of the part's orientation on the pallet."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:214
+msgid ""
+"As a temporary offset, set and unset within the localized scope of a part "
+"program, in other G-code interpreters 'G52' does not persist after machine "
+"reset, 'M02' or 'M30'.  In LinuxCNC, 'G52' shares parameters with 'G92', "
+"which, for historical reasons, *does* persist these parameters.  See "
+"<<sec:g92-persistence-cautions,G92 Persistence Cautions>> below."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:222
+msgid ""
+"'G52' and 'G92' share the same offset registers.  Therefore, setting 'G52' "
+"will override any earlier 'G92' setting, and 'G52' will persist across "
+"machine reset when 'G92' persistence is enabled.  These interactions may "
+"result in unexpected offsets.  See <<sec:g92-g52-interaction-cautions,G92 "
+"and G52 Interaction Cautions>> below."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:229
+msgid ""
+"Programming 'G52 X1 Y2' offsets the current workpiece coordinate system X "
+"axis by 1 and Y axis by 2.  Accordingly, on the DRO, the current tool "
+"position's X and Y coordinates will be reduced by 1 and 2, respectively.  "
+"Axes unset in the command, such as Z in the previous example, will be "
+"unaffected: any previous 'G52' Z offset will remain in effect, and otherwise "
+"the Z offset will be zero."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:232
+msgid ""
+"The temporary local offset may be canceled with 'G52 X0 Y0'.  Any axes not "
+"explicitly zeroed will retain the previous offset."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:235
+msgid ""
+"'G52' shares the same offset registers as 'G92', and thus 'G52' is visible "
+"on the DRO and preview labeled with 'G92'."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/coordinates.adoc:237
+#, no-wrap
+msgid "G92 Axes Offsets"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:245
+msgid ""
+"G92 is the most misunderstood and cleverest command programmable with "
+"LinuxCNC. The way it works has changed a bit between the first versions and "
+"the current one. These changes have doubt baffled many users. They should be "
+"seen as a command producing a temporary offset, which applies to all the "
+"other offsets."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:247
+#, no-wrap
+msgid "The G92 commands"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:252
+msgid ""
+"'G92' is typically used in two conceptually different ways: as a \"global "
+"coordinate system offset\" or as a \"local coordinate system offset\"."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:254
+msgid "The 'G92' set of commands includes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:257
+msgid ""
+"'G92' - This command, when used with axis names, sets values to offset "
+"variables."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:258
+msgid "'G92.1' - This command sets zero values to the G92 variables."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:260
+msgid "'G92.2' - This command suspends but does not zero out the G92 variables."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:261
+msgid "'G92.3' - This command applies offset values that have been suspended."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:271
+msgid ""
+"As a global offset, 'G92' is used to shift all workpiece coordinate systems "
+"'G54' through 'G59.3'.  An example use case is when machining several "
+"identical parts in fixtures with known locations on a pallet, but the pallet "
+"location may change between runs or between machines.  Each fixture location "
+"offset, relative to a reference point on the pallet, is preset in one of the "
+"workpiece coordinate systems, 'G54' through 'G59.3', and 'G92' is used to "
+"\"touch off\" on the pallet reference point.  Then, for each part, the "
+"corresponding workpiece coordinate system is selected and the part program "
+"is executed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:277
+msgid ""
+"'G10 R-' workpiece coordinate system rotation is specific to the 'rs274ngc' "
+"interpreter, and the 'G92' offset is applied 'after' rotation.  When using "
+"'G92' as a global offset, workpiece coordinate system rotations may have "
+"unexpected results."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:284
+msgid ""
+"As a local coordinate system, 'G92' is used as a temporary offset within the "
+"workpiece coordinate system.  An example use case is when machining a part "
+"with several identical features at different locations.  For each feature, "
+"'G92' is used to set a local reference point, and a subprogram is called to "
+"machine the feature starting at that point."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:290
+msgid ""
+"The use of 'G92' is discouraged for programming with local coordinate "
+"systems in a part program.  Instead, see <<sec:g52,'G52'>>, a local "
+"coordinate system offset more intuitive when desired offset relative to the "
+"workpiece is known but current tool location may not be known."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:294
+msgid ""
+"Programming 'G92 X0 Y0 Z0' sets the current tool location to the coordinates "
+"X0, Y0, and Z0, without motion.  G92 *does not* work from absolute machine "
+"coordinates.  It works from *current location*."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:302
+msgid ""
+"'G92' also works from current location as modified by any other offsets that "
+"are in effect when the 'G92' command is invoked. While testing for "
+"differences between work offsets and actual offsets it was found that a "
+"'G54' offset could cancel out a 'G92' and thus give the appearance that no "
+"offsets were in effect. However, the 'G92' was still in effect for all "
+"coordinates and did produce expected work offsets for the other coordinate "
+"systems."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:308
+msgid ""
+"By default, 'G92' offsets are restored after the machine is started.  "
+"Programmers that wish for Fanuc behavior, where 'G92' offsets are cleared at "
+"machine start and after a reset or program end, may disable 'G92' "
+"persistence by setting 'DISABLE_G92_PERSISTENCE = 1' in the '[RS274NGC]' "
+"section of the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:315
+msgid ""
+"It is good practice to clear the 'G92' offsets at the end of their use with "
+"'G92.1' or 'G92.2'. When starting up LinuxCNC with 'G92' persistence enabled "
+"(the default), any offsets in the 'G92' variables will be applied when an "
+"axis is homed.  See <<sec:g92-persistence-cautions,G92 Persistence "
+"Cautions>> below."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:316
+#, no-wrap
+msgid "Setting G92 Values"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:319
+msgid "There are at least two ways to set G92 values:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:322
+msgid ""
+"With a right click on the position displays in tklinuxcnc, a window opens "
+"where it is possible to enter a value."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:323
+msgid "With the G92 command"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:325
+msgid "Both work from the current position of the axis that should be moved."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:330
+msgid ""
+"Programming 'G92 X Y Z A B C U V W' sets the values of the G92 variables so "
+"that each axis takes the value associated with its name. Those values are "
+"assigned to the current position of the axes. These results satisfy to "
+"paragraphs one and two of the NIST document."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:334
+msgid ""
+"G92 commands work from current axis location and add and subtract correctly "
+"to give the current axis position the value assigned by the G92 command. The "
+"effects work even though previous offsets are in."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:340
+msgid ""
+"So if the X axis is currently showing 2.0000 as its position a 'G92 X0' will "
+"set an offset of -2.0000 so that the current location of X becomes zero. A "
+"'G92 X2' will set an offset of 0.0000 and the displayed position will not "
+"change. A 'G92 X5.0000' will set an offset of 3.0000 so that the current "
+"displayed position becomes 5.0000."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:342
+#, no-wrap
+msgid "G92 Persistence Cautions"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:346
+msgid ""
+"By default, the values of a 'G92' offset will be saved in the VAR file and "
+"be restored after a machine reset or startup."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:348
+msgid "The G92 parameters are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:350
+msgid "5210 - Enable/disable flag (1.0/0.0)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:351
+msgid "5211 - X Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:352
+msgid "5212 - Y Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:353
+msgid "5213 - Z Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:354
+msgid "5214 - A Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:355
+msgid "5215 - B Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:356
+msgid "5216 - C Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:357
+msgid "5217 - U Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:358
+msgid "5218 - V Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:359
+msgid "5219 - W Axis Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:365
+msgid ""
+"where 5210 is the 'G92' enable flag (1 for enabled, 0 for disabled)  and "
+"5211 to 5219 are the axis offsets. If you are seeing unexpected positions as "
+"the result of a commanded move, as a result of storing an offset in a "
+"previous program and not clearing them at the end then issue a G92.1 in the "
+"MDI window to clear the stored offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:377
+msgid ""
+"If G92 values exist in the VAR file when LinuxCNC starts up, the G92 values "
+"in the var file will be applied to the values of the current location of "
+"each axis. If this is home position and home position is set as machine zero "
+"everything will be correct. Once home has been established using real "
+"machine switches, or by moving each axis to a known home position and "
+"issuing an axis home command, any G92 offsets will be applied. If you have a "
+"G92 X1 in effect when you home the X axis the DRO will read 'X: 1.000' "
+"instead of the expected 'X: 0.000' because the G92 was applied to the "
+"machine origin. If you issue a G92.1 and the DRO now reads all zeros then "
+"you had a G92 offset in effect when you last ran LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:381
+msgid ""
+"Unless your intention is to use the same G92 offsets in the next program, "
+"the best practice is to issue a G92.1 at the end of any G code files where "
+"you use G92 offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:388
+msgid ""
+"When a program is aborted during processing that has 'G92' offsets in effect "
+"a startup will cause them to become active again.  As a safeguard, always "
+"have your preamble to set the environment as you expect it.  Additionally, "
+"'G92' persistence may be disabled by setting 'DISABLE_G92_PERSISTENCE = 1' "
+"in the '[RS274NGC]' section of the INI file."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:390
+#, no-wrap
+msgid "G92 and G52 Interaction Cautions"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:399
+msgid ""
+"'G52' and 'G92' share the same offset registers. Unless 'G92' persistence is "
+"disabled in the INI file (see <<sec:g92-commands,G92 Commands>>), 'G52' "
+"offsets will also persist after machine reset, 'M02' or 'M30'.  Beware that "
+"a 'G52' offset in effect during a program abort may result in unintended "
+"offsets when the next program is run.  See "
+"<<sec:g92-persistence-cautions,G92 Persistence Cautions>> above."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/coordinates.adoc:400
+#, no-wrap
+msgid "Sample Programs Using Offsets"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:402
+#, no-wrap
+msgid "Sample Program Using Workpiece Coordinate Offsets"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:407
+msgid ""
+"This sample engraving project mills a set of four .1 radius circles in "
+"roughly a star shape around a center circle. We can setup the individual "
+"circle pattern like this."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:416
+#, no-wrap
+msgid ""
+"G10 L2 P1 X0 Y0 Z0 (ensure that G54 is set to machine zero)\n"
+"G0 X-0.1 Y0 Z0\n"
+"G1 F1 Z-0.25\n"
+"G3 X-0.1 Y0 I0.1 J0\n"
+"G0 Z0\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:420
+msgid ""
+"We can issue a set of commands to create offsets for the four other circles "
+"like this."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:427
+#, no-wrap
+msgid ""
+"G10 L2 P2 X0.5 (offsets G55 X value by 0.5 inch)\n"
+"G10 L2 P3 X-0.5 (offsets G56 X value by -0.5 inch)\n"
+"G10 L2 P4 Y0.5 (offsets G57 Y value by 0.5 inch)\n"
+"G10 L2 P5 Y-0.5 (offsets G58 Y value by -0.5 inch)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:430
+msgid "We put these together in the following program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:434
+#, no-wrap
+msgid "(a program for milling five small circles in a diamond shape)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:440
+#, no-wrap
+msgid ""
+"G10 L2 P1 X0 Y0 Z0 (ensure that G54 is machine zero)\n"
+"G10 L2 P2 X0.5 (offsets G55 X value by 0.5 inch)\n"
+"G10 L2 P3 X-0.5 (offsets G56 X value by -0.5 inch)\n"
+"G10 L2 P4 Y0.5 (offsets G57 Y value by 0.5 inch)\n"
+"G10 L2 P5 Y-0.5 (offsets G58 Y value by -0.5 inch)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:445
+#, no-wrap
+msgid ""
+"G54 G0 X-0.1 Y0 Z0 (center circle)\n"
+"G1 F1 Z-0.25\n"
+"G3 X-0.1 Y0 I0.1 J0\n"
+"G0 Z0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:450
+#, no-wrap
+msgid ""
+"G55 G0 X-0.1 Y0 Z0 (first offset circle)\n"
+"G1 F1 Z-0.25\n"
+"G3 X-0.1 Y0 I0.1 J0\n"
+"G0 Z0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:455
+#, no-wrap
+msgid ""
+"G56 G0 X-0.1 Y0 Z0 (second offset circle)\n"
+"G1 F1 Z-0.25\n"
+"G3 X-0.1 Y0 I0.1 J0\n"
+"G0 Z0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:460
+#, no-wrap
+msgid ""
+"G57 G0 X-0.1 Y0 Z0 (third offset circle)\n"
+"G1 F1 Z-0.25\n"
+"G3 X-0.1 Y0 I0.1 J0\n"
+"G0 Z0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/coordinates.adoc:465
+#, no-wrap
+msgid ""
+"G58 G0 X-0.1 Y0 Z0 (fourth offset circle)\n"
+"G1 F1 Z-0.25\n"
+"G3 X-0.1 Y0 I0.1 J0\n"
+"G54 G0 X0 Y0 Z0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:479
+msgid ""
+"Now comes the time when we might apply a set of G92 offsets to this "
+"program. You'll see that it is running in each case at Z0. If the mill were "
+"at the zero position, a G92 Z1.0000 issued at the head of the program would "
+"shift everything an inch. You might also shift the whole pattern around in "
+"the XY plane by adding some X and Y offsets with G92. If you do this you "
+"should add a G92.1 command just before the M2 that ends the program. If you "
+"do not, other programs that you might run after this one will also use that "
+"G92 offset. Furthermore it would save the G92 values when you shut down the "
+"LinuxCNC and they will be recalled when you start up again."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/coordinates.adoc:480
+#, no-wrap
+msgid "Sample Program Using G52 Offsets"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/coordinates.adoc:483
+msgid "(To be written)"
+msgstr ""
+
+#. type: Title =
+#: src/gcode/g-code.adoc:5
+#, no-wrap
+msgid "G-Codes"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:11
+#, no-wrap
+msgid "Conventions"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:14
+msgid "Conventions used in this section"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:17
+msgid ""
+"In the G-code prototypes the hyphen ('-') stands for a real value and ('<>') "
+"denotes an optional item."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:20 src/gcode/g-code.adoc:54
+msgid ""
+"If 'L-' is written in a prototype the '-' will often be referred to as the "
+"'L number', and so on for any other letter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:23
+msgid ""
+"In the G-code prototypes the word 'axes' stands for any axis as defined in "
+"your configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:25
+msgid "An optional value will be written like this '<L- >'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:27
+msgid "A real value may be:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:29
+msgid "An explicit number, '4'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:30
+msgid "An expression, '[2+2]'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:31
+msgid "A parameter value, '#88'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:32
+msgid "A unary function value, 'acos[0]'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:36
+msgid ""
+"In most cases, if 'axis' words are given (any or all of 'X Y Z A B C U V "
+"W'), they specify a destination point."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:40
+msgid ""
+"Axis numbers are in the currently active coordinate system, unless "
+"explicitly described as being in the absolute coordinate system."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:43
+msgid ""
+"Where axis words are optional, any omitted axes will retain their original "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:46
+msgid ""
+"Any items in the G-code prototypes not explicitly described as optional are "
+"required."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:51
+msgid ""
+"The values following letters are often given as explicit numbers.  Unless "
+"stated otherwise, the explicit numbers can be real values. For example, 'G10 "
+"L2' could equally well be written 'G[2*5] L[1+1]'. If the value of parameter "
+"100 were 2, 'G10 L#100' would also mean the same."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:56
+#, no-wrap
+msgid "G-Code Quick Reference Table(((G-Code Table)))"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:61
+#, no-wrap
+msgid "<<gcode:g0,G0>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:62
+#, no-wrap
+msgid "Coordinated Motion at Rapid Rate"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:62
+#, no-wrap
+msgid "<<gcode:g1,G1>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:63
+#, no-wrap
+msgid "Coordinated Motion at Feed Rate"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:63
+#, no-wrap
+msgid "<<gcode:g2-g3,G2 G3>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:64
+#, no-wrap
+msgid "Coordinated Helical Motion at Feed Rate"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:64
+#, no-wrap
+msgid "<<gcode:g4,G4>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:65 html/gcode.html:59
+#, no-wrap
+msgid "Dwell"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:65
+#, no-wrap
+msgid "<<gcode:g5,G5>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:66 html/gcode.html:60
+#, no-wrap
+msgid "Cubic Spline"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:66
+#, no-wrap
+msgid "<<gcode:g5.1,G5.1>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:67
+#, no-wrap
+msgid "Quadratic B-Spline"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:67
+#, no-wrap
+msgid "<<gcode:g5.2-g5.3,G5.2,G5.3>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:68
+#, no-wrap
+msgid "NURBS, add control point"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:68
+#, no-wrap
+msgid "<<gcode:g7,G7>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:69
+#, no-wrap
+msgid "Diameter Mode (lathe)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:69
+#, no-wrap
+msgid "<<gcode:g8,G8>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:70
+#, no-wrap
+msgid "Radius Mode (lathe)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:70
+#, no-wrap
+msgid "<<gcode:g10-l0,G10 L0>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:71 html/gcode.html:160
+#, no-wrap
+msgid "Reload Tool Table Data"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:71
+#, no-wrap
+msgid "<<gcode:g10-l1,G10 L1>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:72
+#, no-wrap
+msgid "Set Tool Table Entry"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:72
+#, no-wrap
+msgid "<<gcode:g10-l10,G10 L10>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:73
+#, no-wrap
+msgid "Set Tool Table, Calculated, Workpiece"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:73
+#, no-wrap
+msgid "<<gcode:g10-l11,G10 L11>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:74
+#, no-wrap
+msgid "Set Tool Table, Calculated, Fixture"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:74
+#, no-wrap
+msgid "<<gcode:g10-l2,G10 L2>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:75
+#, no-wrap
+msgid "Coordinate System Origin Setting"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:75
+#, no-wrap
+msgid "<<gcode:g10-l20,G10 L20>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:76
+#, no-wrap
+msgid "Coordinate System Origin Setting Calculated"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:76
+#, no-wrap
+msgid "<<gcode:g17-g19.1,G17 - G19.1>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:77 html/gcode.html:113
+#, no-wrap
+msgid "Plane Select"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:77
+#, no-wrap
+msgid "<<gcode:g20-g21,G20 G21>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:78
+#, no-wrap
+msgid "Set Units of Measure"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:78
+#, no-wrap
+msgid "<<gcode:g28-g28.1,G28 - G28.1>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:79 src/gcode/g-code.adoc:80
+#, no-wrap
+msgid "Go to Predefined Position"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:79
+#, no-wrap
+msgid "<<gcode:g30-g30.1,G30 - G30.1>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:80
+#, no-wrap
+msgid "<<gcode:g33,G33>>"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:81 html/gcode.html:64 src/lathe/lathe-user.adoc:155
+#, no-wrap
+msgid "Spindle Synchronized Motion"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:81
+#, no-wrap
+msgid "<<gcode:g33.1,G33.1>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:82 html/gcode.html:65
+#, no-wrap
+msgid "Rigid Tapping"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:82
+#, no-wrap
+msgid "<<gcode:g38,G38.2 - G38.5>>"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:83 src/gui/qtdragon.adoc:755
+#: src/plasma/qtplasmac.adoc:1893
+#, no-wrap
+msgid "Probing"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:83
+#, no-wrap
+msgid "<<gcode:g40,G40>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:84
+#, no-wrap
+msgid "Cancel Cutter Compensation"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:84
+#, no-wrap
+msgid "<<gcode:g41-g42,G41 G42>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:85
+#, no-wrap
+msgid "<<gcode:g41.1-g42.1,G41.1 G42.1>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:86 html/gcode.html:118
+#, no-wrap
+msgid "Dynamic Cutter Compensation"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:86
+#, no-wrap
+msgid "<<gcode:g43,G43>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:87
+#, no-wrap
+msgid "Use Tool Length Offset from Tool Table"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:87
+#, no-wrap
+msgid "<<gcode:g43.1,G43.1>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:88 html/gcode.html:100
+#, no-wrap
+msgid "Dynamic Tool Length Offset"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:88
+#, no-wrap
+msgid "<<gcode:g43.2,G43.2>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:89 html/gcode.html:101
+#, no-wrap
+msgid "Apply additional Tool Length Offset"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:89
+#, no-wrap
+msgid "<<gcode:g49,G49>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:90
+#, no-wrap
+msgid "Cancel Tool Length Offset"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:90
+#, no-wrap
+msgid "<<gcode:g52,G52>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:91
+#, no-wrap
+msgid "Local Coordinate System Offset"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:91
+#, no-wrap
+msgid "<<gcode:g53,G53>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:92 html/gcode.html:168
+#, no-wrap
+msgid "Move in Machine Coordinates"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:92
+#, no-wrap
+msgid "<<gcode:g54-g59.3,G54-G59.3>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:93
+#, no-wrap
+msgid "Select Coordinate System (1 - 9)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:93
+#, no-wrap
+msgid "<<gcode:g61,G61>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:94 html/gcode.html:121
+#, no-wrap
+msgid "Exact Path Mode"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:94
+#, no-wrap
+msgid "<<gcode:g61.1,G61.1>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:95 html/gcode.html:122
+#, no-wrap
+msgid "Exact Stop Mode"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:95
+#, no-wrap
+msgid "<<gcode:g64,G64>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:96
+#, no-wrap
+msgid "Path Control Mode with Optional Tolerance"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:96
+#, no-wrap
+msgid "<<gcode:g70,G70>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:97 html/gcode.html:69
+#, no-wrap
+msgid "Lathe finishing cycle"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:97
+#, no-wrap
+msgid "<<gcode:g71-g72,G71-G72>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:98 html/gcode.html:70
+#, no-wrap
+msgid "Lathe roughing cycle"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:98
+#, no-wrap
+msgid "<<gcode:g73,G73>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:99
+#, no-wrap
+msgid "Drilling Cycle with Chip Breaking"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:99
+#, no-wrap
+msgid "<<gcode:g74,G74>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:100
+#, no-wrap
+msgid "Left-hand Tapping Cycle with Dwell"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:100
+#, no-wrap
+msgid "<<gcode:g76,G76>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:101
+#, no-wrap
+msgid "Multi-pass Threading Cycle (Lathe)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:101
+#, no-wrap
+msgid "<<gcode:g80,G80>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:102
+#, no-wrap
+msgid "Cancel Motion Modes"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:102
+#, no-wrap
+msgid "<<gcode:g81,G81>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:103 html/gcode.html:74
+#, no-wrap
+msgid "Drilling Cycle"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:103
+#, no-wrap
+msgid "<<gcode:g82,G82>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:104
+#, no-wrap
+msgid "Drilling Cycle with Dwell"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:104
+#, no-wrap
+msgid "<<gcode:g83,G83>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:105
+#, no-wrap
+msgid "Drilling Cycle with Peck"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:105
+#, no-wrap
+msgid "<<gcode:g84,G84>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:106
+#, no-wrap
+msgid "Right-hand Tapping Cycle with Dwell"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:106
+#, no-wrap
+msgid "<<gcode:g85,G85>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:107
+#, no-wrap
+msgid "Boring Cycle, No Dwell, Feed Out"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:107
+#, no-wrap
+msgid "<<gcode:g86,G86>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:108
+#, no-wrap
+msgid "Boring Cycle, Stop, Rapid Out"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:108
+#, no-wrap
+msgid "<<gcode:g87,G87>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:109
+#, no-wrap
+msgid "Back-boring Cycle _(not yet implemented)_"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:109
+#, no-wrap
+msgid "<<gcode:g88,G88>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:110
+#, no-wrap
+msgid "Boring Cycle, Stop, Manual Out _(not yet implemented)_"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:110
+#, no-wrap
+msgid "<<gcode:g89,G89>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:111 html/gcode.html:79
+#, no-wrap
+msgid "Boring Cycle, Dwell, Feed Out"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:111
+#, no-wrap
+msgid "<<gcode:g90-g91,G90 G91>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:112 html/gcode.html:81 html/gcode.html:82
+#, no-wrap
+msgid "Distance Mode"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:112
+#, no-wrap
+msgid "<<gcode:g90.1-g91.1,G90.1 G91.1>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:113 html/gcode.html:83
+#, no-wrap
+msgid "Arc Distance Mode"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:113
+#, no-wrap
+msgid "<<gcode:g92,G92>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:114 html/gcode.html:169
+#, no-wrap
+msgid "Coordinate System Offset"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:114
+#, no-wrap
+msgid "<<gcode:g92.1-g92.2,G92.1 G92.2>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:115
+#, no-wrap
+msgid "Cancel G92 Offsets"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:115
+#, no-wrap
+msgid "<<gcode:g92.3,G92.3>>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: src/gcode/g-code.adoc:116 html/gcode.html:171
+#, no-wrap
+msgid "Restore G92 Offsets"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:116
+#, no-wrap
+msgid "<<gcode:g93-g94-g95,G93 G94 G95>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:117
+#, no-wrap
+msgid "Feed Modes"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:117
+#, no-wrap
+msgid "<<gcode:g96-g97,G96 G97>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:118
+#, no-wrap
+msgid ""
+"Spindle Control Mode, Constant Surface vs Rotation Speed (IPM or m/min vs "
+"RPM)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:118
+#, no-wrap
+msgid "<<gcode:g98-g99,G98 G99>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:119
+#, no-wrap
+msgid "Canned Cycle Z Retract Mode"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:122
+#, no-wrap
+msgid "G0 Rapid Move(((G0 Rapid Move)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:127
+#, no-wrap
+msgid "G0 <axes>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:133
+msgid ""
+"For rapid motion, program 'G0 axes', where all the axis words are "
+"optional. The 'G0' is optional if the current motion mode is 'G0'. This will "
+"produce coordinated motion to the destination point at the maximum rapid "
+"rate (or slower). 'G0' is typically used as a positioning move."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:134
+#, no-wrap
+msgid "Rapid Velocity Rate"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:142
+msgid ""
+"The MAX_VELOCITY setting in the INI file [TRAJ] section defines the "
+"maximumrapid traverse rate. The maximum rapid traverse rate can be higher "
+"than the individual axes MAX_VELOCITY setting during a coordinated move. The "
+"maximum rapid traverse rate can be slower than the MAX_VELOCITY setting in "
+"the [TRAJ] section if an axis MAX_VELOCITY or trajectory constraints limit "
+"it."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:143 src/gcode/g-code.adoc:2164
+#, no-wrap
+msgid "G0 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:149
+#, no-wrap
+msgid ""
+"G90 (set absolute distance mode)\n"
+"G0 X1 Y-2.3 (Rapid linear move from current location to X1 Y-2.3)\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:153
+msgid ""
+"See <<gcode:g90-g91,G90>> & <<mcode:m2-m30,M2>> sections for more "
+"information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:157 src/gcode/g-code.adoc:207
+#: src/gcode/g-code.adoc:268
+msgid ""
+"If cutter compensation is active, the motion will differ from the above; see "
+"the <<sec:cutter-radius-compensation,Cutter Compensation>> section."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:160 src/gcode/g-code.adoc:210
+msgid ""
+"If 'G53' is programmed on the same line, the motion will also differ; see "
+"the <<gcode:g53,G53>> section for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:164
+msgid ""
+"The path of a G0 rapid motion can be rounded at direction changes and "
+"depends on the <<sec:trajectory-control,trajectory control>> settings and "
+"maximum acceleration of the axes."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:173 src/gcode/g-code.adoc:212
+#: src/gcode/g-code.adoc:276 src/gcode/g-code.adoc:358
+#: src/gcode/g-code.adoc:495 src/gcode/g-code.adoc:533
+#: src/gcode/g-code.adoc:579 src/gcode/g-code.adoc:613
+#: src/gcode/g-code.adoc:742 src/gcode/g-code.adoc:812
+#: src/gcode/g-code.adoc:873 src/gcode/g-code.adoc:909
+#: src/gcode/g-code.adoc:936 src/gcode/g-code.adoc:1113
+#: src/gcode/g-code.adoc:1179 src/gcode/g-code.adoc:1283
+#: src/gcode/g-code.adoc:1309 src/gcode/g-code.adoc:1364
+#: src/gcode/g-code.adoc:1386 src/gcode/g-code.adoc:1433
+#: src/gcode/g-code.adoc:1473 src/gcode/g-code.adoc:1511
+#: src/gcode/g-code.adoc:1566 src/gcode/g-code.adoc:1602
+#: src/gcode/g-code.adoc:1706 src/gcode/g-code.adoc:1774
+#: src/gcode/g-code.adoc:1807 src/gcode/g-code.adoc:1932
+#: src/gcode/g-code.adoc:2039 src/gcode/g-code.adoc:2150
+#: src/gcode/g-code.adoc:2406 src/gcode/g-code.adoc:2486
+#: src/gcode/g-code.adoc:2659 src/gcode/g-code.adoc:2697
+#: src/gcode/m-code.adoc:336 src/gcode/other-code.adoc:33
+#: src/gcode/other-code.adoc:67 src/gcode/overview.adoc:917
+#: src/hal/basic-hal.adoc:210 src/remap/remap.adoc:1561
+msgid "It is an error if:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:175 src/gcode/g-code.adoc:215
+msgid "An axis letter is without a real value."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:176
+msgid "An axis letter is used that is not configured."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:178
+#, no-wrap
+msgid "G1 Linear Move(((G1 Linear Move)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:183
+#, no-wrap
+msgid "G1 axes\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:190
+msgid ""
+"For linear (straight line) motion at programmed <<sec:set-feed-rate,feed "
+"rate>> (for cutting or not), program 'G1 'axes'', where all the axis words "
+"are optional. The 'G1' is optional if the current motion mode is 'G1'. This "
+"will produce coordinated motion to the destination point at the current feed "
+"rate (or slower)."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:191
+#, no-wrap
+msgid "G1 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:199
+#, no-wrap
+msgid ""
+"G90 (set absolute distance mode)\n"
+"G1 X1.2 Y-3 F10 (linear move at a feed rate of 10 from current position to "
+"X1.2 Y-3)\n"
+"Z-2.3 (linear move at same feed rate from current position to Z-2.3)\n"
+"Z1 F25 (linear move at a feed rate of 25 from current position to Z1)\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:203
+msgid ""
+"See <<gcode:g90-g91,G90>> & <<sec:set-feed-rate,F>> & <<mcode:m2-m30,M2>> "
+"sections for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:214 src/gcode/g-code.adoc:278
+msgid "No feed rate has been set."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:216
+msgid "An axis letter is used that is not configured"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:218
+#, no-wrap
+msgid "G2, G3 Arc Move(((G2, G3 Arc Move)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:225
+#, no-wrap
+msgid ""
+"G2 or G3 axes offsets (center format)\n"
+"G2 or G3 axes R- (radius format)\n"
+"G2 or G3 offsets|R- <P-> (full circles)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:231
+msgid ""
+"A circular or helical arc is specified using either 'G2' (clockwise arc) or "
+"'G3' (counterclockwise arc) at the current <<sec:set-feed-rate,feed "
+"rate>>. The direction (CW, CCW) is as viewed from the positive end of the "
+"axis about which the circular motion occurs."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:240
+msgid ""
+"The axis of the circle or helix must be parallel to the X, Y, or Z axis of "
+"the machine coordinate system.  The axis (or, equivalently, the plane "
+"perpendicular to the axis) is selected with 'G17' (Z-axis, XY-plane), 'G18' "
+"(Y-axis, XZ-plane), or 'G19' (X-axis, YZ-plane).  Planes '17.1', '18.1', and "
+"'19.1' are not currently supported.  If the arc is circular, it lies in a "
+"plane parallel to the selected plane."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:245
+msgid ""
+"To program a helix, include the axis word perpendicular to the arc plane, "
+"for example, if in the 'G17' plane, include a 'Z' word. This will cause the "
+"'Z' axis to move to the programmed value during the circular 'XY' motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:254
+msgid ""
+"To program an arc that gives more than one full turn, use the 'P' word "
+"specifying the number of full turns plus the programmed arc. The 'P' word "
+"must be an integer. If 'P' is unspecified, the behavior is as if 'P1' was "
+"given that is, only one full or partial turn will result. For example, if a "
+"180 degree arc is programmed with a P2, the resulting motion will be 1 1/2 "
+"rotations. For each P increment above 1 an extra full circle is added to the "
+"programmed arc. Multi turn helical arcs are supported and give motion useful "
+"for milling holes or threads."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:259
+msgid ""
+"If the pitch of the helix is very small (less than the "
+"<<sub:programming-the-planner,naive CAM tolerance>>) then the helix might be "
+"converted into a straight line.  "
+"https://github.com/LinuxCNC/linuxcnc/issues/222[Bug #222]"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:264
+msgid ""
+"If a line of code makes an arc and includes rotary axis motion, the rotary "
+"axes turn at a constant rate so that the rotary motion starts and finishes "
+"when the XYZ motion starts and finishes.  Lines of this sort are hardly ever "
+"programmed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:271
+msgid ""
+"The arc center is absolute or relative as set by <<gcode:g90.1-g91.1,G90.1 "
+"or G91.1>> respectively."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:274
+msgid ""
+"Two formats are allowed for specifying an arc: Center Format and Radius "
+"Format."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:279
+msgid "The P word is not an integer."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:280
+#, no-wrap
+msgid "Center Format Arcs"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:284
+msgid ""
+"Center format arcs are more accurate than radius format arcs and are the "
+"preferred format to use."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:289
+msgid ""
+"The end point of the arc along with the offset to the center of the arc from "
+"the current location are used to program arcs that are less than a full "
+"circle. It is OK if the end point of the arc is the same as the current "
+"location."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:292
+msgid ""
+"The offset to the center of the arc from the current location and optionally "
+"the number of turns are used to program full circles."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:296
+msgid ""
+"When programming arcs an error due to rounding can result from using a "
+"precision of less than 4 decimal places (0.0000) for inch and less than 3 "
+"decimal places (0.000) for millimeters."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:297
+#, no-wrap
+msgid "Incremental Arc Distance Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:301
+msgid ""
+"Arc center offsets are a relative distance from the start location of the "
+"arc.  Incremental Arc Distance Mode is default."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:304
+msgid ""
+"One or more axis words and one or more offsets must be programmed for an arc "
+"that is less than 360 degrees."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:307
+msgid ""
+"No axis words and one or more offsets must be programmed for full circles.  "
+"The 'P' word defaults to 1 and is optional."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:310
+msgid ""
+"For more information on 'Incremental Arc Distance Mode see the "
+"<<gcode:g90.1-g91.1,G91.1>> section."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:311
+#, no-wrap
+msgid "Absolute Arc Distance Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:314
+msgid ""
+"Arc center offsets are the absolute distance from the current 0 position of "
+"the axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:317
+msgid ""
+"One or more axis words and 'both' offsets must be programmed for arcs less "
+"than 360 degrees."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:320
+msgid ""
+"No axis words and both offsets must be programmed for full circles.  The 'P' "
+"word defaults to 1 and is optional."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:323
+msgid ""
+"For more information on 'Absolute Arc Distance Mode see the "
+"<<gcode:g90.1-g91.1,G90.1>> section."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:324
+#, no-wrap
+msgid "XY-plane (G17)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:328
+#, no-wrap
+msgid "G2 or G3 <X- Y- Z- I- J- P->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:331
+msgid "'Z' - helix"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:332 src/gcode/g-code.adoc:343
+msgid "'I' - X offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:333 src/gcode/g-code.adoc:354
+msgid "'J' - Y offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:334 src/gcode/g-code.adoc:345
+#: src/gcode/g-code.adoc:356
+msgid "'P' - number of turns"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:335
+#, no-wrap
+msgid "XZ-plane (G18)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:339
+#, no-wrap
+msgid "G2 or G3 <X- Z- Y- I- K- P->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:342
+msgid "'Y' - helix"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:344 src/gcode/g-code.adoc:355
+msgid "'K' - Z offset"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:346
+#, no-wrap
+msgid "YZ-plane (G19)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:350
+#, no-wrap
+msgid "G2 or G3 <Y- Z- X- J- K- P->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:353
+msgid "'X' - helix"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:360
+msgid "No feed rate is set with the <<sec:set-feed-rate,F>> word."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:361
+msgid "No offsets are programmed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:365
+msgid ""
+"When the arc is projected on the selected plane, the distance from the "
+"current point to the center differs from the distance from the end point to "
+"the center by more than (.05 inch/.5 mm)  OR ((.0005 inch/.005mm) AND .1% of "
+"radius)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:368
+msgid ""
+"Deciphering the Error message 'Radius to end of arc differs from radius to "
+"start:'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:370
+msgid "'start' - the current position"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:371
+msgid "'center' - the center position as calculated using the i, j, or k words"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:372
+msgid "'end' - the programmed end point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:373
+msgid "'r1' - radius from the start position to the center"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:374
+msgid "'r2' - radius from the end position to the center"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:375
+#, no-wrap
+msgid "Center Format Examples"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:384
+msgid ""
+"Calculating arcs by hand can be difficult at times. One option is to draw "
+"the arc with a CAD program to get the coordinates and offsets.  Keep in mind "
+"the tolerance mentioned above, you may have to change the precision of your "
+"CAD program to get the desired results. Another option is to calculate the "
+"coordinates and offset using formulas. As you can see in the following "
+"figures a triangle can be formed from the current position the end position "
+"and the arc center."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:389
+msgid ""
+"In the following figure you can see the start position is X0 Y0, the end "
+"position is X1 Y1. The arc center position is at X1 Y0. This gives us an "
+"offset from the start position of 1 in the X axis and 0 in the Y axis. In "
+"this case only an I offset is needed."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:390 src/gcode/g-code.adoc:499
+#, no-wrap
+msgid "G2 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:395
+#, no-wrap
+msgid ""
+"G0 X0 Y0\n"
+"G2 X1 Y1 I1 F10 (clockwise arc in the XY plane)\n"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/g-code.adoc:397 src/gcode/g-code.adoc:398
+#, no-wrap
+msgid "G2 Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:398
+#, no-wrap
+msgid "images/g2_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:405
+msgid ""
+"In the next example we see the difference between the offsets for Y if we "
+"are doing a G2 or a G3 move. For the G2 move the start position is X0 Y0, "
+"for the G3 move it is X0 Y1. The arc center is at X1 Y0.5 for both "
+"moves. The G2 move the J offset is 0.5 and the G3 move the J offset is -0.5."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:406
+#, no-wrap
+msgid "G2-G3 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:412
+#, no-wrap
+msgid ""
+"G0 X0 Y0\n"
+"G2 X0 Y1 I1 J0.5 F25 (clockwise arc in the XY plane)\n"
+"G3 X0 Y0 I1 J-0.5 F25 (counterclockwise arc in the XY plane)\n"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/g-code.adoc:414 src/gcode/g-code.adoc:415
+#, no-wrap
+msgid "G2-G3 Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:415
+#, no-wrap
+msgid "images/g2-3_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:419
+msgid ""
+"In the next example we show how the arc can make a helix in the Z axis by "
+"adding the Z word."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:420
+#, no-wrap
+msgid "G2 Example Helix"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:425
+#, no-wrap
+msgid ""
+"G0 X0 Y0 Z0\n"
+"G17 G2 X10 Y16 I3 J4 Z-1 (helix arc with Z added)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:429
+msgid "In the next example we show how to make more than one turn using the P word."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:430
+#, no-wrap
+msgid "P word Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:435
+#, no-wrap
+msgid ""
+"G0 X0 Y0 Z0\n"
+"G2 X0 Y1 Z-1 I1 J0.5 P2 F25\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:440
+msgid ""
+"In the center format, the radius of the arc is not specified, but it may be "
+"found easily as the distance from the center of the circle to either the "
+"current point or the end point of the arc."
+msgstr ""
+
+#
+#
+#
+#
+#
+#
+#. FIXME Complete circles and helicoids doc
+#. === Complete Circles and Helicoids
+#. ----
+#. [G2|G3] I- J- K-
+#. ----
+#. To make a full 360 degree circle from the current position, program a
+#. single I, J or K offset from the current position for G2/G3.
+#. FIXME Better explain I, J, K offsets for full circles
+#. To program a 360 degree helicoid in the XY plane specify only the word Z.
+#. It is an error if:
+#. * K offset is used while working in XY plane
+#. * J offset is used while working in XZ plane
+#. * I offset is used while working in YZ plane
+#. type: Title ===
+#: src/gcode/g-code.adoc:463
+#, no-wrap
+msgid "Radius Format Arcs"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:468
+#, no-wrap
+msgid "G2 or G3 axes R- <P->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:471
+msgid "'R' - radius from current position"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:482
+msgid ""
+"It is not good practice to program radius format arcs that are nearly full "
+"circles or nearly semicircles because a small change in the location of the "
+"end point will produce a much larger change in the location of the center of "
+"the circle (and, hence, the middle of the arc). The magnification effect is "
+"large enough that rounding error in a number can produce out-of-tolerance "
+"cuts. For instance, a 1% displacement of the endpoint of a 180 degree arc "
+"produced a 7% displacement of the point 90 degrees along the arc. Nearly "
+"full circles are even worse. Other size arcs (in the range tiny to 165 "
+"degrees or 195 to 345 degrees) are OK."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:493
+msgid ""
+"In the radius format, the coordinates of the end point of the arc in the "
+"selected plane are specified along with the radius of the arc.  Program 'G2' "
+"'axes' 'R-' (or use 'G3' instead of 'G2' ). R is the radius. The axis words "
+"are all optional except that at least one of the two words for the axes in "
+"the selected plane must be used. The R number is the radius. A positive "
+"radius indicates that the arc turns through less than 180 degrees, while a "
+"negative radius indicates a turn of more than 180 degrees. If the arc is "
+"helical, the value of the end point of the arc on the coordinate axis "
+"parallel to the axis of the helix is also specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:497
+msgid "both of the axis words for the axes of the selected plane are omitted"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:498
+msgid "the end point of the arc is the same as the current point."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:503
+#, no-wrap
+msgid "G17 G2 X10 Y15 R20 Z5 (radius format with arc)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:510
+msgid ""
+"The above example makes a clockwise (as viewed from the positive Z-axis)  "
+"circular or helical arc whose axis is parallel to the Z-axis, ending where "
+"X=10, Y=15, and Z=5, with a radius of 20. If the starting value of Z is 5, "
+"this is an arc of a circle parallel to the XY-plane; otherwise it is a "
+"helical arc."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:512
+#, no-wrap
+msgid "G4 Dwell(((G4 Dwell)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:517
+#, no-wrap
+msgid "G4 P-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:520
+msgid "'P' - seconds to dwell (floating point)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:525
+msgid ""
+"The P number is the time in seconds that all axes will remain unmoving.  The "
+"P number is a floating point number so fractions of a second may be used.  "
+"G4 does not affect spindle, coolant and any I/O."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:526
+#, no-wrap
+msgid "G4 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:530
+#, no-wrap
+msgid "G4 P0.5 (wait for 0.5 seconds before proceeding)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:535
+msgid "the P number is negative or not specified."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:537
+#, no-wrap
+msgid "G5 Cubic Spline(((G5 Cubic spline)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:542
+#, no-wrap
+msgid "G5 X- Y- <I- J-> P- Q-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:545
+msgid "'I' - X incremental offset from start point to first control point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:546
+msgid "'J' - Y incremental offset from start point to first control point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:547
+msgid "'P' - X incremental offset from end point to second control point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:548
+msgid "'Q' - Y incremental offset from end point to second control point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:551
+msgid ""
+"G5 creates a cubic B-spline in the XY plane with the X and Y axes only.  P "
+"and Q must both be specified for every G5 command."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:558
+msgid ""
+"For the first G5 command in a series of G5 commands, I and J must both be "
+"specified.  For subsequent G5 commands, either both I and J must be "
+"specified, or neither.  If I and J are unspecified, the starting direction "
+"of this cubic will automatically match the ending direction of the previous "
+"cubic (as if I and J are the negation of the previous P and Q)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:560
+msgid "For example, to program a curvy N shape:"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:561
+#, no-wrap
+msgid "G5 Sample initial cubic spline"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:567
+#, no-wrap
+msgid ""
+"G90 G17\n"
+"G0 X0 Y0\n"
+"G5 I0 J3 P0 Q-3 X1 Y1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:571
+msgid ""
+"A second curvy N that attaches smoothly to this one can now be made without "
+"specifying I and J:"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:572
+#, no-wrap
+msgid "G5 Sample subsequent cubic spline"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:576
+#, no-wrap
+msgid "G5 P0 Q-3 X2 Y2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:581
+msgid "P and Q are not both specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:582
+msgid "Just one of I or J are specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:583
+msgid "I or J are unspecified in the first of a series of G5 commands."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:584
+msgid "An axis other than X or Y is specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:585
+msgid "The active plane is not G17."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:587
+#, no-wrap
+msgid "G5.1 Quadratic Spline(((G5.1 Quadratic spline)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:592
+#, no-wrap
+msgid "G5.1 X- Y- I- J-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:595
+msgid "'I' - X incremental offset from start point to control point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:596
+msgid "'J' - Y incremental offset from start point to control point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:600
+msgid ""
+"G5.1 creates a quadratic B-spline in the XY plane with the X and Y axis "
+"only.  Not specifying I or J gives zero offset for the unspecified axis, so "
+"one or both must be given."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:603
+msgid ""
+"For example, to program a parabola, through the origin, from X-2 Y4 to X2 "
+"Y4:"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:604
+#, no-wrap
+msgid "G5.1 Sample quadratic spline"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:610
+#, no-wrap
+msgid ""
+"G90 G17\n"
+"G0 X-2 Y4\n"
+"G5.1 X2 I2 J-8\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:615
+msgid "both I and J offset are unspecified or zero"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:616
+msgid "An axis other than X or Y is specified"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:617
+msgid "The active plane is not G17"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:619
+#, no-wrap
+msgid "G5.2 G5.3 NURBS Block(((G5.2 G5.3 NURBS Block)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:627
+#, no-wrap
+msgid ""
+"G5.2 <P-> <X- Y-> <L->\n"
+"X- Y- <P->\n"
+"...\n"
+"G5.3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:630
+msgid "G5.2, G5.3 is experimental and not fully tested."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:635
+msgid ""
+"G5.2 is for opening the data block defining a NURBS and G5.3 for closing the "
+"data block. In the lines between these two codes the curve control points "
+"are defined with both their related 'weights' (P) and the parameter (L) "
+"which determines the order of the curve."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:639
+msgid ""
+"The current coordinate, before the first G5.2 command, is always taken as "
+"the first NURBS control point.  To set the weight for this first control "
+"point, first program G5.2 P- without giving any X Y."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:642
+msgid ""
+"The default weight if P is unspecified is 1.  The default order if L is "
+"unspecified is 3."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:643
+#, no-wrap
+msgid "G5.2 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:660
+#, no-wrap
+msgid ""
+"G0 X0 Y0 (rapid move)\n"
+"F10 (set feed rate)\n"
+"G5.2 P1 L3\n"
+"     X0 Y1 P1\n"
+"     X2 Y2 P1\n"
+"     X2 Y0 P1\n"
+"     X0 Y0 P2\n"
+"G5.3\n"
+"; The rapid moves show the same path without the NURBS Block\n"
+"G0 X0 Y1\n"
+"   X2 Y2\n"
+"   X2 Y0\n"
+"   X0 Y0\n"
+"M2\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:662
+#, no-wrap
+msgid "Sample NURBS Output"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:664
+msgid "image:images/nurbs01.png[\"Sample NURBS Output\",align=\"center\"]"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:666
+msgid "More information on NURBS can be found here:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:668
+msgid "https://wiki.linuxcnc.org/cgi-bin/wiki.pl?NURBS[https://wiki.linuxcnc.org/cgi-bin/wiki.pl?NURBS]"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:670
+#, no-wrap
+msgid "G7 Lathe Diameter Mode(((G7 Lathe Diameter Mode)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:675
+#, no-wrap
+msgid "G7\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:681
+msgid ""
+"Program G7 to enter the diameter mode for axis X on a lathe. When in the "
+"diameter mode the X axis moves on a lathe will be 1/2 the distance to the "
+"center of the lathe. For example X1 would move the cutter to 0.500\" from "
+"the center of the lathe thus giving a 1\" diameter part."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:683
+#, no-wrap
+msgid "G8 Lathe Radius Mode(((G8 Lathe Radius Mode)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:688
+#, no-wrap
+msgid "G8\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:694
+msgid ""
+"Program G8 to enter the radius mode for axis X on a lathe. When in Radius "
+"mode the X axis moves on a lathe will be the distance from the center. Thus "
+"a cut at X1 would result in a part that is 2\" in diameter.  G8 is default "
+"at power up."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:696
+#, no-wrap
+msgid "G10 L0 Reload Tool Table Data(((G10 L0 Reload Tool Table Data)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:701
+#, no-wrap
+msgid "G10 L0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:705
+msgid ""
+"G10 L0 reload all tool table data.  Requires that there is no current tool "
+"loaded in spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:713
+msgid ""
+"When using G10 L0, tool parameters (#5401-#5413) will be updated immediately "
+"and any altered tool diameters will be used for subsequent G41,42 cutter "
+"radius compensation commands. Existing G43 tool length compensation values "
+"will remain in effect until updated by new G43 commands."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:715
+#, no-wrap
+msgid "G10 L1 Set Tool Table(((G10 L1 Tool Table)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:720
+#, no-wrap
+msgid "G10 L1 P- axes <R- I- J- Q->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:723 src/gcode/g-code.adoc:848
+#: src/gcode/g-code.adoc:888
+msgid "'P' - tool number"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:724 src/gcode/g-code.adoc:849
+#: src/gcode/g-code.adoc:889
+msgid "'R' - radius of tool"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:725 src/gcode/g-code.adoc:850
+#: src/gcode/g-code.adoc:890
+msgid "'I' - front angle (lathe)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:726 src/gcode/g-code.adoc:851
+#: src/gcode/g-code.adoc:891
+msgid "'J' - back angle (lathe)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:727 src/gcode/g-code.adoc:852
+#: src/gcode/g-code.adoc:892
+msgid "'Q' - orientation (lathe)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:730
+msgid ""
+"G10 L1 sets the tool table for the 'P' tool number to the values of the "
+"words."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:733
+msgid "A valid G10 L1 rewrites and reloads the tool table for the specified tool."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:734
+#, no-wrap
+msgid "G10 L1 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:739
+#, no-wrap
+msgid ""
+"G10 L1 P1 Z1.5 (set tool 1 Z offset from the machine origin to 1.5)\n"
+"G10 L1 P2 R0.015 Q3 (lathe example setting tool 2 radius to 0.015 and "
+"orientation to 3)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:744 src/gcode/g-code.adoc:875
+#: src/gcode/g-code.adoc:911
+msgid "Cutter Compensation is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:745 src/gcode/g-code.adoc:876
+#: src/gcode/g-code.adoc:912
+msgid "The P number is unspecified"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:746 src/gcode/g-code.adoc:877
+#: src/gcode/g-code.adoc:913
+msgid "The P number is not a valid tool number from the tool table"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:747 src/gcode/g-code.adoc:878
+#: src/gcode/g-code.adoc:914
+msgid "The P number is 0"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:750
+msgid ""
+"For more information on cutter orientation used by the 'Q' word, see the "
+"<<sec:lathe-tool-orientation,Lathe Tool Orientation>> diagram."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:752
+#, no-wrap
+msgid "G10 L2 Set Coordinate System(((G10 L2 Coordinate System)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:757
+#, no-wrap
+msgid "G10 L2 P- <axes R->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:760 src/gcode/g-code.adoc:924
+msgid "'P' - coordinate system (0-9)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:761
+msgid "'R' - rotation about the Z axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:767
+msgid ""
+"G10 L2 offsets the origin of the axes in the coordinate system specified to "
+"the value of the axis word. The offset is from the machine origin "
+"established during homing. The offset value will replace any current offsets "
+"in effect for the coordinate system specified. Axis words not used will not "
+"be changed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:769
+msgid "Program P0 to P9 to specify which coordinate system to change."
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:770 src/gcode/g-code.adoc:773
+#, no-wrap
+msgid "Coordinate System"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:773
+#, no-wrap
+msgid "P Value"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:774
+#, no-wrap
+msgid "Active"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:775
+#, no-wrap
+msgid "n/a"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:790
+msgid ""
+"Optionally program R to indicate the rotation of the XY axis around the Z "
+"axis.  The direction of rotation is CCW as viewed from the positive end of "
+"the Z axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:792
+msgid "All axis words are optional."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:795
+msgid ""
+"Being in incremental distance mode (<<gcode:g90-g91,'G91'>>) has no effect "
+"on 'G10 L2'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:797
+msgid "Important Concepts:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:801
+msgid ""
+"`G10 L2 Pn` does not change from the current coordinate system to the one "
+"specified by P, you have to use G54-59.3 to select a coordinate system."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:803
+msgid ""
+"When a rotation is in effect jogging an axis will only move that axis in a "
+"positive or negative direction and not along the rotated axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:805
+msgid ""
+"If a 'G52' local offset or 'G92' origin offset was in effect before 'G10 "
+"L2', it will continue to be in effect afterwards."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:807
+msgid ""
+"When programming a coordinate system with R, any 'G52' or 'G92' will be "
+"applied *after* the rotation."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:810
+msgid ""
+"The coordinate system whose origin is set by a 'G10' command may be active "
+"or inactive at the time the 'G10' is executed.  If it is currently active, "
+"the new coordinates take effect immediately."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:814 src/gcode/g-code.adoc:938
+msgid "The P number does not evaluate to an integer in the range 0 to 9."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:815 src/gcode/g-code.adoc:939
+msgid "An axis is programmed that is not defined in the configuration."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:816 src/gcode/g-code.adoc:827
+#, no-wrap
+msgid "G10 L2 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:820
+#, no-wrap
+msgid "G10 L2 P1 X3.5 Y17.2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:826
+msgid ""
+"In the above example the origin of the first coordinate system (the one "
+"selected by 'G54') is set to be X=3.5 and Y=17.2.  Because only X and Y are "
+"specified, the origin point is only moved in X and Y; the other coordinates "
+"are not changed."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:831
+#, no-wrap
+msgid "G10 L2 P1 X0 Y0 Z0 (clear offsets for X,Y & Z axes in coordinate system 1)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:835
+msgid ""
+"The above example sets the XYZ coordinates of the coordinate system 1 to the "
+"machine origin."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:838
+msgid ""
+"The coordinate system is described in the <<cha:coordinate-system,Coordinate "
+"System>> section."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:840
+#, no-wrap
+msgid "G10 L10 Set Tool Table(((G10 L10 Set Tool Table)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:845
+#, no-wrap
+msgid "G10 L10 P- axes <R- I- J- Q->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:859
+msgid ""
+"G10 L10 changes the tool table entry for tool P so that if the tool offset "
+"is reloaded, with the machine in its current position and with the current "
+"G5x and G52/G92 offsets active, the current coordinates for the given axes "
+"will become the given values. The axes that are not specified in the G10 L10 "
+"command will not be changed. This could be useful with a probe move as "
+"described in the <<gcode:g38,G38>> section."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:860
+#, no-wrap
+msgid "G10 L10 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:867
+#, no-wrap
+msgid ""
+"T1 M6 G43 (load tool 1 and tool length offsets)\n"
+"G10 L10 P1 Z1.5 (set the current position for Z to be 1.5)\n"
+"G43 (reload the tool length offsets from the changed tool table)\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:871
+msgid ""
+"See <<sec:select-tool,T>> & <<mcode:m6,M6>>, and "
+"<<gcode:g43,G43>>/<<gcode:g43.1,G43.1>> sections for more information."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:880
+#, no-wrap
+msgid "G10 L11 Set Tool Table(((G10 L11 Set Tool Table)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:885
+#, no-wrap
+msgid "G10 L11 P- axes <R- I- J- Q->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:898
+msgid ""
+"G10 L11 is just like G10 L10 except that instead of setting the entry "
+"according to the current offsets, it is set so that the current coordinates "
+"would become the given value if the new tool offset is reloaded and the "
+"machine is placed in the G59.3 coordinate system without any G52/G92 offset "
+"active."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:902
+msgid ""
+"This allows the user to set the G59.3 coordinate system according to a fixed "
+"point on the machine, and then use that fixture to measure tools without "
+"regard to other currently-active offsets."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:916
+#, no-wrap
+msgid "G10 L20 Set Coordinate System(((G10 L20 Set Coordinate System)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:921
+#, no-wrap
+msgid "G10 L20 P- axes\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:928
+msgid ""
+"G10 L20 is similar to G10 L2 except that instead of setting the offset/entry "
+"to the given value, it is set to a calculated value that makes the current "
+"coordinates become the given value."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:929
+#, no-wrap
+msgid "G10 L20 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:933
+#, no-wrap
+msgid ""
+"G10 L20 P1 X1.5 (set the X axis current location in coordinate system 1 to "
+"1.5)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:941
+#, no-wrap
+msgid "G17 - G19.1 Plane Select(((G17 - G19.1 Plane Select)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:944
+msgid "These codes set the current plane as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:946
+msgid "'G17' - XY (default)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:947
+msgid "'G18' - ZX"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:948
+msgid "'G19' - YZ"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:949
+msgid "'G17.1' - UV"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:950
+msgid "'G18.1' - WU"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:951
+msgid "'G19.1' - VW"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:953
+msgid "The UV, WU and VW planes do not support arcs."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:956
+msgid ""
+"It is a good idea to include a plane selection in the preamble of each "
+"G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:959
+msgid ""
+"The effects of having a plane selected are discussed in section "
+"<<gcode:g2-g3,G2 G3 Arcs>> and section <<gcode:g80-g89,G81 G89>>."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:961
+#, no-wrap
+msgid "G20, G21 Units(((G20 Units)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:964
+msgid "'G20' - to use inches for length units."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:965
+msgid "'G21' - to use millimeters for length units."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:968
+msgid "It is a good idea to include units in the preamble of each G-code file."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:970
+#, no-wrap
+msgid "G28, G28.1 Go/Set Predefined Position(((G28 Go/Set Predefined Position)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:975
+msgid ""
+"Only use G28 when your machine is homed to a repeatable position and the "
+"desired G28 position has been stored with G28.1."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:982
+msgid ""
+"G28 uses the values stored in <<sub:numbered-parameters,parameters>> "
+"5161-5169 as the X Y Z A B C U V W final point to move to. The parameter "
+"values are 'absolute' machine coordinates in the native machine 'units' as "
+"specified in the INI file. All axes defined in the INI file will be moved "
+"when a G28 is issued. If no positions are stored with G28.1 then all axes "
+"will go to the <<sec:machine-coordinate-system,machine origin>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:986
+msgid ""
+"'G28' - makes a <<gcode:g0,rapid move>> from the current position to the "
+"'absolute' position of the values in parameters 5161-5166."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:990
+msgid ""
+"'G28 axes' - makes a rapid move to the position specified by 'axes' "
+"including any offsets, then will make a rapid move to the 'absolute' "
+"position of the values in parameters 5161-5166 for all 'axes' specified. Any "
+"'axis' not specified will not move."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:992
+msgid "'G28.1' - stores the current 'absolute' position into parameters 5161-5166."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:993
+#, no-wrap
+msgid "G28 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:997
+#, no-wrap
+msgid "G28 Z2.5 (rapid to Z2.5 then to Z location specified in #5163)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1000 src/gcode/g-code.adoc:1039
+msgid "It is an error if :"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1002 src/gcode/g-code.adoc:1041
+msgid "Cutter Compensation is turned on"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1004
+#, no-wrap
+msgid "G30, G30.1 Go/Set Predefined Position(((G30 Go/Set Predefined Position)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1009
+msgid ""
+"Only use G30 when your machine is homed to a repeatable position and the "
+"desired G30 position has been stored with G30.1."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1017
+msgid ""
+"G30 functions the same as G28 but uses the values stored in "
+"<<sub:numbered-parameters,parameters>> 5181-5189 as the X Y Z A B C U V W "
+"final point to move to. The parameter values are 'absolute' machine "
+"coordinates in the native machine 'units' as specified in the INI file.  All "
+"axes defined in the INI file will be moved when a G30 is issued. If no "
+"positions are stored with G30.1 then all axes will go to the "
+"<<sec:machine-coordinate-system,machine origin>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1021
+msgid ""
+"G30 parameters will be used to move the tool when a M6 is programmed if "
+"TOOL_CHANGE_AT_G30=1 is in the [EMCIO] section of the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1025
+msgid ""
+"'G30' - makes a <<gcode:g0,rapid move>> from the current position to the "
+"'absolute' position of the values in parameters 5181-5189."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1029
+msgid ""
+"'G30 axes' - makes a rapid move to the position specified by 'axes' "
+"including any offsets, then will make a rapid move to the 'absolute' "
+"position of the values in parameters 5181-5189 for all 'axes' specified. Any "
+"'axis' not specified will not move."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1031
+msgid "'G30.1' - stores the current absolute position into parameters 5181-5186."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1032
+#, no-wrap
+msgid "G30 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1036
+#, no-wrap
+msgid "G30 Z2.5 (rapid to Z2.5 then to the Z location specified in #5183)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1043
+#, no-wrap
+msgid "G33 Spindle Synchronized Motion(((G33 Spindle Synchronized Motion)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1048
+#, no-wrap
+msgid "G33 X- Y- Z- K- $-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1051 src/gcode/g-code.adoc:1128
+msgid "'K' - distance per revolution"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1060
+msgid ""
+"For spindle-synchronized motion in one direction, code 'G33 X- Y- Z- K-' "
+"where K gives the distance moved in XYZ for each revolution of the spindle.  "
+"For instance, if starting at 'Z=0', 'G33 Z-1 K.0625' produces a 1 inch "
+"motion in Z over 16 revolutions of the spindle.  This command might be part "
+"of a program to produce a 16TPI thread.  Another example in metric, 'G33 "
+"Z-15 K1.5' produces a movement of 15mm while the spindle rotates 10 times "
+"for a thread of 1.5mm."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1064
+msgid ""
+"The (optional) $ argument sets which spindle the motion is synchronised to "
+"(default is zero). For example G33 Z10 K1 $1 will move the spindle in "
+"synchrony with the spindle.N.revs HAL pin value."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1069
+msgid ""
+"Spindle-synchronized motion waits for the spindle index and spindle at speed "
+"pins, so multiple passes line up. 'G33' moves end at the programmed "
+"endpoint.  G33 could be used to cut tapered threads or a fusee."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1071 src/gcode/g-code.adoc:1164
+msgid "All the axis words are optional, except that at least one must be used."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1076
+msgid ""
+"K follows the drive line described by 'X- Y- Z-'. K is not parallel to the Z "
+"axis if X or Y endpoints are used for example when cutting tapered threads."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1078 src/gcode/g-code.adoc:1946
+#, no-wrap
+msgid "Technical Info"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1087
+msgid ""
+"At the beginning of each G33 pass, LinuxCNC uses the spindle speed and the "
+"machine acceleration limits to calculate how long it will take Z to "
+"accelerate after the index pulse, and determines how many degrees the "
+"spindle will rotate during that time. It then adds that angle to the index "
+"position and computes the Z position using the corrected spindle angle. That "
+"means that Z will reach the correct position just as it finishes "
+"accelerating to the proper speed, and can immediately begin cutting a good "
+"thread."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:1088 src/gcode/g-code.adoc:1940
+#: src/motion/switchkins.adoc:137
+#, no-wrap
+msgid "HAL Connections"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1093
+msgid ""
+"The pin 'spindle.N.at-speed' must be set or driven true for the motion to "
+"start. Additionally spindle.N.revs must increase by 1 for each revolution of "
+"the spindle and the spindle.N.index-enable pin must be connected to an "
+"encoder (or resolver) counter which resets index-enable once per rev."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1096
+msgid ""
+"See the Integrators Manual for more information on spindle synchronized "
+"motion."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1097
+#, no-wrap
+msgid "G33 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1107
+#, no-wrap
+msgid ""
+"G90 (absolute distance mode)\n"
+"G0 X1 Z0.1 (rapid to position)\n"
+"S100 M3 (start spindle turning)\n"
+"G33 Z-2 K0.125 (move Z axis to -2 at a rate to equal 0.125 per revolution)\n"
+"G0 X1.25 (rapid move tool away from work)\n"
+"Z0.1 (rapid move to starting Z position)\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1111 src/gcode/g-code.adoc:1177
+msgid ""
+"See <<gcode:g90-g91,G90>> & <<gcode:g0,G0>> & <<mcode:m2-m30,M2>> sections "
+"for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1115 src/gcode/g-code.adoc:1181
+msgid "All axis words are omitted."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1116
+msgid "The spindle is not turning when this command is executed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1118
+msgid ""
+"The requested linear motion exceeds machine velocity limits due to the "
+"spindle speed."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1120
+#, no-wrap
+msgid "G33.1 Rigid Tapping(((G33.1 Rigid Tapping)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1125
+#, no-wrap
+msgid "G33.1 X- Y- Z- K- I- $-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1129
+msgid "'I' - optional spindle speed multiplier for faster return move"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1130
+msgid "'$' - optional spindle selector"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1137
+msgid ""
+"For Z only tapping preposition the XY location prior to calling G33.1 and "
+"only use a Z word in the G33.1. If the coordinates specified are not the "
+"current coordinates when calling G33.1 for tapping the move will not be "
+"along the Z axis but will be a coordinated, spindle-synchronized move from "
+"the current location to the location specified and back."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1141
+msgid ""
+"For rigid tapping (spindle synchronized motion with return), code 'G33.1 X- "
+"Y- Z- K-' where 'K-' gives the distance moved for each revolution of the "
+"spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1143
+msgid "A rigid tapping move consists of the following sequence:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1147
+msgid ""
+"A move from the current coordinate to the specified coordinate, synchronized "
+"with the selected spindle at the given ratio and starting from the current "
+"coordinate with a spindle index pulse."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1150
+msgid ""
+"When reaching the endpoint, a command to reverse the spindle, and speed up "
+"by a factor set by the multiplier (e.g., from clockwise to "
+"counterclockwise)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1152
+msgid ""
+"Continued synchronized motion beyond the specified end coordinate until the "
+"spindle actually stops and reverses."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1153
+msgid "Continued synchronized motion back to the original coordinate."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1156
+msgid ""
+"When reaching the original coordinate, a command to reverse the spindle a "
+"second time (e.g., from counterclockwise to clockwise)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1158
+msgid ""
+"Continued synchronized motion beyond the original coordinate until the "
+"spindle actually stops and reverses."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1159
+msgid "An *unsynchronized* move back to the original coordinate."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1162
+msgid ""
+"Spindle-synchronized motions wait for spindle index, so multiple passes line "
+"up.'G33.1' moves end at the original coordinate."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1165
+#, no-wrap
+msgid "G33.1 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1173
+#, no-wrap
+msgid ""
+"G90 (set absolute mode)\n"
+"G0 X1.000 Y1.000 Z0.100 (rapid move to starting position)\n"
+"S100 M3 (turn on the spindle, 100 RPM)\n"
+"G33.1 Z-0.750 K0.05 (rigid tap a 20 TPI thread 0.750 deep)\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1182
+msgid "The spindle is not turning when this command is executed"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1184
+msgid ""
+"The requested linear motion exceeds machine velocity limits due to the "
+"spindle speed"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1186
+#, no-wrap
+msgid "G38.n Straight Probe(((G38.n Probe)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1191
+#, no-wrap
+msgid "G38.n axes\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1195
+msgid "'G38.2' - probe toward workpiece, stop on contact, signal error if failure"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1196
+msgid "'G38.3' - probe toward workpiece, stop on contact"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1198
+msgid ""
+"'G38.4' - probe away from workpiece, stop on loss of contact, signal error "
+"if failure"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1199
+msgid "'G38.5' - probe away from workpiece, stop on loss of contact"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1208
+msgid ""
+"You will not be able to use a probe move until your machine has been set up "
+"to provide a probe input signal.  The probe input signal must be connected "
+"to 'motion.probe-input' in a .hal file.  G38.n uses motion.probe-input to "
+"determine when the probe has made (or lost) contact.  TRUE for probe contact "
+"closed (touching), FALSE for probe contact open."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1216
+msgid ""
+"Program 'G38.n axes' to perform a straight probe operation.  The axis words "
+"are optional, except that at least one of them must be used.  The axis words "
+"together define the destination point that the probe will move towards, "
+"starting from the current location.  If the probe is not tripped before the "
+"destination is reached G38.2 and G38.4 will signal an error."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1218
+msgid "The tool in the spindle must be a probe or contact a probe switch."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1228
+msgid ""
+"In response to this command, the machine moves the controlled point (which "
+"should be at the center of the probe ball) in a straight line at the current "
+"<<sec:set-feed-rate,feed rate>> toward the programmed point.  In inverse "
+"time feed mode, the feed rate is such that the whole motion from the current "
+"point to the programmed point would take the specified time.  The move stops "
+"(within machine acceleration limits) when the programmed point is reached, "
+"or when the requested change in the probe input takes place, whichever "
+"occurs first."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1230
+#, no-wrap
+msgid "Probing G-Codes"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1233
+#, no-wrap
+msgid "Target State"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1233
+#, no-wrap
+msgid "Move orientation"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1234
+#, no-wrap
+msgid "Error Signal"
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/g-code.adoc:1234 src/gcode/overview.adoc:474
+#: src/gcode/rs274ngc.adoc:69
+#, no-wrap
+msgid "G38.2"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1234 src/gcode/g-code.adoc:1235
+#, no-wrap
+msgid "Touched"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1234 src/gcode/g-code.adoc:1235
+#, no-wrap
+msgid "Toward piece"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1235 src/gcode/overview.adoc:475
+#, no-wrap
+msgid "G38.3"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1236 src/gcode/overview.adoc:476
+#, no-wrap
+msgid "G38.4"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1236 src/gcode/g-code.adoc:1237
+#, no-wrap
+msgid "Untouched"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1236 src/gcode/g-code.adoc:1237
+#, no-wrap
+msgid "From piece"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1237 src/gcode/overview.adoc:477
+#, no-wrap
+msgid "G38.5"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1251
+msgid ""
+"After successful probing, parameters #5061 to #5069 will be set to the X, Y, "
+"Z, A, B, C, U, V, W coordinates of the location of the controlled point at "
+"the time the probe changed state (in the current work coordinate system).  "
+"After unsuccessful probing, they are set to the coordinates of the "
+"programmed point.  Parameter 5070 is set to 1 if the probe succeeded and 0 "
+"if the probe failed.  If the probing operation failed, G38.2 and G38.4 will "
+"signal an error by posting an message on screen if the selected GUI supports "
+"that.  And by halting program execution."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1259
+msgid ""
+"Here is an example formula to probe tool height with conversion from a local "
+"coordinate system Z offset to machine coordinates which is stored in the "
+"tool table.  The existing tool height compensation is first cancelled with "
+"G49 to avoid including it in the calculation of height, and the new height "
+"is loaded from the tool table.  The start position must be high enough above "
+"the tool height probe to compensate for the use of G49."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1260
+#, no-wrap
+msgid "G38.2 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1268
+#, no-wrap
+msgid ""
+"G49\n"
+"G38.2 Z-100 F100\n"
+"#<zworkoffset> = [#[5203 + #5220 * 20] + #5213 * #5210]\n"
+"G10 L1 P#5400 Z#<zworkoffset> (set new tool offset)\n"
+"G43\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1275
+msgid ""
+"A comment of the form '(PROBEOPEN filename.txt)' will open 'filename.txt' "
+"and store the 9-number coordinate consisting of XYZABCUVW of each successful "
+"straight probe in it.  The file must be closed with '(PROBECLOSE)'. For more "
+"information see the <<gcode:comments,Comments>> section."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1281
+msgid ""
+"An example file 'smartprobe.ngc' is included (in the examples directory)  to "
+"demonstrate using probe moves to log to a file the coordinates of a part.  "
+"The program 'smartprobe.ngc' could be used with 'ngcgui' with minimal "
+"changes."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1285
+msgid "the current point is the same as the programmed point."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1286
+msgid "no axis word is used"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1287
+msgid "cutter compensation is enabled"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1288
+msgid "the feed rate is zero"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1289
+msgid "the probe is already in the target state"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1291
+#, no-wrap
+msgid "G40 Compensation Off(((G40 Cutter Compensation Off)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1296
+msgid ""
+"'G40' - turn cutter compensation off. If tool compensation was on the next "
+"move must be a linear move and longer than the tool diameter.  It is OK to "
+"turn compensation off when it is already off."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1297
+#, no-wrap
+msgid "G40 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1304
+#, no-wrap
+msgid ""
+"; current location is X1 after finishing cutter compensated move\n"
+"G40 (turn compensation off)\n"
+"G0 X1.6 (linear move longer than current cutter diameter)\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1307
+msgid "See <<gcode:g0,G0>> & <<mcode:m2-m30,M2>> sections for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1311
+msgid "A G2/G3 arc move is programmed next after a G40."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1313
+msgid ""
+"The linear move after turning compensation off is less than the tool "
+"diameter."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1315
+#, no-wrap
+msgid "G41, G42 Cutter Compensation(((G41 G42 Cutter Compensation)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1321
+#, no-wrap
+msgid ""
+"G41 <D-> (left of programmed path)\n"
+"G42 <D-> (right of programmed path)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1324
+msgid "'D' - tool number"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1328
+msgid ""
+"The D word is optional; if there is no D word the radius of the currently "
+"loaded tool will be used (if no tool is loaded and no D word is given, a "
+"radius of 0 will be used)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1332
+msgid ""
+"If supplied, the D word is the tool number to use.  This would normally be "
+"the number of the tool in the spindle (in which case the D word is redundant "
+"and need not be supplied), but it may be any valid tool number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1342
+msgid ""
+"'G41/G42 D0' is a little special.  Its behavior is different on random tool "
+"changer machines and nonrandom tool changer machines (see the "
+"<<mcode:m6,Tool Change>> section).  On nonrandom tool changer machines, "
+"'G41/G42 D0' applies the Tool Length Offset of the tool currently in the "
+"spindle, or a TLO of 0 if no tool is in the spindle. On random tool changer "
+"machines, 'G41/G42 D0' applies the TLO of the tool T0 defined in the tool "
+"table file (or causes an error if T0 is not defined in the tool table)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1346
+msgid ""
+"To start cutter compensation to the left of the part profile, use G41.  G41 "
+"starts cutter compensation to the left of the programmed line as viewed from "
+"the positive end of the axis perpendicular to the plane."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1350
+msgid ""
+"To start cutter compensation to the right of the part profile, use G42.  G42 "
+"starts cutter compensation to the right of the programmed line as viewed "
+"from the positive end of the axis perpendicular to the plane."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1353
+msgid ""
+"The lead in move must be at least as long as the tool radius.  The lead in "
+"move can be a rapid move."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1356
+msgid "Cutter compensation may be performed if the XY-plane or XZ-plane is active."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1358
+msgid "User M100-M199 commands are allowed when Cutter Compensation is on."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1362
+msgid ""
+"The behavior of the machining center when cutter compensation is on is "
+"described in the <<sec:cutter-radius-compensation,Cutter Compensation>> "
+"section along with code examples."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1366
+msgid "The D number is not a valid tool number or 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1367 src/gcode/g-code.adoc:1388
+msgid "The YZ plane is active."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1368 src/gcode/g-code.adoc:1391
+msgid "Cutter compensation is commanded to turn on when it is already on."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1370
+#, no-wrap
+msgid ""
+"G41.1, G42.1 Dynamic Cutter Compensation(((G41.1 G42.1 Dynamic "
+"Compensation)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1376
+#, no-wrap
+msgid ""
+"G41.1 D- <L-> (left of programmed path)\n"
+"G42.1 D- <L-> (right of programmed path)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1379
+msgid "'D' - cutter diameter"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1380
+msgid ""
+"'L' - tool orientation (see <<sec:lathe-tool-orientation,lathe tool "
+"orientation>>)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1384
+msgid ""
+"G41.1 & G42.1 function the same as G41 & G42 with the added scope of being "
+"able to program the tool diameter. The L word defaults to 0 if unspecified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1389
+msgid "The L number is not in the range from 0 to 9 inclusive."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1390
+msgid "The L number is used when the XZ plane is not active."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1393
+#, no-wrap
+msgid "G43 Tool Length Offset(((G43 Tool Length Offset)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1398
+#, no-wrap
+msgid "G43 <H->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1401
+msgid "'H' - tool number (optional)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1407
+msgid ""
+"'G43' - enables tool length compensation.  G43 changes subsequent motions by "
+"offsetting the axis coordinates by the length of the offset. G43 does not "
+"cause any motion. The next time a compensated axis is moved, that axis's "
+"endpoint is the compensated location."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1410
+msgid ""
+"'G43' without an H word uses the currently loaded tool from the last 'Tn "
+"M6'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1412
+msgid "'G43 Hn' uses the offset for tool n."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1415
+msgid ""
+"The active tool length compensation values are stored in the numbered "
+"parameters '5401-5409'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1425
+msgid ""
+"'G43 H0' is a little special.  Its behavior is different on random tool "
+"changer machines and nonrandom tool changer machines (see the "
+"<<sub:tool-changers,Tool Changers>> section).  On nonrandom tool changer "
+"machines, 'G43 H0' applies the Tool Length Offset of the tool currently in "
+"the spindle, or a TLO of 0 if no tool is in the spindle.  On random tool "
+"changer machines, 'G43 H0' applies the TLO of the tool T0 defined in the "
+"tool table file (or causes an error if T0 is not defined in the tool table)."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1426
+#, no-wrap
+msgid "G43 H- Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1430
+#, no-wrap
+msgid "G43 H1 (set tool offsets using the values from tool 1 in the tool table)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1435
+msgid "the H number is not an integer, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1436
+msgid "the H number is negative, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1439
+msgid ""
+"the H number is not a valid tool number (though note that 0 is a valid tool "
+"number on nonrandom tool changer machines, it means \"the tool currently in "
+"the spindle\")"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1441
+#, no-wrap
+msgid "G43.1 Dynamic Tool Length Offset(((G43.1 Dynamic Tool Length Offset)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1446
+#, no-wrap
+msgid "G43.1 axes\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1452
+msgid ""
+"'G43.1 axes' - change subsequent motions by replacing the current offset(s) "
+"of axes.  G43.1 does not cause any motion. The next time a compensated axis "
+"is moved, that axis's endpoint is the compensated location."
+msgstr ""
+
+#. FIXME Use of G43.1 with I and K words ?
+#. To use dynamic tool length compensation in a program, use 'G43.1 I- K-',
+#. where 'I-' gives the compensation of tool length in X (for lathes) and 'K-'
+#. gives the compensation length in Z (for lathes and milling machines).
+#. type: Block title
+#: src/gcode/g-code.adoc:1460
+#, no-wrap
+msgid "G43.1 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1467
+#, no-wrap
+msgid ""
+"G90 (set absolute mode)\n"
+"T1 M6 G43 (load tool 1 and tool length offsets, Z is at machine 0 and DRO "
+"shows Z1.500)\n"
+"G43.1 Z0.250 (offset current tool offset by 0.250, DRO now shows Z1.250)\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1471
+msgid ""
+"See <<gcode:g90-g91,G90>> & <<sec:select-tool,T>> & <<mcode:m6,M6>> sections "
+"for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1475
+msgid "motion is commanded on the same line as 'G43.1'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1478
+msgid "G43.1 does not write to the tool table."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1480
+#, no-wrap
+msgid ""
+"G43.2 Apply additional Tool Length Offset(((G43.2 Apply additional Tool "
+"Length Offset)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1485
+#, no-wrap
+msgid "G43.2 H- axes-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1488
+msgid "'H' - tool number"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1490
+msgid "'G43.2' - applies an additional simultaneous tool offset."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1491
+#, no-wrap
+msgid "G43.2 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1499
+#, no-wrap
+msgid ""
+"G90 (set absolute mode)\n"
+"T1 M6 (load tool 1)\n"
+"G43 (or G43 H1 - replace all tool offsets with T1's offset)\n"
+"G43.2 H10 (also add in T10's tool offset)\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1505
+msgid ""
+"You can sum together an arbitrary number of offsets by calling G43.2 more "
+"times.  There are no built-in assumptions about which numbers are geometry "
+"offsets and which are wear offsets, or that you should have only one of "
+"each."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1509
+msgid ""
+"Like the other G43 commands, G43.2 does not cause any motion. The next time "
+"a compensated axis is moved, that axis's endpoint is the compensated "
+"location."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1513
+msgid "'H' is unspecified and no axis offsets are specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1515
+msgid "'H' is specified and the given tool number does not exist in the tool table."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1516
+msgid "'H' is specified and axes are also specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1518
+msgid "G43.2 does not write to the tool table."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1520
+#, no-wrap
+msgid "G49 Cancel Tool Length Compensation(((G49 Cancel Tool Length Offset)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1523
+msgid "'G49' - cancels tool length compensation"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1527
+msgid ""
+"It is OK to program using the same offset already in use. It is also OK to "
+"program using no tool length offset if none is currently being used."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1529
+#, no-wrap
+msgid "G52 Local Coordinate System Offset(((Local Offsets)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1534
+#, no-wrap
+msgid "G52 axes\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1539
+msgid ""
+"G52 is used in a part program as a temporary \"local coordinate system "
+"offset\" within the workpiece coordinate system. More information on G52 is "
+"in the <<gcode:g52,Local and Global Offsets>> section."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1541
+#, no-wrap
+msgid "G53 Move in Machine Coordinates(((G53 Machine Coordinates)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1546
+#, no-wrap
+msgid "G53 axes\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1552
+msgid ""
+"To move in the <<sec:machine-coordinate-system,machine coordinate system>>, "
+"program 'G53' on the same line as a linear move. 'G53' is not modal and must "
+"be programmed on each line. 'G0' or 'G1' does not have to be programmed on "
+"the same line if one is currently active."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1555
+msgid ""
+"For example 'G53 G0 X0 Y0 Z0' will move the axes to the home position even "
+"if the currently selected coordinate system has offsets in effect."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1556
+#, no-wrap
+msgid "G53 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1561
+#, no-wrap
+msgid ""
+"G53 G0 X0 Y0 Z0 (rapid linear move to the machine origin)\n"
+"G53 X2 (rapid linear move to absolute coordinate X2)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1564 src/gcode/g-code.adoc:2544
+msgid "See <<gcode:g0,G0>> section for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1568
+msgid "G53 is used without G0 or G1 being active,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1569
+msgid "or G53 is used while cutter compensation is on."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1571
+#, no-wrap
+msgid "G54-G59.3 Select Coordinate System(((G54-G59.3 Select Coordinate System)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1574
+#, no-wrap
+msgid "'G54'   - select coordinate system 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1575
+#, no-wrap
+msgid "'G55'   - select coordinate system 2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1576
+#, no-wrap
+msgid "'G56'   - select coordinate system 3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1577
+#, no-wrap
+msgid "'G57'   - select coordinate system 4\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1578
+#, no-wrap
+msgid "'G58'   - select coordinate system 5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1579
+#, no-wrap
+msgid "'G59'   - select coordinate system 6\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1580
+#, no-wrap
+msgid "'G59.1' - select coordinate system 7\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1581
+#, no-wrap
+msgid "'G59.2' - select coordinate system 8\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1582
+#, no-wrap
+msgid "'G59.3' - select coordinate system 9\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1585
+msgid ""
+"The coordinate systems store the axis values and the XY rotation angle "
+"around the Z axis in the parameters shown in the following table."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1586
+#, no-wrap
+msgid "Coordinate System Parameters"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1589
+#, no-wrap
+msgid "Select"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1589
+#, no-wrap
+msgid "CS"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590 src/gcode/overview.adoc:139 src/gui/axis.adoc:641
+#, no-wrap
+msgid "R"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5221"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5222"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5223"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5224"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5225"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5226"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5227"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5228"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1590
+#, no-wrap
+msgid "5229"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1591
+#, no-wrap
+msgid "5230"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5250"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5261"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5262"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5263"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5264"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5265"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5266"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5267"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5268"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1592
+#, no-wrap
+msgid "5269"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5270"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5281"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5282"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5283"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5284"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5285"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5286"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5287"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5288"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1593
+#, no-wrap
+msgid "5289"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5290"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5301"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5302"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5303"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5304"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5305"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5306"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5307"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5308"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1594
+#, no-wrap
+msgid "5309"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5310"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5321"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5322"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5323"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5324"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5325"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5326"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5327"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5328"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1595
+#, no-wrap
+msgid "5329"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5330"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5341"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5342"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5343"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5344"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5345"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5346"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5347"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5348"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1596
+#, no-wrap
+msgid "5349"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5350"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5361"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5362"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5363"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5364"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5365"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5366"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5367"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5368"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1597
+#, no-wrap
+msgid "5369"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5370"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5381"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5382"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5383"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5384"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5385"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5386"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5387"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5388"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1598
+#, no-wrap
+msgid "5389"
+msgstr ""
+
+#. type: Table
+#: src/gcode/g-code.adoc:1599
+#, no-wrap
+msgid "5390"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1604
+msgid "selecting a coordinate system is used while cutter compensation is on."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1607 src/gcode/g-code.adoc:2605
+msgid ""
+"See the <<cha:coordinate-system,Coordinate System>> section for an overview "
+"of coordinate systems."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1609
+#, no-wrap
+msgid "G61 Exact Path Mode(((G61 Exact Path Mode)))(((Trajectory Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1614
+msgid ""
+"'G61' - Exact path mode, movement exactly as programmed.  Moves will slow or "
+"stop as needed to reach every programmed point. If two sequential moves are "
+"exactly co-linear movement will not stop."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1616
+#, no-wrap
+msgid "G61.1 Exact Stop Mode(((G61.1 Exact Stop Mode)))(((Trajectory Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1620
+msgid ""
+"'G61.1' - Exact stop mode, movement will stop at the end of each programmed "
+"segment."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1622
+#, no-wrap
+msgid "G64 Path Blending(((G64 Path Blending)))(((Trajectory Control)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1627
+#, no-wrap
+msgid "G64 <P- <Q->>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1630
+msgid "'P' - motion blending tolerance"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1631
+msgid "'Q' - naive cam tolerance"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1633
+msgid ""
+"'G64' - best possible speed. Without P means to keep the best speed "
+"possible, no matter how far away from the programmed point you end up."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1634
+msgid "'G64 P-' - Blend between best speed and deviation tolerance"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1657
+msgid ""
+"'G64 P- <Q- >' blending with tolerance.  It is a way to fine tune your "
+"system for best compromise between speed and accuracy.  The P- tolerance "
+"means that the actual path will be no more than P- away from the programmed "
+"endpoint. The velocity will be reduced if needed to maintain the path.  If "
+"you set Q to a non-zero value it turns on the 'Naive CAM Detector': when "
+"there are a series of linear XYZ feed moves at the same "
+"<<sec:set-feed-rate,feed rate>> that are less than Q- away from being "
+"collinear, they are collapsed into a single linear move.  On G2/G3 moves in "
+"the G17 (XY) plane when the maximum deviation of an arc from a straight line "
+"is less than the G64 P- tolerance the arc is broken into two lines (from "
+"start of arc to midpoint, and from midpoint to end). those lines are then "
+"subject to the naive cam algorithm for lines. Thus, line-arc, arc-arc, and "
+"arc-line cases as well as line-line benefit from the 'Naive CAM "
+"Detector'. This improves contouring performance by simplifying the path. It "
+"is OK to program for the mode that is already active. See also the "
+"<<sec:trajectory-control,Trajectory Control>> section for more information "
+"on these modes.  If Q is not specified then it will have the same behavior "
+"as before and use the value of P-.  Set Q to zero to disable the 'Naive CAM "
+"Detector'."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1658
+#, no-wrap
+msgid "G64 P- Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1662
+#, no-wrap
+msgid "G64 P0.015 (set path following to be within 0.015 of the actual path)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1666
+msgid ""
+"It is a good idea to include a path control specification in the preamble of "
+"each G-code file."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1668
+#, no-wrap
+msgid "G70 Lathe finishing cycle(((G70 Lathe finishing cycle)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1673
+#, no-wrap
+msgid "G70 Q- <X-> <Z-> <D-> <E-> <P->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1676 src/gcode/g-code.adoc:1729
+msgid "'Q' - The subroutine number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1677 src/gcode/g-code.adoc:1730
+msgid "'X' - The starting X position, defaults to the initial position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1678 src/gcode/g-code.adoc:1731
+msgid "'Z' - The starting Z position, defaults to the initial position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1679
+msgid "'D' - The starting distance of the profile, defaults to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1680
+msgid "'E' - The ending distance of the profile, defaults to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1681
+msgid "'P' - The number of passes to use, defaults to 1."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1684
+msgid ""
+"The 'G70' cycle is intended to be used after the shape of the profile given "
+"in the subroutine with number Q has been cut with G71 or G72."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1686 src/gcode/g-code.adoc:1766
+#: src/gcode/g-code.adoc:1797
+msgid "Preliminary motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1688
+msgid ""
+"If Z or X are used a <<gcode:g0,rapid move>> to that position is done. This "
+"position is also used between each finishing pass."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1690
+msgid "Then a <<gcode:g0,rapid move>> to the start of the profile is executed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1692
+msgid ""
+"The path given in Q- is followed using the <<gcode:g1,G1>> and "
+"<<gcode:g2-g3>> commands."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1694
+msgid ""
+"If a next pass is required there is another rapid to the intermediate "
+"location, before a rapid is done to the start of the profile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1696
+msgid ""
+"After the final pass, the tool is left at the end of the profile including "
+"E-."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1699
+msgid ""
+"Multiple passes.  The distance between the pass and the final profile is "
+"(pass-1)*(D-E)/P+E.  Where pass the pass number and D,E and P are the D/E/P "
+"numbers."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1701
+msgid ""
+"The distance is computed using the starting position of the cycle, with a "
+"positive distance towards this point."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1704
+msgid ""
+"Fillet and chamfers in the profile.  It is possible to add fillets or "
+"chamfers in the profile, see <<gcode:g71-g72>> for more details."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1708 src/gcode/g-code.adoc:1776
+msgid "There is no subroutine defined with the number given in Q."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1709 src/gcode/g-code.adoc:1777
+msgid "The path given in the profile is not monotonic in Z or X."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1710 src/gcode/g-code.adoc:1778
+msgid "<<gcode:g17-g19.1>> has not been used to select the ZX plane."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1712
+#, no-wrap
+msgid "G71 G72 Lathe roughing cycles(((G71 G72 Lathe roughing cycles)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1717
+msgid ""
+"The G71 and G72 cycles are currently somewhat fragile.  See issue "
+"https://github.com/LinuxCNC/linuxcnc/issues/2939[#2939] for example."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1726
+#, no-wrap
+msgid ""
+"G71   Q- <X-> <Z-> <D-> <I-> <R->\n"
+"G71.1 Q- <X-> <Z-> <D-> <I-> <R->\n"
+"G71.2 Q- <X-> <Z-> <D-> <I-> <R->\n"
+"G72   Q- <X-> <Z-> <D-> <I-> <R->\n"
+"G72.1 Q- <X-> <Z-> <D-> <I-> <R->\n"
+"G72.2 Q- <X-> <Z-> <D-> <I-> <R->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1732
+msgid "'D' - The remaining distance to the profile, defaults to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1733
+msgid "'I' - The cutting increment, defaults to 1."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1734
+msgid "'R' - The retracting distance, defaults to 0.5."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1741
+msgid ""
+"The G71/G72 cycle is intended to rough cut a profile on a lathe. The G71 "
+"cycles remove layers of the material while traversing in the Z direction.  "
+"The G72 cycles remove material while traversing the X axis, the so called "
+"facing cycle. The direction of travel is the same as in the path given in "
+"the subroutine. For the G71 cycle the Z coordinate must be monotonically "
+"changing, for the G72 this is required for the X axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1753
+msgid ""
+"The profile is given in a subroutine with number Q-. This subroutine may "
+"contain G0, G1, G2 and G3 motion commands. All other commands are ignored, "
+"including feed and speed settings. The <<gcode:g0>> commands are interpreted "
+"as <<gcode:g1,G1>> commands. Each motion command may also include an "
+"optional A- or C- number.  If the number A- is added a fillet with the "
+"radius given by A will be inserted at the endpoint of that motion, if this "
+"radius is too large the algorithm will fail with a non-monotonic path "
+"error. It is also possible to use the C- number, which allows a chamfer to "
+"be inserted. This chamfer has the same endpoints as a fillet of the same "
+"dimension would have but a straight line is inserted instead of an arc."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1756
+msgid ""
+"When in absolute mode the U (for X) and W (for Z) can be used as incremental "
+"displacements."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1762
+msgid ""
+"The G7x.1 cycles do not cut pockets. The G7x.2 cycles only cut after the "
+"first pocket and continue where G7x.1 stopped. It is advisible to leave some "
+"additional material to cut before the G7x.2 cycle, so if G7x.1 used a D1.0 "
+"the G7x.2 can use D0.5 and 0.5mm will be removed while moving from one "
+"pocket to the next."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1764
+msgid "The normal G7x cycles cut the entire profile in one cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1768
+msgid "If Z or X are used a <<gcode:g0,rapid move>> to that position is done."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1770
+msgid ""
+"After the profile has been cut, the tool stops at the end of the profile, "
+"including the distance specified in D."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1772
+msgid ""
+"The D number is used to keep a distance from the final profile, to allow "
+"material to remain for finishing."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1779
+msgid "<<gcode:g41-g42>> is active."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1781
+#, no-wrap
+msgid ""
+"G73 Drilling Cycle with Chip Breaking(((G73 Drilling Cycle with Chip "
+"Break)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1786
+#, no-wrap
+msgid "G73 X- Y- Z- R- Q- P- <L->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1789
+msgid "'R' - retract position along the Z axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1790
+msgid "'Q' - delta increment along the Z axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1791
+msgid "'L' - repeat"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1795
+msgid ""
+"The 'G73' cycle is drilling or milling with chip breaking.  This cycle takes "
+"a Q number which represents a 'delta' increment along the Z axis. Peck "
+"clearance can be specified by optional P number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1799
+msgid ""
+"If the current Z position is below the R position, The Z axis does a "
+"<<gcode:g0,rapid move>> to the R position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1800
+msgid "Move to the X Y coordinates"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1802
+msgid ""
+"Move the Z-axis only at the current <<sec:set-feed-rate,feed rate>> downward "
+"by delta or to the Z position, whichever is less deep."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1803
+msgid "Rapid up .010 of an inch or 0.254 mm."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1804
+msgid "Repeat steps 2 and 3 until the Z position is reached at step 2."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1805
+msgid "The Z axis does a rapid move to the R position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1809 src/gcode/g-code.adoc:2408
+msgid "the Q number is negative or zero."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1810
+msgid "the R number is not specified"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1812
+#, no-wrap
+msgid ""
+"G74 Left-hand Tapping Cycle with Dwell(((G74 Left-hand Tapping Cycle with "
+"Dwell)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1817
+#, no-wrap
+msgid "G74 (X- Y- Z-) or (U- V- W-) R- L- P- $- F-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1820 src/gcode/g-code.adoc:2418
+msgid "'R-' - Retract position along the Z axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1822 src/gcode/g-code.adoc:2420
+msgid ""
+"'L-' - Used in incremental mode; number of times to repeat the cycle.  See "
+"<<gcode:g81,G81>> for examples."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1823 src/gcode/g-code.adoc:2421
+msgid "'P-' - Dwell time (seconds)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1824 src/gcode/g-code.adoc:2422
+msgid "'$-' - Selected spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1826 src/gcode/g-code.adoc:2424
+msgid ""
+"'F-' - Feed rate (spindle speed multiplied by distance traveled per "
+"revolution (thread pitch))."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1828
+msgid "G74 does not use synchronized motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1831
+msgid ""
+"The 'G74' cycle is intended for tapping with floating chuck and dwell at the "
+"bottom of the hole."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1834 src/gcode/g-code.adoc:2226
+#: src/gcode/g-code.adoc:2361 src/gcode/g-code.adoc:2398
+#: src/gcode/g-code.adoc:2432 src/gcode/g-code.adoc:2459
+#: src/gcode/g-code.adoc:2478 src/gcode/g-code.adoc:2514
+msgid ""
+"Preliminary motion, as described in the "
+"<<gcode:preliminary-motion,Preliminary and In-Between Motion>> section."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1835 src/gcode/g-code.adoc:2433
+msgid "Disable Feed and Speed Overrides."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1836 src/gcode/g-code.adoc:2434
+msgid "Move the Z-axis at the current feed rate to the Z position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1837 src/gcode/g-code.adoc:2435
+msgid "Stop the selected spindle (chosen by the $ parameter)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1838
+msgid "Start spindle rotation clockwise."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1839 src/gcode/g-code.adoc:2364
+#: src/gcode/g-code.adoc:2437 src/gcode/g-code.adoc:2481
+#: src/gcode/g-code.adoc:2517
+msgid "Dwell for the P number of seconds."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1840 src/gcode/g-code.adoc:2438
+msgid "Move the Z-axis at the current feed rate to clear Z"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1841 src/gcode/g-code.adoc:2439
+msgid "Restore Feed and Speed override enables to previous state"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1847
+msgid ""
+"The length of the dwell is specified by a 'P-' word in the G74 block.  The "
+"feed rate 'F-' is spindle speed multiplied by distance per revolution "
+"(thread pitch).  In example S100 with 1.25MM per revolution thread pitch "
+"gives a feed of F125."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1849
+#, no-wrap
+msgid "G76 Threading Cycle(((G76 Threading Cycle)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1854
+#, no-wrap
+msgid "G76 P- Z- I- J- R- K- Q- H- E- L- $-\n"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/g-code.adoc:1856 src/gcode/g-code.adoc:1857
+#, no-wrap
+msgid "G76 Threading"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:1857
+#, no-wrap
+msgid "images/g76-threads_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1860
+msgid "'Drive Line' - A line through the initial X position parallel to the Z."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1861
+msgid "'P-' - The 'thread pitch' in distance per revolution."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1862
+msgid ""
+"'Z-' - The final position of threads. At the end of the cycle the tool will "
+"be at this Z position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1866
+msgid ""
+"When G7 'Lathe Diameter Mode' is in force the values for 'I', 'J' and 'K' "
+"are diameter measurements.  When G8 'Lathe Radius Mode' is in force the "
+"values for 'I', 'J' and 'K' are radius measurements."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1870
+msgid ""
+"'I-' - The 'thread peak' offset from the 'drive line'.  Negative 'I' values "
+"are external threads, and positive 'I' values are internal threads.  "
+"Generally the material has been turned to this size before the 'G76' cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1872
+msgid ""
+"'J-' - A positive value specifying the 'initial cut depth'.  The first "
+"threading cut will be 'J' beyond the 'thread peak' position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1874
+msgid ""
+"'K-' - A positive value specifying the 'full thread depth'.  The final "
+"threading cut will be 'K' beyond the 'thread peak' position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1876
+msgid "Optional settings"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1879
+msgid ""
+"'$-' - The spindle number to which the motion will be synchronised (default "
+"0).  For example if $1 is programmed then the motion will begin on the reset "
+"of `spindle.1.index-enable` and proceed in synchrony with the value of "
+"`spindle.1.revs`."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1884
+msgid ""
+"'R-' - The 'depth degression'. 'R1.0' selects constant depth on successive "
+"threading passes. 'R2.0' selects constant area.  Values between 1.0 and 2.0 "
+"select decreasing depth but increasing area.  Values above 2.0 select "
+"decreasing area.  Beware that unnecessarily high degression values will "
+"cause a large number of passes to be used.  (degression = a descent by "
+"stages or steps.)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1887
+msgid ""
+"Unnecessarily high degression values will produce an unnecessarily high "
+"number of passes. (degressing = dive in stages)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1891
+msgid ""
+"'Q-' - The 'compound slide angle' is the angle (in degrees) describing to "
+"what extent successive passes should be offset along the drive line.  This "
+"is used to cause one side of the tool to remove more material than the "
+"other.  A positive 'Q' value causes the leading edge of the tool to cut more "
+"heavily.  Typical values are 29, 29.5 or 30."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1894
+msgid ""
+"'H-' - The number of 'spring passes'.  Spring passes are additional passes "
+"at full thread depth.  If no additional passes are desired, program 'H0'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1896
+msgid ""
+"Thread entries and exits can be programmed tapered with the 'E' and 'L' "
+"values."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1901
+msgid ""
+"'E-' - Specifies the distance along the drive line used for the taper.  The "
+"angle of the taper will be so the last pass tapers to the thread crest over "
+"the distance specified with E.  'E0.2' will give a taper for the first/last "
+"0.2 length units along the thread.  For a 45 degree taper program E the same "
+"as K."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1908
+msgid ""
+"'L-' - Specifies which ends of the thread get the taper.  Program 'L0' for "
+"no taper (the default), 'L1' for entry taper, 'L2' for exit taper, or 'L3' "
+"for both entry and exit tapers.  Entry tapers will pause at the drive line "
+"to synchronize with the index pulse then move at the "
+"<<sec:set-feed-rate,feed rate>> in to the beginning of the taper. No entry "
+"taper and the tool will rapid to the cut depth then synchronize and begin "
+"the cut."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1912
+msgid ""
+"The tool is moved to the initial X and Z positions prior to issuing the "
+"G76. The X position is the 'drive line' and the Z position is the start of "
+"the threads."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1917
+msgid ""
+"The tool will pause briefly for synchronization before each threading pass, "
+"so a relief groove will be required at the entry unless the beginning of the "
+"thread is past the end of the material or an entry taper is used."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1926
+msgid ""
+"Unless using an exit taper, the exit move is not synchronized to the spindle "
+"speed and will be a <<gcode:g0,rapid move>>. With a slow spindle, the exit "
+"move might take only a small fraction of a revolution. If the spindle speed "
+"is increased after several passes are complete, subsequent exit moves will "
+"require a larger portion of a revolution, resulting in a very heavy cut "
+"during the exit move. This can be avoided by providing a relief groove at "
+"the exit, or by not changing the spindle speed while threading."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1930
+msgid ""
+"The final position of the tool will be at the end of the 'drive line'.  A "
+"safe Z move will be needed with an internal thread to remove the tool from "
+"the hole."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1934
+msgid "The active plane is not the ZX plane."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1935
+msgid "Other axis words, such as X- or Y-, are specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1936
+msgid "The 'R-' degression value is less than 1.0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1937
+msgid "All the required words are not specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1938
+msgid "'P-', 'J-', 'K-' or 'H-' is negative."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1939
+msgid "'E-' is greater than half the drive line length."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1945
+msgid ""
+"The pins 'spindle.N.at-speed' and the 'encoder.n.phase-Z' for the spindle "
+"must be connected in your HAL file before G76 will work.  See the "
+"<<sec:motion-pins,spindle>> pins in the Motion section for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1949
+msgid ""
+"The G76 canned cycle is based on the G33 Spindle Synchronized Motion.  For "
+"more information see the G33 <<gcode:g33-tech-info,Technical Info>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1953
+msgid ""
+"The sample program 'g76.ngc' shows the use of the G76 canned cycle, and can "
+"be previewed and executed on any machine using the 'sim/lathe.ini' "
+"configuration."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:1954
+#, no-wrap
+msgid "G76 Example Code"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:1959
+#, no-wrap
+msgid ""
+"G0 Z-0.5 X0.2\n"
+"G76 P0.05 Z-1 I-.075 J0.008 K0.045 Q29.5 L2 E0.045\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1965
+msgid ""
+"In the figure the tool is in the final position after the G76 cycle is "
+"completed. You can see the entry path on the right from the Q29.5 and the "
+"exit path on the left from the L2 E0.045. The white lines are the cutting "
+"moves."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/g-code.adoc:1966 src/gcode/g-code.adoc:1967
+#, no-wrap
+msgid "G76 Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:1967
+#, no-wrap
+msgid "images/g76-01.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:1970
+#, no-wrap
+msgid "G80-G89 Canned Cycles(((G80-G89 Canned Cycles)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1974
+msgid ""
+"The canned cycles 'G81' through 'G89' and the canned cycle stop 'G80' are "
+"described in this section."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1983
+msgid ""
+"All canned cycles are performed with respect to the currently-selected "
+"plane. Any of the nine planes may be selected. Throughout this section, most "
+"of the descriptions assume the XY-plane has been selected. The behavior is "
+"analogous if another plane is selected, and the correct words must be "
+"used. For instance, in the 'G17.1' plane, the action of the canned cycle is "
+"along W, and the locations or increments are given with U and V. In this "
+"case substitute U,V,W for X,Y,Z in the instructions below."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1988
+msgid ""
+"Rotary axis words are not allowed in canned cycles. When the active plane is "
+"one of the XYZ family, the UVW axis words are not allowed. Likewise, when "
+"the active plane is one of the UVW family, the XYZ axis words are not "
+"allowed."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:1989
+#, no-wrap
+msgid "Common Words"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:1995
+msgid ""
+"All canned cycles use X, Y, Z, or U, V, W groups depending on the plane "
+"selected and R words. The R (usually meaning retract) position is along the "
+"axis perpendicular to the currently selected plane (Z-axis for XY-plane, "
+"etc.) Some canned cycles use additional arguments."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:1996
+#, no-wrap
+msgid "Sticky Words"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2003
+msgid ""
+"For canned cycles, we will call a number 'sticky' if, when the same cycle is "
+"used on several lines of code in a row, the number must be used the first "
+"time, but is optional on the rest of the lines. Sticky numbers keep their "
+"value on the rest of the lines if they are not explicitly programmed to be "
+"different. The R number is always sticky."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2009
+msgid ""
+"In incremental distance mode X, Y, and R numbers are treated as increments "
+"from the current position and Z as an increment from the Z-axis position "
+"before the move involving Z takes place. In absolute distance mode, the X, "
+"Y, R, and Z numbers are absolute positions in the current coordinate system."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:2010
+#, no-wrap
+msgid "Repeat Cycle"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2026
+msgid ""
+"The L number is optional and represents the number of repeats.  L=0 is not "
+"allowed. If the repeat feature is used, it is normally used in incremental "
+"distance mode, so that the same sequence of motions is repeated in several "
+"equally spaced places along a straight line. When L- is greater than 1 in "
+"incremental mode with the XY-plane selected, the X and Y positions are "
+"determined by adding the given X and Y numbers either to the current X and Y "
+"positions (on the first go-around) or to the X and Y positions at the end of "
+"the previous go-around (on the repetitions). Thus, if you program 'L10' , "
+"you will get 10 cycles. The first cycle will be distance X,Y from the "
+"original location. The R and Z positions do not change during the "
+"repeats. The L number is not sticky. In absolute distance mode, L>1 means "
+"'do the same cycle in the same place several times', Omitting the L word is "
+"equivalent to specifying L=1."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:2027
+#, no-wrap
+msgid "Retract Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2034
+msgid ""
+"The height of the retract move at the end of each repeat (called 'clear Z' "
+"in the descriptions below) is determined by the setting of the retract mode, "
+"either to the original Z position (if that is above the R position and the "
+"retract mode is 'G98', OLD_Z), or otherwise to the R position. See the "
+"<<gcode:g98-g99,G98 G99>> section."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:2036
+#, no-wrap
+msgid "Canned Cycle Errors(((Canned Cycle Errors)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2041
+msgid "axis words are all missing during a canned cycle,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2042
+msgid "axis words from different groups (XYZ) (UVW) are used together,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2043
+msgid "a P number is required and a negative P number is used,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2044
+msgid "an L number is used that does not evaluate to a positive integer,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2045
+msgid "rotary axis motion is used during a canned cycle,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2046
+msgid "inverse time feed rate is active during a canned cycle,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2047
+msgid "or cutter compensation is active during a canned cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2050
+msgid "If the XY plane is active, the Z number is sticky, and it is an error if:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2053
+msgid "the Z number is missing and the same canned cycle was not already active,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2054
+msgid "or the R number is less than the Z number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2057
+msgid ""
+"If other planes are active, the error conditions are analogous to the XY "
+"conditions above."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:2059
+#, no-wrap
+msgid "Preliminary and In-Between Motion"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2065
+msgid ""
+"Preliminary motion is a set of motions that is common to all of the milling "
+"canned cycles. If the current Z position is below the R position, the Z axis "
+"does a <<gcode:g0,rapid move>> to the R position. This happens only once, "
+"regardless of the value of L."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2068
+msgid ""
+"In addition, at the beginning of the first cycle and each repeat, the "
+"following one or two moves are made:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2071
+msgid "A <<gcode:g0,rapid move>> parallel to the XY-plane to the given XY-position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2073
+msgid ""
+"The Z-axis make a rapid move to the R position, if it is not already at the "
+"R position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2076
+msgid ""
+"If another plane is active, the preliminary and in-between motions are "
+"analogous."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/g-code.adoc:2077
+#, no-wrap
+msgid "Why use a canned cycle?"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2082
+msgid ""
+"There are at least two reasons for using canned cycles. The first is the "
+"economy of code. A single bore would take several lines of code to execute."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2090
+msgid ""
+"The G81 <<gcode:g81-example,Example 1>> demonstrates how a canned cycle "
+"could be used to produce 8 holes with ten lines of G-code within the canned "
+"cycle mode.  The program below will produce the same set of 8 holes using "
+"five lines for the canned cycle. It does not follow exactly the same path "
+"nor does it drill in the same order as the earlier example. But the program "
+"writing economy of a good canned cycle should be obvious."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2093
+msgid "Line numbers are not needed but help clarify these examples."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2094
+#, no-wrap
+msgid "Eight Holes"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2106
+#, no-wrap
+msgid ""
+"N100 G90 G0 X0 Y0 Z0 (move coordinate home)\n"
+"N110 G1 F10 X0 G4 P0.1\n"
+"N120 G91 G81 X1 Y0 Z-1 R1 L4(canned drill cycle)\n"
+"N130 G90 G0 X0 Y1\n"
+"N140 Z0\n"
+"N150 G91 G81 X1 Y0 Z-0.5 R1 L4(canned drill cycle)\n"
+"N160 G80 (turn off canned cycle)\n"
+"N170 M2 (program end)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2111
+msgid ""
+"The G98 on the second line above means that the return move will be to the Z "
+"value on the first line since it is higher than the specified R value."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:2112
+#, no-wrap
+msgid "images/eight-holes_en.svg"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2114
+#, no-wrap
+msgid "Twelve Holes in a Square"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2120
+msgid ""
+"This example demonstrates the use of the L word to repeat a set of "
+"incremental drill cycles for successive blocks of code within the same G81 "
+"motion mode. Here we produce 12 holes using five lines of code in the canned "
+"motion mode."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2134
+#, no-wrap
+msgid ""
+"N1000 G90 G0 X0 Y0 Z0 (move coordinate home)\n"
+"N1010 G1 F50 X0 G4 P0.1\n"
+"N1020 G91 G81 X1 Y0 Z-0.5 R1 L4 (canned drill cycle)\n"
+"N1030 X0 Y1 R0 L3 (repeat)\n"
+"N1040 X-1 Y0 L3 (repeat)\n"
+"N1050 X0 Y-1 L2 (repeat)\n"
+"N1060 G80 (turn off canned cycle)\n"
+"N1070 G90 G0 X0 (rapid move home)\n"
+"N1080 Y0\n"
+"N1090 Z0\n"
+"N1100 M2 (program end)\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:2136
+#, no-wrap
+msgid "images/twelve-holes_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2141
+msgid ""
+"The second reason to use a canned cycle is that they all produce preliminary "
+"moves and returns that you can anticipate and control regardless of the "
+"start point of the canned cycle."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2143
+#, no-wrap
+msgid "G80 Cancel Canned Cycle(((G80 Cancel Modal Motion)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2148
+msgid ""
+"'G80' - cancel canned cycle modal motion. 'G80' is part of modal group 1, so "
+"programming any other G-code from modal group 1 will also cancel the canned "
+"cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2152
+msgid "Axis words are programmed when G80 is active."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2153
+#, no-wrap
+msgid "G80 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2159
+#, no-wrap
+msgid ""
+"G90 G81 X1 Y1 Z1.5 R2.8 (absolute distance canned cycle)\n"
+"G80 (turn off canned cycle motion)\n"
+"G0 X0 Y0 Z0 (rapid move to coordinate home)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2163
+msgid ""
+"The following code produces the same final position and machine state as the "
+"previous code."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2169
+#, no-wrap
+msgid ""
+"G90 G81 X1 Y1 Z1.5 R2.8 (absolute distance canned cycle)\n"
+"G0 X0 Y0 Z0 (rapid move to coordinate home)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2175
+msgid ""
+"The advantage of the first set is that, the G80 line clearly turns off the "
+"G81 canned cycle. With the first set of blocks, the programmer must turn "
+"motion back on with G0, as is done in the next line, or any other motion "
+"mode G word."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2180
+msgid ""
+"If a canned cycle is not turned off with G80 or another motion word, the "
+"canned cycle will attempt to repeat itself using the next block of code that "
+"contains an X, Y, or Z word. The following file drills (G81) a set of eight "
+"holes as shown in the following caption."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2181
+#, no-wrap
+msgid "G80 Example 1"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2199
+#, no-wrap
+msgid ""
+"N100 G90 G0 X0 Y0 Z0 (coordinate home)\n"
+"N110 G1 X0 G4 P0.1\n"
+"N120 G81 X1 Y0 Z0 R1 (canned drill cycle)\n"
+"N130 X2\n"
+"N140 X3\n"
+"N150 X4\n"
+"N160 Y1 Z0.5\n"
+"N170 X3\n"
+"N180 X2\n"
+"N190 X1\n"
+"N200 G80 (turn off canned cycle)\n"
+"N210 G0 X0 (rapid move home)\n"
+"N220 Y0\n"
+"N230 Z0\n"
+"N240 M2 (program end)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2205
+msgid ""
+"Notice the Z position change after the first four holes.  Also, this is one "
+"of the few places where line numbers have some value, being able to point a "
+"reader to a specific line of code."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2211
+msgid ""
+"The use of G80 in line N200 is optional because the G0 on the next line will "
+"turn off the G81 cycle. But using the G80 as shown in Example 1, will "
+"provide for easier to read canned cycle. Without it, it is not so obvious "
+"that all of the blocks between N120 and N200 belong to the canned cycle."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2213
+#, no-wrap
+msgid "G81 Drilling Cycle(((G81 Drilling Cycle)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2218
+#, no-wrap
+msgid "G81 (X- Y- Z-) or (U- V- W-) R- L-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2221
+msgid "The 'G81' cycle is intended for drilling."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2223
+msgid "The cycle functions as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2228 src/gcode/g-code.adoc:2363
+msgid ""
+"Move the Z-axis at the current <<sec:set-feed-rate,feed rate>> to the Z "
+"position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2229 src/gcode/g-code.adoc:2365
+#: src/gcode/g-code.adoc:2404 src/gcode/g-code.adoc:2483
+msgid "The Z-axis does a <<gcode:g0,rapid move>> to clear Z."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/g-code.adoc:2230 src/gcode/g-code.adoc:2231
+#, no-wrap
+msgid "G81 Cycle"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:2231
+#, no-wrap
+msgid "images/g81mult_en.svg"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2234
+#, no-wrap
+msgid "Example 1 - Absolute Position G81"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2238 src/gcode/g-code.adoc:2307
+#, no-wrap
+msgid "G90 G98 G81 X4 Y5 Z1.5 R2.8\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2242 src/gcode/g-code.adoc:2269
+msgid ""
+"Suppose the current position is (X1, Y2, Z3) and the preceding line of NC "
+"code is interpreted."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2245
+msgid ""
+"This calls for absolute distance mode (G90) and OLD_Z retract mode (G98) and "
+"calls for the G81 drilling cycle to be performed once."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2247
+msgid "The X value and X position are 4."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2248
+msgid "The Y value and Y position are 5."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2249
+msgid "The Z value and Z position are 1.5."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2250
+msgid "The R value and clear Z are 2.8. OLD_Z is 3."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2252
+msgid "The following moves take place:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2254
+msgid "A <<gcode:g0,rapid move>> parallel to the XY plane to (X4, Y5)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2255
+msgid "A rapid move move parallel to the Z-axis to (Z2.8)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2257
+msgid "Move parallel to the Z-axis at the <<sec:set-feed-rate,feed rate>> to (Z1.5)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2258
+msgid "A rapid move parallel to the Z-axis to (Z3)"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:2259
+#, no-wrap
+msgid "images/g81ex1_en.svg"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2261
+#, no-wrap
+msgid "Example 2 - Relative Position G81"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2265 src/gcode/g-code.adoc:2326
+#, no-wrap
+msgid "G91 G98 G81 X4 Y5 Z-0.6 R1.8 L3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2276
+msgid ""
+"This calls for incremental distance mode (G91) and OLD_Z retract mode "
+"(G98). It also calls for the G81 drilling cycle to be repeated three "
+"times. The X value is 4, the Y value is 5, the Z value is -0.6 and the R "
+"value is 1.8. The initial X position is 5 (=1+4), the initial Y position is "
+"7 (=2+5), the clear Z position is 4.8 (=1.8+3), and the Z position is 4.2 "
+"(=4.8-0.6). OLD_Z is 3."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2279
+msgid ""
+"The first preliminary move is a maximum rapid move along the Z axis to "
+"(X1,Y2,Z4.8), since OLD_Z < clear Z."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2281
+msgid "The first repeat consists of 3 moves."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2283
+msgid "A <<gcode:g0,rapid move>> parallel to the XY-plane to (X5, Y7)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2285
+msgid "Move parallel to the Z-axis at the <<sec:set-feed-rate,feed rate>> to (Z4.2)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2286
+msgid "A rapid move parallel to the Z-axis to (X5, Y7, Z4.8)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2289
+msgid ""
+"The second repeat consists of 3 moves. The X position is reset to 9 (=5+4) "
+"and the Y position to 12 (=7+5)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2291
+msgid "A <<gcode:g0,rapid move>> parallel to the XY-plane to (X9, Y12, Z4.8)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2292
+msgid "Move parallel to the Z-axis at the feed rate to (X9, Y12, Z4.2)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2293
+msgid "A rapid move parallel to the Z-axis to (X9, Y12, Z4.8)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2296
+msgid ""
+"The third repeat consists of 3 moves. The X position is reset to 13 (=9+4) "
+"and the Y position to 17 (=12+5)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2298
+msgid "A <<gcode:g0,rapid move>> parallel to the XY-plane to (X13, Y17, Z4.8)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2299
+msgid "Move parallel to the Z-axis at the feed rate to (X13, Y17, Z4.2)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2300
+msgid "A rapid move parallel to the Z-axis to (X13, Y17, Z4.8)"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:2301
+#, no-wrap
+msgid "images/g81ex2_en.svg"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2303
+#, no-wrap
+msgid "Example 3 - Relative Position G81"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2311
+msgid ""
+"Now suppose that you execute the first G81 block of code but from (X0, Y0, "
+"Z0) rather than from (X1, Y2, Z3)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2316
+msgid ""
+"Since OLD_Z is below the R value, it adds nothing for the motion but since "
+"the initial value of Z is less than the value specified in R, there will be "
+"an initial Z move during the preliminary moves."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:2317
+#, no-wrap
+msgid "images/g81_en.svg"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2319
+#, no-wrap
+msgid "Example 4 - Absolute G81 R > Z"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2322
+msgid "This is a plot of the path of motion for the second g81 block of code."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2332
+msgid ""
+"Since this plot starts with (X0, Y0, Z0), the interpreter adds the initial "
+"Z0 and R1.8 and rapid moves to that location. After that initial Z move, the "
+"repeat feature works the same as it did in example 3 with the final Z depth "
+"being 0.6 below the R value."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/g-code.adoc:2333
+#, no-wrap
+msgid "images/g81a_en.svg"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2335
+#, no-wrap
+msgid "Example 5 - Relative position R > Z"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2340
+#, no-wrap
+msgid "G90 G98 G81 X4 Y5 Z-0.6 R1.8\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2347
+msgid ""
+"Since this plot starts with (X0, Y0, Z0), the interpreter adds the initial "
+"Z0 and R1.8 and rapid moves to that location as in 'Example 4'.  After that "
+"initial Z move, the <<gcode:g0,rapid move>> to X4 Y5 is done.  Then the "
+"final Z depth being 0.6 below the R value. The repeat function would make "
+"the Z move in the same location again."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2349
+#, no-wrap
+msgid "G82 Drilling Cycle, Dwell(((G82 Drilling Cycle Dwell)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2354
+#, no-wrap
+msgid "G82 (X- Y- Z-) or (U- V- W-) R- L- P-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2358
+msgid ""
+"The 'G82' cycle is intended for drilling with a dwell at the bottom of the "
+"hole."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2369
+msgid ""
+"The motion of a G82 canned cycle looks just like G81 with the addition of a "
+"dwell at the bottom of the Z move. The length of the dwell is specified by a "
+"'P-' word in the G82 block."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2373
+#, no-wrap
+msgid "G90 G82 G98 X4 Y5 Z1.5 R2.8 P2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2377
+msgid ""
+"This will be similar to example 3 above, just with an added dwell of 2 "
+"seconds at the bottom of the hole."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2379
+#, no-wrap
+msgid "G83 Peck Drilling Cycle(((G83 Peck Drilling)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2384
+#, no-wrap
+msgid "G83 (X- Y- Z-) or (U- V- W-) R- L- Q- P-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2395
+msgid ""
+"The 'G83' cycle (often called peck drilling) is intended for deep drilling "
+"ormilling with chip breaking. The retracts in this cycle clear the hole of "
+"chips and cut off any long stringers (which are common when drilling in "
+"aluminum). This cycle takes a Q number which represents a 'delta' increment "
+"along the Z-axis. The retract before final depth will always be to the "
+"'retract' plane even if G98 is in effect. The final retract will honor the "
+"G98/99 in effect. G83 functions the same as G81 with the addition of "
+"retracts during the drilling operation. Peck clearance can be specified by "
+"optional P number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2400
+msgid ""
+"Move the Z-axis at the current <<sec:set-feed-rate,feed rate>> downward by "
+"delta or to the Z position, whichever is less deep."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2401
+msgid "Rapid move back out to the retract plane specified by the R word."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2402
+msgid ""
+"Rapid move back down to the current hole bottom, less .010 of an inch or "
+"0.254 mm."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2403
+msgid "Repeat steps 2, 3, and 4 until the Z position is reached at step 2."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2410
+#, no-wrap
+msgid "G84 Right-hand Tapping Cycle, Dwell(((G84 Right-hand Tapping Cycle Dwell)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2415
+#, no-wrap
+msgid "G84 (X- Y- Z-) or (U- V- W-) R- L- P- $- F-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2427
+msgid "G84 does not use synchronized motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2430
+msgid ""
+"The 'G84' cycle is intended for tapping with floating chuck and dwell at the "
+"bottom of the hole."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2436
+msgid "Start spindle rotation counterclockwise."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2445
+msgid ""
+"The length of the dwell is specified by a 'P-' word in the G84 block.  The "
+"feed rate 'F-' is spindle speed multiplied by distance per revolution "
+"(thread pitch).  In example S100 with 1.25MM per revolution thread pitch "
+"gives a feed of F125."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2447
+#, no-wrap
+msgid "G85 Boring Cycle, Feed Out(((G85 Boring, Feed Out)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2452
+#, no-wrap
+msgid "G85 (X- Y- Z-) or (U- V- W-) R- L-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2456
+msgid ""
+"The 'G85' cycle is intended for boring or reaming, but could be used for "
+"drilling or milling."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2461 src/gcode/g-code.adoc:2480
+#: src/gcode/g-code.adoc:2516
+msgid ""
+"Move the Z-axis only at the current <<sec:set-feed-rate,feed rate>> to the Z "
+"position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2463
+msgid ""
+"Retract the Z-axis at the current feed rate to the R plane if it is lower "
+"than the initial Z."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2464
+msgid "Retract at the traverse rate to clear Z."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2466
+#, no-wrap
+msgid ""
+"G86 Boring Cycle, Spindle Stop, Rapid Move Out(((G86 Boring, Spindle Stop, "
+"Rapid Move Out)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2471
+#, no-wrap
+msgid "G86 (X- Y- Z-) or (U- V- W-) R- L- P- $-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2475
+msgid ""
+"The 'G86' cycle is intended for boring. This cycle uses a P number for the "
+"number of seconds to dwell."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2482
+msgid "Stop the selected spindle turning. (Chosen by the $ parameter)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2484
+msgid "Restart the spindle in the direction it was going."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2488
+msgid "the spindle is not turning before this cycle is executed."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2490
+#, no-wrap
+msgid "G87 Back Boring Cycle(((G87 Back Boring Cycle)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2494 src/gcode/g-code.adoc:2500
+msgid ""
+"This code is currently unimplemented in LinuxCNC. It is accepted, but the "
+"behavior is undefined."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2496
+#, no-wrap
+msgid ""
+"G88 Boring Cycle, Spindle Stop, Manual Out(((G88 Boring Cycle, Spindle Stop, "
+"Manual Out)))"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2502
+#, no-wrap
+msgid "G89 Boring Cycle, Dwell, Feed Out(((G89 Boring, Dwell, Feed Out)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2507
+#, no-wrap
+msgid "G89 (X- Y- Z-) or (U- V- W-) R- L- P-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2511
+msgid ""
+"The 'G89' cycle is intended for boring. This cycle uses a P number, where P "
+"specifies the number of seconds to dwell."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2518
+msgid "Retract the Z-axis at the current feed rate to clear Z."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2520
+#, no-wrap
+msgid "G90, G91 Distance Mode(((G90, G91 Distance Mode)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2526
+msgid ""
+"'G90' - absolute distance mode In absolute distance mode, axis numbers (X, "
+"Y, Z, A, B, C, U, V, W) usually represent positions in terms of the "
+"currently active coordinate system. Any exceptions to that rule are "
+"described explicitly in the <<gcode:g80-g89,G80 G89>> section."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2528
+msgid ""
+"'G91' - incremental distance mode In incremental distance mode, axis numbers "
+"usually represent increments from the current coordinate."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2529
+#, no-wrap
+msgid "G90 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2534
+#, no-wrap
+msgid ""
+"G90 (set absolute distance mode)\n"
+"G0 X2.5 (rapid move to coordinate X2.5 including any offsets in effect)\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2536
+#, no-wrap
+msgid "G91 Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2541
+#, no-wrap
+msgid ""
+"G91 (set incremental distance mode)\n"
+"G0 X2.5 (rapid move 2.5 from current position along the X axis)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2546
+#, no-wrap
+msgid "G90.1, G91.1 Arc Distance Mode(((Arc Distance Mode)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2551
+msgid ""
+"'G90.1' - absolute distance mode for I, J & K offsets.  When G90.1 is in "
+"effect I and J both must be specified with G2/3 for the XY plane or J and K "
+"for the XZ plane or it is an error."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2553
+msgid ""
+"'G91.1' - incremental distance mode for I, J & K offsets.  `G91.1` Returns "
+"I, J & K to their default behavior."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2555
+#, no-wrap
+msgid "G92 Coordinate System Offset(((G92 Coordinate System Offset)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2560
+#, no-wrap
+msgid "G92 axes\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2564
+msgid "Only use 'G92' after your machine has been positioned to the desired point."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2569
+msgid ""
+"'G92' makes the current point have the coordinates you want (without "
+"motion), where the axis words contain the axis numbers you want.  All axis "
+"words are optional, except that at least one must be used.  If an axis word "
+"is not used for a given axis, the offset for that axis will be zero."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2575
+msgid ""
+"When 'G92' is executed, the <<sec:machine-coordinate-system,origins>> of all "
+"coordinate systems move. They move such that the value of the current "
+"controlled point, in the currently active coordinate system, becomes the "
+"specified value. All of the coordinate system's origins (G53-G59.3) are "
+"offset this same distance."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2581
+msgid ""
+"'G92' uses the values stored in <<sub:numbered-parameters,parameters>> "
+"5211-5219 as the X Y Z A B C U V W offset values for each axis.  The "
+"parameter values are 'absolute' machine coordinates in the native machine "
+"'units' as specified in the INI file.  All axes defined in the INI file will "
+"be offset when G92 is active.  If an axis was not entered following the G92, "
+"that axis' offset will be zero."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2586
+msgid ""
+"For example, suppose the current point is at X=4 and there is currently no "
+"'G92' offset active. Then 'G92 X7' is programmed.  This moves all origins -3 "
+"in X, which causes the current point to become X=7.  This -3 is saved in "
+"parameter 5211."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2589
+msgid ""
+"Being in incremental distance mode (G91 instead of G90) has no effect on the "
+"action of `G92`."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2593
+msgid ""
+"'G92' offsets may be already be in effect when the `G92` is called.  If this "
+"is the case, the offset is replaced with a new offset that makes the current "
+"point become the specified value."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2595
+msgid "It is an error if all axis words are omitted."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2599
+msgid ""
+"LinuxCNC stores the G92 offsets and reuses them on the next run of a "
+"program. To prevent this, one can program a `G92.1` (to erase them), or "
+"program a `G92.2` (to remove them - they are still stored)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2603
+msgid ""
+"The 'G52' command can also be used to change this offset; see the "
+"<<sec:g52-and-g92-offsets,Offsets>> section for more details about `G92` and "
+"`G52` and how they interact."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2607 src/gcode/machining-center.adoc:391
+msgid "See the <<sec:overview-parameters,Parameters>> section for more information."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2609
+#, no-wrap
+msgid "G92.1, G92.2 Reset G92 Offsets(((G92.1, G92.2 Reset G92 Offsets)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2612
+msgid ""
+"'G92.1' - turn off G92 offsets and reset "
+"<<sub:numbered-parameters,parameters>> 5211 - 5219 to zero."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2613
+msgid ""
+"'G92.2' - turn off G92 offsets but keep "
+"<<sub:numbered-parameters,parameters>> 5211 - 5219 available."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2616
+msgid ""
+"G92.1 only clears G92 offsets, to change G53-G59.3 coordinate system offsets "
+"in G-code use either <<gcode:g10-l2,G10 L2>> or <<gcode:g10-l20,G10 L20>>."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2618
+#, no-wrap
+msgid "G92.3 Restore G92 Offsets(((G92.3 Restore G92 Offsets)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2621
+msgid ""
+"'G92.3' - set the `G92` offset to the values saved in parameters 5211 to "
+"5219"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2629
+msgid ""
+"You can set axis offsets in one program and use the same offsets in another "
+"program.  Program `G92` in the first program.  This will set parameters 5211 "
+"to 5219.  Do not use `G92.1` in the remainder of the first program.  The "
+"parameter values will be saved when the first program exits and restored "
+"when the second one starts up.  Use `G92.3` near the beginning of the second "
+"program.  That will restore the offsets saved in the first program."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2631
+#, no-wrap
+msgid "G93, G94, G95 Feed Rate Mode(((G93, G94, G95 Feed Rate Mode)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2638
+msgid ""
+"'G93' - is Inverse Time Mode.  In inverse time feed rate mode, an F word "
+"means the move should be completed in [one divided by the F number] "
+"minutes.  For example, if the F number is 2.0, the move should be completed "
+"in half a minute."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2643
+msgid ""
+"When the inverse time feed rate mode is active, an F word must appear on "
+"every line which has a `G1`, `G2`, or `G3` motion, and an F-word on a line "
+"that does not have `G1`, `G2`, or `G3` is ignored. Being in inverse time "
+"feed rate mode does not affect `G0` (<<gcode:g0,rapid move>>) motions."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2649
+msgid ""
+"'G94' - is Units per Minute Mode.  In units per minute feed mode, an F word "
+"is interpreted to mean the controlled point should move at a certain number "
+"of inches per minute, millimeters per minute, or degrees per minute, "
+"depending upon what length units are being used and which axis or axes are "
+"moving."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2657
+msgid ""
+"'G95' - is Units per Revolution Mode In units per revolution mode, an F-word "
+"is interpreted to mean the controlled point should move a certain number of "
+"inches per revolution of the spindle, depending on what length units are "
+"being used and which axis or axes are moving.  `G95` is not suitable for "
+"threading, for threading use `G33` or `G76`.  `G95` requires that "
+"`spindle.N.speed-in` to be connected.  The actual spindle to which the feed "
+"is synchronised is chosen by the `$` parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2661
+msgid ""
+"Inverse time feed mode is active and a line with `G1`, `G2`, or `G3` "
+"(explicitly or implicitly) does not have an F-word."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2662
+msgid "A new feed rate is not specified after switching to `G94` or `G95`"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2664
+#, no-wrap
+msgid "G96, G97 Spindle Control Mode(((G96, G97 Spindle Control Mode)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2670
+#, no-wrap
+msgid ""
+"G96 <D-> S- <$-> (Constant Surface Speed Mode)\n"
+"G97 S- <$-> (RPM Mode)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2673
+msgid "'D' - maximum rotation speed (RPM), optional"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2674
+msgid "'S' - spindle speed"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2675
+msgid "'$' - the spindle of which the speed will be varied, optional."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2677
+msgid "'G96 S- <D->' - selects constant surface speed of 'S':"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2678
+msgid "In feet per minute if `G20` is in effect,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2679
+msgid "or meters per minute if `G21` is in effect."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2684
+msgid ""
+"When using G96, ensure that X0 in the current coordinate system (including "
+"offsets and tool lengths) is the center of rotation or LinuxCNC will not "
+"give the desired surface speed.  G96 is not affected by radius or diameter "
+"mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2687
+msgid ""
+"To achieve CSS mode on selected spindles programme successive G96 commands "
+"for each spindle prior to issuing M3."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2689
+msgid "'G97' selects RPM mode."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2690
+#, no-wrap
+msgid "G96 Example Line"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2694
+#, no-wrap
+msgid "G96 D2500 S250 (set CSS with a max rpm of 2500 and a surface speed of 250)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2699
+msgid "S is not specified with G96"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2700
+msgid "A feed move is specified in G96 mode while the spindle is not turning"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/g-code.adoc:2702
+#, no-wrap
+msgid "G98, G99 Canned Cycle Return Level(((G98, G99 Canned Cycle Return)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2706
+msgid ""
+"When spindle retracts during canned cycles, there are two options to choose "
+"from for the way it does it:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2709
+msgid ""
+"'G98' - retract to the position that axis was in just before this series of "
+"one or more contiguous canned cycles was started."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2711
+msgid "'G99' - retract to the position specified by the R word of the canned cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2717
+msgid ""
+"Program a 'G98' and the canned cycle will use the Z position prior to the "
+"canned cycle as the Z return position if it is higher than the R value "
+"specified in the cycle. If it is lower, the R value will be used. The R word "
+"has different meanings in absolute distance mode and incremental distance "
+"mode."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/g-code.adoc:2718
+#, no-wrap
+msgid "G98 Retract to Origin"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/g-code.adoc:2723
+#, no-wrap
+msgid ""
+"G0 X1 Y2 Z3\n"
+"G90 G98 G81 X4 Y5 Z-0.6 R1.8 F10\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2728
+msgid ""
+"The G98 to the second line above means that the return move will be to the "
+"value of Z in the first line since it is higher that the R value specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/g-code.adoc:2734
+msgid ""
+"The 'initial' (G98) plane is reset any time cycle motion mode is abandoned, "
+"whether explicitly (G80) or implicitly (any motion code that is not a "
+"cycle). Switching among cycle modes (say G81 to G83) does NOT reset the "
+"'initial' plane. It is possible to switch between G98 and G99 during a "
+"series of cycles."
+msgstr ""
+
+#. type: Content of: <html><body><table><caption>
+#: html/gcode.html:22 html/gcode.html:48
+msgid "LinuxCNC \"G-code\" Quick Reference"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:55
+msgid "Motion"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:55
+msgid "(X Y Z A B C U V W apply to all motions)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:56
+msgid "<a href=\"gcode/g-code.html#gcode:g0\">G0</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:56
+msgid "Rapid Move"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:57
+msgid "<a href=\"gcode/g-code.html#gcode:g1\">G1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:57
+msgid "Linear Move"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:58
+msgid "<a href=\"gcode/g-code.html#gcode:g2-g3\">G2, G3</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:58
+msgid "I J K or R P"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:58
+msgid "Arc Move"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:59
+msgid "<a href=\"gcode/g-code.html#gcode:g4\">G4</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:59 html/gcode.html:152 html/gcode.html:162
+#: html/gcode.html:163 html/gcode.html:165 src/gcode/overview.adoc:136
+#: src/gui/axis.adoc:642 src/motion/pid-theory.adoc:155
+#: src/motion/pid-theory.adoc:179 src/motion/pid-theory.adoc:180
+#: src/plasma/qtplasmac.adoc:687
+#, no-wrap
+msgid "P"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:60
+msgid "<a href=\"gcode/g-code.html#gcode:g5\">G5</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:60
+msgid "I J P Q"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:61
+msgid "<a href=\"gcode/g-code.html#gcode:g5.1\">G5.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:61
+msgid "I J"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:61
+msgid "Quadratic Spline"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:62
+msgid "<a href=\"gcode/g-code.html#gcode:g5.2-g5.3\">G5.2</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:62
+msgid "P L"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:62
+msgid "NURBS"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:63
+msgid "<a href=\"gcode/g-code.html#gcode:g38\">G38.2 - G38.5</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:63
+msgid "Straight Probe"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:64
+msgid "<a href=\"gcode/g-code.html#gcode:g33\">G33</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:64 html/gcode.html:65
+msgid "K ($)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:65
+msgid "<a href=\"gcode/g-code.html#gcode:g33.1\">G33.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:66
+msgid "<a href=\"gcode/g-code.html#gcode:g80\">G80</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:66
+msgid "Cancel Canned Cycle"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:68
+msgid "Canned cycles"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:68
+msgid "(X Y Z or U V W apply to canned cycles, depending on active plane)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:69
+msgid "<a href=\"gcode/g-code.html#gcode:g70\">G70</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:69 html/gcode.html:70
+msgid "Q (X) (Z) (D) (E) (P)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:70
+msgid "<a href=\"gcode/g-code.html#gcode:g71-g72\">G71 G72</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:71
+msgid "<a href=\"gcode/g-code.html#gcode:g73\">G73</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:71 html/gcode.html:76
+msgid "R L Q"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:71
+msgid "Drilling Cycle, Chip Breaking"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:72
+msgid "<a href=\"gcode/g-code.html#gcode:g74\">G74</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:72 html/gcode.html:77
+msgid "R L (P) ($)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:72
+msgid "Left-hand Tapping Cycle, Dwell"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:73
+msgid "<a href=\"gcode/g-code.html#gcode:g76\">G76</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:73
+msgid "P Z I J R K Q H L E ($)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:73
+msgid "Threading Cycle"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:74
+msgid "<a href=\"gcode/g-code.html#gcode:g81\">G81</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:74 html/gcode.html:75 html/gcode.html:78 html/gcode.html:79
+msgid "R L (P)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:75
+msgid "<a href=\"gcode/g-code.html#gcode:g82\">G82</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:75
+msgid "Drilling Cycle, Dwell"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:76
+msgid "<a href=\"gcode/g-code.html#gcode:g83\">G83</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:76
+msgid "Drilling Cycle, Peck"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:77
+msgid "<a href=\"gcode/g-code.html#gcode:g84\">G84</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:77
+msgid "Right-hand Tapping Cycle, Dwell"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:78
+msgid "<a href=\"gcode/g-code.html#gcode:g85\">G85</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:78
+msgid "Boring Cycle, Feed Out"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:79
+msgid "<a href=\"gcode/g-code.html#gcode:g89\">G89</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:82
+msgid "<a href=\"gcode/g-code.html#gcode:g90-g91\">G90, G91</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:83
+msgid "<a href=\"gcode/g-code.html#gcode:g90.1-g91.1\">G90.1, G91.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:84
+msgid "<a href=\"gcode/g-code.html#gcode:g7\">G7</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:84
+msgid "Lathe Diameter Mode"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:85
+msgid "<a href=\"gcode/g-code.html#gcode:g8\">G8</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:85
+msgid "Lathe Radius Mode"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:87 html/gcode.html:88
+msgid "Feed Rate Mode"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:88
+msgid "<a href=\"gcode/g-code.html#gcode:g93-g94-g95\">G93, G94, G95</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:88 html/gcode.html:91
+msgid "S ($)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:91
+msgid "<a href=\"gcode/m-code.html#mcode:m3-m4-m5\">M3, M4, M5</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:92
+msgid "<a href=\"gcode/m-code.html#mcode:m19\">M19</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:92
+msgid "R Q (P) ($)"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:92 src/gcode/m-code.adoc:23
+#, no-wrap
+msgid "Orient Spindle"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:93
+msgid "<a href=\"gcode/g-code.html#gcode:g96-g97\">G96, G97</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:93
+msgid "S D ($)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:93
+msgid "Spindle Control Mode"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:95
+msgid "Coolant"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:96
+msgid "<a href=\"gcode/m-code.html#mcode:m7-m8-m9\">M7, M8, M9</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:96 src/gcode/m-code.adoc:22
+#, no-wrap
+msgid "Coolant Control"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:98 html/gcode.html:99
+msgid "Tool Length Offset"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:99
+msgid "<a href=\"gcode/g-code.html#gcode:g43\">G43</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:99 html/gcode.html:101 src/gcode/overview.adoc:127
+#, no-wrap
+msgid "H"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:100
+msgid "<a href=\"gcode/g-code.html#gcode:g43.1\">G43.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:101
+msgid "<a href=\"gcode/g-code.html#gcode:g43.2\">G43.2</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:102
+msgid "<a href=\"gcode/g-code.html#gcode:g49\">G49</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:102
+msgid "Cancel Tool Length Compensation"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:104
+msgid "Stopping"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:105
+msgid "<a href=\"gcode/m-code.html#mcode:m0-m1\">M0, M1</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:105 src/gcode/m-code.adoc:17
+#, no-wrap
+msgid "Program Pause"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:106
+msgid "<a href=\"gcode/m-code.html#mcode:m2-m30\">M2, M30</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:106 src/gcode/m-code.adoc:18
+#, no-wrap
+msgid "Program End"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:107
+msgid "<a href=\"gcode/m-code.html#mcode:m60\">M60</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:107 src/gcode/m-code.adoc:19
+#, no-wrap
+msgid "Pallet Change Pause"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:110
+msgid "<a href=\"gcode/g-code.html#gcode:g20-g21\">G20, G21</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:110
+msgid "Units (inch, mm)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:112
+msgid "Plane Selection"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:112
+msgid "(affects G2, G3, G81…G89, G40…G42)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:113
+msgid "<a href=\"gcode/g-code.html#gcode:g17-g19.1\">G17 - G19.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:115
+msgid "Cutter Radius Compensation"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:116
+msgid "<a href=\"gcode/g-code.html#gcode:g40\">G40</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:116
+msgid "Compensation Off"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:117
+msgid "<a href=\"gcode/g-code.html#gcode:g41-g42\">G41,G42</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:117 src/gcode/overview.adoc:124
+#: src/motion/pid-theory.adoc:157 src/motion/pid-theory.adoc:180
+#, no-wrap
+msgid "D"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:118
+msgid "<a href=\"gcode/g-code.html#gcode:g41.1-g42.1\">G41.1, G42.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:118
+msgid "D L"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:120
+msgid "Path Control Mode"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:121
+msgid "<a href=\"gcode/g-code.html#gcode:g61\">G61 G61.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:122
+msgid "<a href=\"gcode/g-code.html#gcode:g61.1\">G61.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:123
+msgid "<a href=\"gcode/g-code.html#gcode:g64\">G64</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:123 html/gcode.html:172
+msgid "P Q"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:123
+msgid "Path Blending"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:125
+msgid "Return Mode in Canned Cycles"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:126
+msgid "<a href=\"gcode/g-code.html#gcode:g98-g99\">G98, G99</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:126
+msgid "Canned Cycle Return Level"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:128
+msgid "Other Modal Codes"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:129
+msgid "<a href=\"gcode/other-code.html#sec:set-feed-rate\">F</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:129
+msgid "Set Feed Rate"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:130
+msgid "<a href=\"gcode/other-code.html#sec:set-spindle-speed\">S</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:130
+msgid "($)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:130
+msgid "Set Spindle Speed"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:131
+msgid "<a href=\"gcode/other-code.html#sec:select-tool\">T</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:131
+msgid "Select Tool"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:132
+msgid "<a href=\"gcode/m-code.html#mcode:m48-m49\">M48, M49</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:132
+msgid "Speed and Feed Override Control"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:133
+msgid "<a href=\"gcode/m-code.html#mcode:m50\">M50</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:133 html/gcode.html:135 html/gcode.html:136
+msgid "P0 (off) or P1 (on)"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:133 src/gcode/m-code.adoc:25
+#, no-wrap
+msgid "Feed Override Control"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:134
+msgid "<a href=\"gcode/m-code.html#mcode:m51\">M51</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:134
+msgid "P0 (off) or P1 (on) ($)"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:134
+msgid "Spindle Speed Override Control"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:135
+msgid "<a href=\"gcode/m-code.html#mcode:m52\">M52</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:135 src/gcode/m-code.adoc:27
+#, no-wrap
+msgid "Adaptive Feed Control"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:136
+msgid "<a href=\"gcode/m-code.html#mcode:m53\">M53</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:136 src/gcode/m-code.adoc:28
+#, no-wrap
+msgid "Feed Stop Control"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:137
+msgid "<a href=\"gcode/g-code.html#gcode:g54-g59.3\">G54-G59.3</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:137
+msgid "Select Coordinate System"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:139
+msgid "Flow-control Codes"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:140
+msgid "<a href=\"gcode/o-code.html#ocode:subroutines\">o sub</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:140
+msgid "Subroutines, sub/endsub call"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:141
+msgid "<a href=\"gcode/o-code.html#ocode:looping\">o while</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:141
+msgid "Looping, while/endwhile do/while"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:142
+msgid "<a href=\"gcode/o-code.html#ocode:conditional\">o if</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:142
+msgid "Conditional, if/else/endif"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:143
+msgid "<a href=\"gcode/o-code.html#ocode:repeat\">o repeat</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:143
+msgid "Repeat a loop of code"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:144
+msgid "<a href=\"gcode/o-code.html#ocode:indirection\">[]</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:144
+msgid "Indirection"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:145
+msgid "<a href=\"gcode/o-code.html#ocode:calling-files\">o call</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:145
+msgid "Call named file"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:146
+msgid "<a href=\"gcode/m-code.html#mcode:m70\">M70</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:146
+msgid "Save modal state"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:147
+msgid "<a href=\"gcode/m-code.html#mcode:m71\">M71</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:147
+msgid "Invalidate stored state"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:148
+msgid "<a href=\"gcode/m-code.html#mcode:m72\">M72</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:148
+msgid "Restore modal state"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:149
+msgid "<a href=\"gcode/m-code.html#mcode:m73\">M73</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:149
+msgid "Save and Auto-restore modal state"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:151
+msgid "Input/Output Codes"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:152
+msgid "<a href=\"gcode/m-code.html#mcode:m62-m65\">M62 - M65</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:152
+msgid "Digital Output Control"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:153
+msgid "<a href=\"gcode/m-code.html#mcode:m66\">M66</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:153
+msgid "P E L Q"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:153
+msgid "Wait on Input"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:154
+msgid "<a href=\"gcode/m-code.html#mcode:m67\">M67</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:154 html/gcode.html:155 html/gcode.html:158
+#: src/gcode/overview.adoc:141 src/plasma/qtplasmac.adoc:686
+#, no-wrap
+msgid "T"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:154
+msgid "Analog Output, Synchronized"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:155
+msgid "<a href=\"gcode/m-code.html#mcode:m68\">M68</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:155
+msgid "Analog Output, Immediate"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:157
+msgid "Non-modal Codes"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:158
+msgid "<a href=\"gcode/m-code.html#mcode:m6\">M6</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:158 src/gcode/machining-center.adoc:234
+#: src/gcode/m-code.adoc:21
+#, no-wrap
+msgid "Tool Change"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:159
+msgid "<a href=\"gcode/m-code.html#mcode:m61\">M61</a>"
+msgstr ""
+
+#. type: Table
+#: html/gcode.html:159 src/gcode/overview.adoc:138
+#, no-wrap
+msgid "Q"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:159
+msgid "Set Current Tool"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:160
+msgid "<a href=\"gcode/g-code.html#gcode:g10-l0\">G10 L0</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:161
+msgid "<a href=\"gcode/g-code.html#gcode:g10-l1\">G10 L1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:161
+msgid "P Q R"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:161 html/gcode.html:162 html/gcode.html:163
+msgid "Set Tool Table"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:162
+msgid "<a href=\"gcode/g-code.html#gcode:g10-l10\">G10 L10</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:163
+msgid "<a href=\"gcode/g-code.html#gcode:g10-l11\">G10 L11</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:164
+msgid "<a href=\"gcode/g-code.html#gcode:g10-l2\">G10 L2</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:164
+msgid "P R"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:164 html/gcode.html:165
+msgid "Set Coordinate System"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:165
+msgid "<a href=\"gcode/g-code.html#gcode:g10-l20\">G10 L20</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:166
+msgid "<a href=\"gcode/g-code.html#gcode:g28-g28.1\">G28, G28.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:166 html/gcode.html:167
+msgid "Go/Set Predefined Position"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:167
+msgid "<a href=\"gcode/g-code.html#gcode:g30-g30.1\">G30, G30.1</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:168
+msgid "<a href=\"gcode/g-code.html#gcode:g53\">G53</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:169
+msgid "<a href=\"gcode/g-code.html#gcode:g92\">G52, G92</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:170
+msgid "<a href=\"gcode/g-code.html#gcode:g92.1-g92.2\">G92.1, G92.2</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:170
+msgid "Reset G92 Offsets"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:171
+msgid "<a href=\"gcode/g-code.html#gcode:g92.3\">G92.3</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:172
+msgid "<a href=\"gcode/m-code.html#mcode:m100-m199\">M101 - M199</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:172
+msgid "User Defined Commands"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><th>
+#: html/gcode.html:174
+msgid "Comments &amp; Messages"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:175
+msgid "<a href=\"gcode/overview.html#gcode:comments\">; (…)</a>"
+msgstr ""
+
+#. type: Title ===
+#: html/gcode.html:175 src/gui/pyvcp.adoc:290 src/hal/comp.adoc:331
+#, no-wrap
+msgid "Comments"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:176
+msgid "<a href=\"gcode/overview.html#gcode:messages\">(MSG,…)</a>"
+msgstr ""
+
+#. type: Title ==
+#: html/gcode.html:176 src/gui/gstat.adoc:179
+#, no-wrap
+msgid "Messages"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:177
+msgid "<a href=\"gcode/overview.html#gcode:debug\">(DEBUG,…)</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:177
+msgid "Debug Messages"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:178
+msgid "<a href=\"gcode/overview.html#gcode:print\">(PRINT,…)</a>"
+msgstr ""
+
+#. type: Content of: <html><body><table><tbody><tr><td>
+#: html/gcode.html:178
+msgid "Print Messages"
+msgstr ""
+
+#. type: Title =
+#: src/gcode/machining-center.adoc:5
+#, no-wrap
+msgid "CNC Machine Overview(((Machine Overview)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:15
+msgid ""
+"This section gives a brief description of how a CNC machine is viewed from "
+"the input and output ends of the Interpreter."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/machining-center.adoc:16
+#, no-wrap
+msgid "Mechanical Components"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:24
+msgid ""
+"A CNC machine has many mechanical components that may be controlled or may "
+"affect the way in which control is exercised. This section describes the "
+"subset of those components that interact with the Interpreter. Mechanical "
+"components that do not interact directly with the Interpreter, such as the "
+"jog buttons, are not described here, even if they affect control."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:25
+#, no-wrap
+msgid "Axes(((axes)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:33
+msgid ""
+"Any CNC machine has one or more Axes. Different types of CNC machines have "
+"different combinations. For instance, a '4-axis milling machine' may have "
+"XYZA or XYZB axes. A lathe typically has XZ axes. A foam-cutting machine may "
+"have XYUV axes. In LinuxCNC, the case of a XYYZ 'gantry' machine with two "
+"motors for one axis is better handled by kinematics rather than by a second "
+"linear axis."
+msgstr ""
+
+#. type: delimited block =
+#: src/gcode/machining-center.adoc:42
+msgid ""
+"If the motion of mechanical components is not independent, as with hexapod "
+"machines, the RS274/NGC language and the canonical machining functions will "
+"still be usable, as long as the lower levels of control know how to control "
+"the actual mechanisms to produce the same relative motion of tool and "
+"workpiece as would be produced by independent axes.  This is called "
+"'kinematics'."
+msgstr ""
+
+#. type: delimited block =
+#: src/gcode/machining-center.adoc:49
+msgid ""
+"With LinuxCNC, the case of the XYYZ gantry machine with two motors for one "
+"axis is better handled by the kinematics than by an additional linear axis."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/machining-center.adoc:51
+#, no-wrap
+msgid "Primary Linear Axes(((axes, primary linear)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:54
+msgid ""
+"The X, Y, and Z axes produce linear motion in three mutually orthogonal "
+"directions."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/machining-center.adoc:55
+#, no-wrap
+msgid "Secondary Linear Axes(((axes, secondary linear)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:59
+msgid ""
+"The U, V, and W axes produce linear motion in three mutually orthogonal "
+"directions. Typically, X and U are parallel, Y and V are parallel, and Z and "
+"W are parallel."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/machining-center.adoc:60
+#, no-wrap
+msgid "Rotational Axes(((axes, rotational)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:64
+msgid ""
+"The A, B and C axes produce angular motion (rotation). Typically, A rotates "
+"around a line parallel to X, B rotates around a line parallel to Y, and C "
+"rotates around a line parallel to Z."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:65
+#, no-wrap
+msgid "Spindle(((spindle)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:73
+msgid ""
+"A CNC machine typically has a spindle which holds one cutting tool, probe, "
+"or the material in the case of a lathe. The spindle may or may not be "
+"controlled by the CNC software.  LinuxCNC offers support for up to 8 "
+"spindles, which can be individually controlled and can run simultaneously at "
+"different speeds and in different directions."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:74
+#, no-wrap
+msgid "Coolant(((coolant)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:79
+msgid ""
+"Flood coolant and mist coolant may each be turned on independently.  The "
+"RS274/NGC language turns them off together see section <<mcode:m7-m8-m9,M7 "
+"M8 M9>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:80
+#, no-wrap
+msgid "Feed and Speed Override(((feed override)))(((spindle override)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:85
+msgid ""
+"A CNC machine can have separate feed and speed override controls, which let "
+"the operator specify that the actual feed rate or spindle speed used in "
+"machining at some percentage of the programmed rate."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:86 src/gcode/machining-center.adoc:292
+#, no-wrap
+msgid "Block Delete Switch"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:90
+msgid ""
+"A CNC machine can have a block delete switch.  See the "
+"<<sub:block-delete-switch,Block Delete>> section."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:92 src/gcode/machining-center.adoc:300
+#, no-wrap
+msgid "Optional Program Stop Switch"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:96
+msgid ""
+"A CNC machine can have an optional program stop switch.  See the "
+"<<sub:optional-program-stop,Optional Program Stop>> section."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/machining-center.adoc:97
+#, no-wrap
+msgid "Control and Data Components"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:99
+#, no-wrap
+msgid "Linear Axes"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:104
+msgid ""
+"The X, Y, and Z axes form a standard right-handed coordinate system of "
+"orthogonal linear axes. Positions of the three linear motion mechanisms are "
+"expressed using coordinates on these axes."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:108
+msgid ""
+"The U, V and W axes also form a standard right-handed coordinate system. X "
+"and U are parallel, Y and V are parallel, and Z and W are parallel (when A, "
+"B, and C are rotated to zero)."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:109
+#, no-wrap
+msgid "Rotational Axes"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:119
+msgid ""
+"The rotational axes are measured in degrees as wrapped linear axes in which "
+"the direction of positive rotation is counterclockwise when viewed from the "
+"positive end of the corresponding X, Y, or Z-axis. By 'wrapped linear axis', "
+"we mean one on which the angular position increases without limit (goes "
+"towards plus infinity) as the axis turns counterclockwise and deceases "
+"without limit (goes towards minus infinity) as the axis turns "
+"clockwise. Wrapped linear axes are used regardless of whether or not there "
+"is a mechanical limit on rotation."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:128
+msgid ""
+"Clockwise or counterclockwise is from the point of view of the workpiece. If "
+"the workpiece is fastened to a turntable which turns on a rotational axis, a "
+"counterclockwise turn from the point of view of the workpiece is "
+"accomplished by turning the turntable in a direction that (for most common "
+"machine configurations) looks clockwise from the point of view of someone "
+"standing next to the machine. footnote:[If the parallelism requirement is "
+"violated, the system builder will have to say how to distinguish clockwise "
+"from counterclockwise.]"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:130
+#, no-wrap
+msgid "Controlled Point(((Controlled Point)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:145
+msgid ""
+"The controlled point is the point whose position and rate of motion are "
+"controlled. When the tool length offset is zero (the default value), this is "
+"a point on the spindle axis (often called the gauge point) that is some "
+"fixed distance beyond the end of the spindle, usually near the end of a tool "
+"holder that fits into the spindle. The location of the controlled point can "
+"be moved out along the spindle axis by specifying some positive amount for "
+"the tool length offset.  This amount is normally the length of the cutting "
+"tool in use, so that the controlled point is at the end of the cutting "
+"tool. On a lathe, tool length offsets can be specified for X and Z axes, and "
+"the controlled point is either at the tool tip or slightly outside it (where "
+"the perpendicular, axis-aligned lines touched by the 'front' and 'side' of "
+"the tool intersect)."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:147
+#, no-wrap
+msgid "Coordinated Linear Motion"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:162
+msgid ""
+"To drive a tool along a specified path, a machining center must often "
+"coordinate the motion of several axes. We use the term 'coordinated linear "
+"motion' to describe the situation in which, nominally, each axis moves at "
+"constant speed and all axes move from their starting positions to their end "
+"positions at the same time. If only the X, Y, and Z axes (or any one or two "
+"of them) move, this produces motion in a straight line, hence the word "
+"'linear' in the term. In actual motions, it is often not possible to "
+"maintain constant speed because acceleration or deceleration is required at "
+"the beginning and/or end of the motion. It is feasible, however, to control "
+"the axes so that, at all times, each axis has completed the same fraction of "
+"its required motion as the other axes. This moves the tool along same path, "
+"and we also call this kind of motion coordinated linear motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:167
+msgid ""
+"Coordinated linear motion can be performed either at the prevailing feed "
+"rate, or at traverse rate, or it may be synchronized to the spindle "
+"rotation. If physical limits on axis speed make the desired rate "
+"unobtainable, all axes are slowed to maintain the desired path."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:169
+#, no-wrap
+msgid "Feed Rate(((Feed Rate)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:176
+msgid ""
+"The rate at which the controlled point moves is nominally a steady rate "
+"which may be set by the user. In the Interpreter, the feed rate is "
+"interpreted as follows (unless 'inverse time feed' or 'feed per revolution' "
+"modes are being used, in which case see section "
+"<<gcode:g93-g94-g95,G93-G94-G95-Mode,G93 G94 G95>>)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:180
+msgid ""
+"If any of XYZ are moving, F is in units per minute in the XYZ cartesian "
+"system, and all other axes (ABCUVW) move so as to start and stop in "
+"coordinated fashion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:183
+msgid ""
+"Otherwise, if any of UVW are moving, F is in units per minute in the UVW "
+"cartesian system, and all other axes (ABC) move so as to start and stop in "
+"coordinated fashion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:185
+msgid ""
+"Otherwise, the move is pure rotary motion and the F word is in rotary units "
+"in the ABC 'pseudo-cartesian' system."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:186
+#, no-wrap
+msgid "Cooling(((Cooling)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:191
+msgid ""
+"Flood or droplets cooling can be enabled separately.  RS274/NGC language "
+"stops them together.  See section about <<mcode:m7-m8-m9,cooling control>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:192
+#, no-wrap
+msgid "Dwell(((dwell)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:200
+msgid ""
+"A machining center may be commanded to dwell (i.e., keep all axes unmoving) "
+"for a specific amount of time. The most common use of dwell is to break and "
+"clear chips, so the spindle is usually turning during a dwell. Regardless of "
+"the Path Control Mode (see section <<sec:path-control-mode,Path Control>>) "
+"the machine will stop exactly at the end of the previous programmed move, as "
+"though it was in exact path mode."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:201
+#, no-wrap
+msgid "Units(((units)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:211
+msgid ""
+"Units used for distances along the X, Y, and Z axes may be measured in "
+"millimeters or inches. Units for all other quantities involved in machine "
+"control cannot be changed. Different quantities use different specific "
+"units. Spindle speed is measured in revolutions per minute.  The positions "
+"of rotational axes are measured in degrees. Feed rates are expressed in "
+"current length units per minute, or degrees per minute, or length units per "
+"spindle revolution, as described in section <<gcode:g93-g94-g95,G93 G94 "
+"G95>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:212
+#, no-wrap
+msgid "Current Position"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:218
+msgid ""
+"The controlled point is always at some location called the 'current "
+"position', and the controller always knows where that is. The numbers "
+"representing the current position must be adjusted in the absence of any "
+"axis motion if any of several events take place:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:220
+msgid "Length units are changed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:221
+msgid "Tool length offset is changed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:222
+msgid "Coordinate system offsets are changed."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:223
+#, no-wrap
+msgid "Selected Plane"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:229
+msgid ""
+"There is always a 'selected plane', which must be the XY-plane, the "
+"YZ-plane, or the XZ-plane of the machining center. The Z-axis is, of course, "
+"perpendicular to the XY-plane, the X-axis to the YZ-plane, and the Y-axis to "
+"the XZ-plane."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:230
+#, no-wrap
+msgid "Tool Carousel"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:233
+msgid "Zero or one tool is assigned to each slot in the tool carousel."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:237
+msgid "A machining center may be commanded to change tools."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:238
+#, no-wrap
+msgid "Pallet Shuttle"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:241
+msgid "The two pallets may be exchanged by command."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:242
+#, no-wrap
+msgid "Speed Override"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:250
+msgid ""
+"The speed override buttons can be activated (they function normally) or "
+"rendered inoperative (they no longer have any effect). The RS274/NGC "
+"language has a command that activates all the buttons and another that "
+"disables them.  See inhibition and activation <<mcode:m48-m49, speed "
+"correctors>>.  See also <<sec:speed-interaction,here for further details>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:252
+#, no-wrap
+msgid "Path Control Mode(((Path Control Mode)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:256
+msgid "The machining center may be put into any one of three path control modes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:260
+msgid ""
+"In exact stop mode, the machine stops briefly at the end of each programmed "
+"move."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/machining-center.adoc:260
+#, no-wrap
+msgid "exact path mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:264
+msgid ""
+"In exact path mode, the machine follows the programmed path as exactly as "
+"possible, slowing or stopping if necessary at sharp corners of the path."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/machining-center.adoc:264
+#, no-wrap
+msgid "continuous mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:268
+msgid ""
+"In continuous mode, sharp corners of the path may be rounded slightly so "
+"that the feed rate may be kept up (but by no more than the tolerance, if "
+"specified)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:270
+msgid "See sections <<gcode:g61,G61>> and <<gcode:g64,G64>>."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/machining-center.adoc:272
+#, no-wrap
+msgid "Interpreter Interaction with Switches"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:277
+msgid ""
+"The Interpreter interacts with several switches. This section describes the "
+"interactions in more detail. In no case does the Interpreter know what the "
+"setting of any of these switches is."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/machining-center.adoc:279
+#, no-wrap
+msgid "Feed and Speed Override Switches(((Feed and Speed Interaction)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:285
+msgid ""
+"The Interpreter will interpret RS274/NGC commands which enable 'M48' or "
+"disable 'M49' the feed and speed override switches. For certain moves, such "
+"as the traverse out of the end of a thread during a threading cycle, the "
+"switches are disabled automatically."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:288
+msgid ""
+"LinuxCNC reacts to the speed and feed override settings when these switches "
+"are enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:290
+msgid "See the <<mcode:m48-m49,M48 M49 Override>> section for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:298
+msgid ""
+"If the block delete switch is on, lines of G-code which start with a slash "
+"(the block delete character) are not interpreted. If the switch is off, such "
+"lines are interpreted. Normally the block delete switch should be set before "
+"starting the NGC program."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:304
+msgid ""
+"If this switch is on and an M1 code is encountered, program execution is "
+"paused."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/machining-center.adoc:305 src/gcode/tool-compensation.adoc:45
+#, no-wrap
+msgid "Tool Table(((Tool Table)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:310
+msgid ""
+"A tool table is required to use the Interpreter. The file tells which tools "
+"are in which tool changer slots and what the size and type of each tool "
+"is. The name of the tool table is defined in the INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/machining-center.adoc:314
+#, no-wrap
+msgid "[EMCIO]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/machining-center.adoc:317
+#, no-wrap
+msgid ""
+"# tool table file\n"
+"TOOL_TABLE = tooltable.tbl\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:322
+msgid ""
+"The default filename probably looks something like the above, but you may "
+"prefer to give your machine its own tool table, using the same name as your "
+"INI file, but with a tbl extension:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/machining-center.adoc:326
+#, no-wrap
+msgid "TOOL_TABLE = acme_300.tbl\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:329 src/plasma/qtplasmac.adoc:3588
+msgid "or:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/machining-center.adoc:333
+#, no-wrap
+msgid "TOOL_TABLE = EMC-AXIS-SIM.tbl\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:337
+msgid ""
+"For more information on the specifics of the tool table format, see the "
+"<<sec:tool-table,Tool Table Format>> section."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/machining-center.adoc:339 src/gcode/overview.adoc:150
+#: src/gcode/overview.adoc:201
+#, no-wrap
+msgid "Parameters(((Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:350
+msgid ""
+"In the RS274/NGC language view, a machining center maintains an array of "
+"numerical parameters defined by a system definition "
+"(RS274NGC_MAX_PARAMETERS). Many of them have specific uses especially in "
+"defining coordinate systems. The number of numerical parameters can increase "
+"as development adds support for new parameters. The parameter array persists "
+"over time, even if the machining center is powered down.  LinuxCNC uses a "
+"parameter file to ensure persistence and gives the Interpreter the "
+"responsibility for maintaining the file. The Interpreter reads the file when "
+"it starts up, and writes the file when it exits."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:352
+msgid "All parameters are available for use in G-code programs."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:362
+msgid ""
+"The format of a parameter file is shown in the following table.  The file "
+"consists of any number of header lines, followed by one blank line, followed "
+"by any number of lines of data. The Interpreter skips over the header "
+"lines. It is important that there be exactly one blank line (with no spaces "
+"or tabs, even) before the data. The header line shown in the following table "
+"describes the data columns, so it is suggested (but not required) that that "
+"line always be included in the header."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:365
+msgid ""
+"The Interpreter reads only the first two columns of the table. The third "
+"column, 'Comment', is not read by the Interpreter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/machining-center.adoc:381
+msgid ""
+"Each line of the file contains the index number of a parameter in the first "
+"column and the value to which that parameter should be set in the second "
+"column. The value is represented as a double-precision floating point number "
+"inside the Interpreter, but a decimal point is not required in the file. All "
+"of the parameters shown in the following table are required parameters and "
+"must be included in any parameter file, except that any parameter "
+"representing a rotational axis value for an unused axis may be omitted. An "
+"error will be signaled if any required parameter is missing. A parameter "
+"file may include any other parameter, as long as its number is in the range "
+"1 to 5400. The parameter numbers must be arranged in ascending order. An "
+"error will be signaled if not. Any parameter included in the file read by "
+"the Interpreter will be included in the file it writes as it exits. The "
+"original file is saved as a backup file when the new file is "
+"written. Comments are not preserved when the file is written."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/machining-center.adoc:382 src/gcode/overview.adoc:381
+#, no-wrap
+msgid "Parameter File Format"
+msgstr ""
+
+#. type: Table
+#: src/gcode/machining-center.adoc:385 src/gcode/overview.adoc:384
+#, no-wrap
+msgid "Parameter Number"
+msgstr ""
+
+#. type: Table
+#: src/gcode/machining-center.adoc:385 src/gcode/overview.adoc:385
+#, no-wrap
+msgid "Parameter Value"
+msgstr ""
+
+#. type: Table
+#: src/gcode/machining-center.adoc:386
+#, no-wrap
+msgid "Comment"
+msgstr ""
+
+#. type: Table
+#: src/gcode/machining-center.adoc:386 src/gcode/overview.adoc:385
+#, no-wrap
+msgid "5161"
+msgstr ""
+
+#. type: Table
+#: src/gcode/machining-center.adoc:386 src/gcode/machining-center.adoc:387
+#: src/gcode/overview.adoc:386 src/gcode/overview.adoc:387
+#, no-wrap
+msgid "0.0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/machining-center.adoc:387
+#, no-wrap
+msgid "G28 Home X"
+msgstr ""
+
+#. type: Table
+#: src/gcode/machining-center.adoc:387 src/gcode/overview.adoc:386
+#, no-wrap
+msgid "5162"
+msgstr ""
+
+#. type: Table
+#: src/gcode/machining-center.adoc:388
+#, no-wrap
+msgid "G28 Home Y"
+msgstr ""
+
+#. type: Title =
+#: src/gcode/m-code.adoc:5
+#, no-wrap
+msgid "M-Codes"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:11
+#, no-wrap
+msgid "M-Code Quick Reference Table"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:16
+#, no-wrap
+msgid "<<mcode:m0-m1,M0 M1>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:17
+#, no-wrap
+msgid "<<mcode:m2-m30,M2 M30>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:18
+#, no-wrap
+msgid "<<mcode:m60, M60>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:19
+#, no-wrap
+msgid "<<mcode:m3-m4-m5,M3 M4 M5>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:20
+#, no-wrap
+msgid "<<mcode:m6,M6>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:21
+#, no-wrap
+msgid "<<mcode:m7-m8-m9,M7 M8 M9>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:22
+#, no-wrap
+msgid "<<mcode:m19,M19>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:23
+#, no-wrap
+msgid "<<mcode:m48-m49,M48 M49>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:24
+#, no-wrap
+msgid "Feed & Spindle Overrides Enable/Disable"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:24
+#, no-wrap
+msgid "<<mcode:m50,M50>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:25
+#, no-wrap
+msgid "<<mcode:m51,M51>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:26
+#, no-wrap
+msgid "Spindle Override Control"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:26
+#, no-wrap
+msgid "<<mcode:m52,M52>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:27
+#, no-wrap
+msgid "<<mcode:m53,M53>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:28
+#, no-wrap
+msgid "<<mcode:m61,M61>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:29
+#, no-wrap
+msgid "Set Current Tool Number"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:29
+#, no-wrap
+msgid "<<mcode:m62-m65,m62-m65>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:30
+#, no-wrap
+msgid "Output Control"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:30
+#, no-wrap
+msgid "<<mcode:m66,M66>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:31
+#, no-wrap
+msgid "Input Control"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:31
+#, no-wrap
+msgid "<<mcode:m67,M67>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:32 src/gcode/m-code.adoc:33
+#, no-wrap
+msgid "Analog Output Control"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:32
+#, no-wrap
+msgid "<<mcode:m68,M68>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:33
+#, no-wrap
+msgid "<<mcode:m70,M70>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:34
+#, no-wrap
+msgid "Save Modal State"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:34
+#, no-wrap
+msgid "<<mcode:m71,M71>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:35
+#, no-wrap
+msgid "Invalidate Stored Modal State"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:35
+#, no-wrap
+msgid "<<mcode:m72,M72>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:36
+#, no-wrap
+msgid "Restore Modal State"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:36
+#, no-wrap
+msgid "<<mcode:m73,M73>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:37
+#, no-wrap
+msgid "Save Autorestore Modal State"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:37
+#, no-wrap
+msgid "<<mcode:m98-m99,M98 M99>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:38
+#, no-wrap
+msgid "Call and Return From Subprogram"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:38
+#, no-wrap
+msgid "<<mcode:m100-m199,M100-M199>>"
+msgstr ""
+
+#. type: Table
+#: src/gcode/m-code.adoc:39
+#, no-wrap
+msgid "User Defined M-Codes"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:42
+#, no-wrap
+msgid ""
+"M0, M1 Program Pause(((M0, M1 Program Pause)))(((M0 Mandatory Program "
+"Pause)))(((M1 Optional Program Pause)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:47
+msgid ""
+"'M0' - pause a running program temporarily. LinuxCNC remains in the Auto "
+"Mode so MDI and other manual actions are not enabled. Pressing the resume "
+"button will restart the program at the following line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:51
+msgid ""
+"'M1' - pause a running program temporarily if the optional stop switch is "
+"on.  LinuxCNC remains in the Auto Mode so MDI and other manual actions are "
+"not enabled. Pressing the resume button will restart the program at the "
+"following line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:57
+msgid ""
+"It is OK to program 'M0' and 'M1' in MDI mode, but the effect will probably "
+"not be noticeable, because normal behavior in MDI mode is to stop after each "
+"line of input anyway."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:59
+#, no-wrap
+msgid ""
+"M2, M30 Program End(((M2 Program End)))(((M30 Pallet Exchange and Program "
+"End)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:63
+msgid ""
+"'M2' - end the program. Pressing `Cycle Start` (\"R\" in the Axis GUI)  will "
+"restart the program at the beginning of the file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:65
+msgid ""
+"'M30' - exchange pallet shuttles and end the program.  Pressing `Cycle "
+"Start` will start the program at the beginning of the file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:67
+msgid "Both of these commands have the following effects:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:69
+msgid "Change from Auto mode to MDI mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:70
+msgid "Origin offsets are set to the default (like 'G54')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:71
+msgid "Selected plane is set to XY plane (like 'G17')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:72
+msgid "Distance mode is set to absolute mode (like 'G90')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:73
+msgid "Feed rate mode is set to units per minute (like 'G94')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:74
+msgid "Feed and speed overrides are set to ON (like 'M48')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:75
+msgid "Cutter compensation is turned off (like 'G40')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:76
+msgid "The spindle is stopped (like 'M5')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:77
+msgid "The current motion mode is set to feed (like 'G1')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:78
+msgid "Coolant is turned off (like 'M9')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:82
+msgid ""
+"Lines of code after M2/M30 will not be executed. Pressing `Cycle Start` will "
+"start the program at the beginning of the file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:87
+msgid ""
+"Using % to wrap the G-code does not do the same thing as a 'Program End'.  "
+"See the section on <<gcode:file-requirements,File Requirements>> for more "
+"information on what using % does not do."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:89
+#, no-wrap
+msgid "M60 Pallet Change Pause(((M60 Pallet Change Pause)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:95
+msgid ""
+"'M60' - exchange pallet shuttles and then pause a running program "
+"temporarily (regardless of the setting of the optional stop "
+"switch). Pressing the cycle start button will restart the program at the "
+"following line."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:97
+#, no-wrap
+msgid "M3, M4, M5 Spindle Control(((M3, M4, M5 Spindle Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:100
+msgid "'M3 [$n]' - start the selected spindle clockwise at the 'S' speed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:101
+msgid "'M4 [$n]' - start the selected spindle counterclockwise at the 'S' speed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:102
+msgid "'M5 [$n]' - stop the selected spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:106
+msgid ""
+"Use $ to operate on specific spindles.  If $ is omitted then the commands "
+"default to operating on spindle 0.  Use $-1 to operate on all active "
+"spindles."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:109
+msgid ""
+"This example will start spindles 0, 1, and 2 simultaneously at different "
+"speeds:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:116
+#, no-wrap
+msgid ""
+"S100 $0\n"
+"S200 $1\n"
+"S300 $2\n"
+"M3 $-1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:120
+msgid ""
+"This example will then reverse spindle 1 but leave the other spindles "
+"rotating forwards:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:124
+#, no-wrap
+msgid "M4 $1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:127
+msgid "And this will stop spindle 2 and leave the other spindles rotating:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:131
+#, no-wrap
+msgid "M5 $2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:135
+msgid ""
+"If the $ is omitted then behaviour is exactly as normal for a single spindle "
+"machine."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:145
+msgid ""
+"It is OK to use 'M3' or 'M4' if the <<sec:set-spindle-speed,S>> spindle "
+"speed is set to zero. If this is done (or if the speed override switch is "
+"enabled and set to zero), the spindle will not start turning.  If, later, "
+"the spindle speed is set above zero (or the override switch is turned up), "
+"the spindle will start turning.  It is OK to use 'M3' or 'M4' when the "
+"spindle is already turning or to use 'M5' when the spindle is already "
+"stopped."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:147
+#, no-wrap
+msgid "M6 Tool Change(((M6-Tool-Change)))"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/m-code.adoc:149
+#, no-wrap
+msgid "Manual Tool Change"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:156
+msgid ""
+"If the HAL component 'hal_manualtoolchange' is loaded, M6 will stop the "
+"spindle and prompt the user to change the tool based on the last 'T-' number "
+"programmed.  For more information on hal_manualtoolchange see the "
+"<<sec:manual-tool-change,Manual Tool Change>> section."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/m-code.adoc:157
+#, no-wrap
+msgid "Tool Changer"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:163
+msgid ""
+"To change a tool in the spindle from the tool currently in the spindle to "
+"the tool most recently selected (using a T word - see section "
+"<<sec:select-tool,Select Tool>>), program 'M6'.  When the tool change is "
+"complete:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:165
+msgid "The spindle will be stopped."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:167
+msgid ""
+"The tool that was selected (by a T word on the same line or on any line "
+"after the previous tool change) will be in the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:170
+msgid ""
+"If the selected tool was not in the spindle before the tool change, the tool "
+"that was in the spindle (if there was one) will be placed back into the tool "
+"changer magazine."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:173
+msgid ""
+"If configured in the INI file some axis positions may move when a M6 is "
+"issued. See the <<sub:ini:sec:emcio,EMCIO section>> for more information on "
+"tool change options."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:175
+msgid ""
+"No other changes will be made. For example, coolant will continue to flow "
+"during the tool change unless it has been turned off by an 'M9'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:179
+msgid ""
+"The 'T-' word is an integer number designating the tool pocket number in the "
+"carousel (not its index)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:183
+msgid ""
+"The tool length offset is not changed by 'M6', use '<<gcode:g43,G43>>' after "
+"the 'M6' to change the tool length offset."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:192
+msgid ""
+"The tool change may include axis motion.  It is OK (but not useful) to "
+"program a change to the tool already in the spindle.  It is OK if there is "
+"no tool in the selected slot; in that case, the spindle will be empty after "
+"the tool change.  If slot zero was last selected, there will definitely be "
+"no tool in the spindle after a tool change. The tool changer will have to be "
+"setup to perform the tool change in HAL and possibly ClassicLadder."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:194
+#, no-wrap
+msgid "M7, M8, M9 Coolant Control(((M7, M8, M9 Coolant Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:197
+msgid "'M7' - turn mist coolant on. M7 controls iocontrol.0.coolant-mist pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:198
+msgid "'M8' - turn flood coolant on. M8 controls iocontrol.0.coolant-flood pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:199
+msgid "'M9' - turn both M7 and M8 off."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:202
+msgid ""
+"Connect one or both of the coolant control pins in HAL before M7 or M8 will "
+"control an output. M7 and M8 can be used to turn on any output via G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:205
+msgid ""
+"It is OK to use any of these commands, regardless of the current coolant "
+"state."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:207
+#, no-wrap
+msgid "M19 Orient Spindle(((M19 Orient Spindle)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:212
+#, no-wrap
+msgid "M19 R- Q- [P-] [$-]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:215
+msgid "'R' Position to rotate to from 0, valid range is 0-360 degrees"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:218
+msgid ""
+"'Q' Number of seconds to wait until orient completes. If "
+"spindle.N.is-oriented does not become true within Q timeout an error occurs."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:219
+msgid "'P' Direction to rotate to position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:220
+msgid "'0' rotate for smallest angular movement (default)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:221
+msgid "'1' always rotate clockwise (same as M3 direction)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:222
+msgid "'2' always rotate counterclockwise (same as M4 direction)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:224
+msgid ""
+"'$' The spindle to orient (actually only determines which HAL pins carry the "
+"spindle position commands)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:227
+msgid ""
+"M19 is a command of modal group 7, like M3, M4 and M5.  M19 is cleared by "
+"any of M3,M4,M5."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:230
+msgid ""
+"Spindle orientation requires a quadrature encoder with an index to sense the "
+"spindle shaft position and direction of rotation."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:232
+msgid "INI Settings in the [RS274NGC] section:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:234
+msgid "ORIENT_OFFSET = 0-360 (fixed offset in degrees added to M19 R word)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:238
+msgid ""
+"'spindle.N.orient-angle' (out float)  Desired spindle orientation for "
+"M19. Value of the M19 R word parameter plus the value of the "
+"[RS274NGC]ORIENT_OFFSET INI parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:240
+msgid ""
+"'spindle.N.orient-mode' (out s32)  Desired spindle rotation mode. Reflects "
+"M19 P parameter word, default = 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:244
+msgid ""
+"'spindle.N.orient' (out bit)  Indicates start of spindle orient cycle. Set "
+"by M19. Cleared by any of M3,M4,M5. If spindle-orient-fault is not zero "
+"during spindle-orient true, the M19 command fails with an error message."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:249
+msgid ""
+"'spindle.N.is-oriented' (in bit)  Acknowledge pin for "
+"spindle-orient. Completes orient cycle. If spindle-orient was true when "
+"spindle-is-oriented was asserted, the spindle-orient pin is cleared and the "
+"spindle-locked pin is asserted. Also, the spindle-brake pin is asserted."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:252
+msgid ""
+"'spindle.N.orient-fault' (in s32)  Fault code input for orient cycle. Any "
+"value other than zero will cause the orient cycle to abort."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:254
+msgid ""
+"'spindle.N.locked' (out bit)  Spindle orient complete pin. Cleared by any of "
+"M3,M4,M5."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:256
+#, no-wrap
+msgid ""
+"M48, M49 Speed and Feed Override Control(((M48, M49 Speed and Feed Override "
+"Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:259
+msgid "'M48' - enable the spindle speed and feed rate override controls."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:260
+msgid "'M49' - disable both controls."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:263
+msgid ""
+"These commands also take an optional $ parameter to determine which spindle "
+"they operate on."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:267
+msgid ""
+"It is OK to enable or disable the controls when they are already enabled or "
+"disabled.  See the <<sub:feed-rate,Feed Rate>> section for more details."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:270
+msgid "They also can be be toggled individually using 'M50' and 'M51', see below."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:272
+#, no-wrap
+msgid "M50 Feed Override Control(((M50 Feed Override Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:276
+msgid "'M50 <P1>' - enable the feed rate override control. The P1 is optional."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:277
+msgid "'M50 P0' - disable the feed rate control."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:281
+msgid ""
+"While disabled the feed override will have no influence, and the motion will "
+"be executed at programmed feed rate.  (unless there is an adaptive feed rate "
+"override active)."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:283
+#, no-wrap
+msgid "M51 Spindle Speed Override Control(((M51 Spindle Speed Override)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:287
+msgid ""
+"'M51 <P1> <$->'- enable the spindle speed override control for the selected "
+"spindle. The P1 is optional."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:288
+msgid "'M51 P0 <$->' - disable the spindle speed override control program."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:293
+msgid ""
+"While disabled the spindle speed override will have no influence, and the "
+"spindle speed will have the exact program specified value of the S-word "
+"(described in the <<sec:set-spindle-speed,Spindle Speed>> section)."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:295
+#, no-wrap
+msgid "M52 Adaptive Feed Control(((M52 Adaptive Feed Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:298
+msgid "'M52 <P1>' - use an adaptive feed. The P1 is optional."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:299
+msgid "'M52 P0' - stop using adaptive feed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:306
+msgid ""
+"When adaptive feed is enabled, some external input value is used together "
+"with the user interface feed override value and the commanded feed rate to "
+"set the actual feed rate. In LinuxCNC, the HAL pin 'motion.adaptive-feed' is "
+"used for this purpose. Values on 'motion.adaptive-feed' should range from -1 "
+"(programmed speed in reverse) to 1 (full speed). 0 is equivalent to "
+"feed-hold."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:311
+msgid ""
+"The use of negative adaptive-feed for reverse run is a new feature and is "
+"not very well tested as yet. The intended use is for plasma cutters and wire "
+"spark eroders but it is not limited to such applications."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:313
+#, no-wrap
+msgid "M53 Feed Stop Control(((M53 Feed Stop Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:320
+msgid ""
+"'M53 <P1>' - enable the feed stop switch. The P1 is optional.  Enabling the "
+"feed stop switch will allow motion to be interrupted by means of the feed "
+"stop control. In LinuxCNC, the HAL pin 'motion.feed-hold' is used for this "
+"purpose. A 'true' value will cause the motion to stop when 'M53' is active."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:322
+msgid ""
+"'M53 P0' - disable the feed stop switch. The state of 'motion.feed-hold' "
+"will have no effect on feed when M53 is not active."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:324
+#, no-wrap
+msgid "M61 Set Current Tool(((M61 Set Current Tool)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:330
+msgid ""
+"'M61 Q-' - change the current tool number while in MDI or Manual mode "
+"without a tool change. One use is when you power up LinuxCNC with a tool "
+"currently in the spindle you can set that tool number without doing a tool "
+"change."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:334
+msgid ""
+"The tool length offset is not changed by 'M61', use '<<gcode:g43,G43>>' "
+"after the 'M61' to change the tool length offset."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:338
+msgid "Q- is not 0 or greater"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:340
+#, no-wrap
+msgid "M62 - M65 Digital Output Control(((M62 - M65 Digital Output Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:343
+msgid "'M62 P-' - turn on digital output synchronized with motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:344
+msgid "'M63 P-' - turn off digital output synchronized with motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:345
+msgid "'M64 P-' - turn on digital output immediately."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:346
+msgid "'M65 P-' - turn off digital output immediately."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:352
+msgid ""
+"The P- word specifies the digital output number.  The P-word ranges from 0 "
+"to a default value of 3. If needed the the number of I/O can be increased by "
+"using the num_dio parameter when loading the motion controller. See the "
+"<<sec:motion,Motion>> section for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:357
+msgid ""
+"The M62 & M63 commands will be queued. Subsequent commands referring to the "
+"same output number will overwrite the older settings. More than one output "
+"change can be specified by issuing more than one M62/M63 command."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:362
+msgid ""
+"The actual change of the specified outputs will happen at the beginning of "
+"the next motion command. If there is no subsequent motion command, the "
+"queued output changes won't happen. It's best to always program a motion "
+"G-code (G0, G1, etc) right after the M62/63."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:366
+msgid ""
+"M64 & M65 happen immediately as they are received by the motion "
+"controller. They are not synchronized with movement, and they will break "
+"blending."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:370
+msgid ""
+"M62-65 will not function unless the appropriate motion.digital-out-_nn_ pins "
+"are connected in your HAL file to outputs."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:372
+#, no-wrap
+msgid "M66 Wait on Input(((M66 Wait on Input)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:377
+#, no-wrap
+msgid "M66 P- | E- <L->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:380
+msgid ""
+"'P-' - specifies the digital input number from 0 to 3. (Adjustable from "
+"motmod argument num_dio)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:381
+msgid ""
+"'E-' - specifies the analog input number from 0 to 3.  (Adjustable from "
+"motmod argument num_aio)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:382
+msgid "'L-' - specifies the wait mode type."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:384
+msgid ""
+"'Mode 0: IMMEDIATE' - no waiting, returns immediately.  The current value of "
+"the input is stored in parameter #5399"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:385
+msgid "'Mode 1: RISE' - waits for the selected input to perform a rise event."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:386
+msgid "'Mode 2: FALL' - waits for the selected input to perform a fall event."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:387
+msgid "'Mode 3: HIGH' - waits for the selected input to go to the HIGH state."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:388
+msgid "'Mode 4: LOW' - waits for the selected input to go to the LOW state."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:392
+msgid ""
+"'Q-' - specifies the timeout in seconds for waiting. If the timeout is "
+"exceeded, the wait is interrupt, and the variable #5399 will be holding the "
+"value -1. The Q value is ignored if the L-word is zero (IMMEDIATE).  A Q "
+"value of zero is an error if the L-word is non-zero."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:393
+msgid "Mode 0 is the only one permitted for an analog input."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/m-code.adoc:394
+#, no-wrap
+msgid "M66 Example Lines"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:399
+#, no-wrap
+msgid "M66 P0 L3 Q5 (wait up to 5 seconds for digital input 0 to turn on)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:403
+msgid ""
+"M66 wait on an input stops further execution of the program, until the "
+"selected event (or the programmed timeout) occurs."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:408
+msgid ""
+"It is an error to program M66 with both a P-word and an E-word (thus "
+"selecting both an analog and a digital input). In LinuxCNC these inputs are "
+"not monitored in real time and thus should not be used for timing-critical "
+"applications."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:412 src/gcode/m-code.adoc:443
+#: src/gcode/m-code.adoc:467
+msgid ""
+"The number of I/O can be increased by using the num_dio or num_aio parameter "
+"when loading the motion controller. See the <<sec:motion,Motion>> section "
+"for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:416
+msgid ""
+"M66 will not function unless the appropriate motion.digital-in-_nn_ pins or "
+"motion.analog-in-_nn_ pins are connected in your HAL file to an input."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/m-code.adoc:417
+#, no-wrap
+msgid "Example HAL Connection"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:420
+#, no-wrap
+msgid "net signal-name motion.digital-in-00 <= parport.0.pin10-in\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:423
+#, no-wrap
+msgid "M67 Analog Output, Synchronized(((M67 Analog Output, Synchronized)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:428
+#, no-wrap
+msgid "M67 E- Q-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:431
+msgid "'M67' - set an analog output synchronized with motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:432
+msgid ""
+"'E-' - output number ranging from 0 to 3 (Adjustable from motmod argument "
+"num_aio)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:433 src/gcode/m-code.adoc:459
+msgid "'Q-' - is the value to set (set to 0 to turn off)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:439
+msgid ""
+"The actual change of the specified outputs will happen at the beginning of "
+"the next motion command. If there is no subsequent motion command, the "
+"queued output changes won't happen. It's best to always program a motion "
+"G-code (G0, G1, etc) right after the M67. M67 functions the same as M62-63."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:447
+msgid ""
+"M67 will not function unless the appropriate motion.analog-out-_nn_ pins are "
+"connected in your HAL file to outputs."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:449
+#, no-wrap
+msgid "M68 Analog Output, Immediate(((M68 Analog Output)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:454
+#, no-wrap
+msgid "M68 E- Q-\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:457
+msgid "'M68' - set an analog output immediately."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:458
+msgid ""
+"'E-' - output number ranging from 0 to 3. (Adjustable from motmod argument "
+"num_aio)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:463
+msgid ""
+"M68 output happen immediately as they are received by the motion "
+"controller. They are not synchronized with movement, and they will break "
+"blending. M68 functions the same as M64-65."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:471
+msgid ""
+"M68 will not function unless the appropriate motion.analog-out-_nn_ pins are "
+"connected in your HAL file to outputs."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:473
+#, no-wrap
+msgid "M70 Save Modal State(((M70 Save Modal State)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:478
+msgid ""
+"To explicitly save the modal state at the current call level, program "
+"'M70'. Once modal state has been saved with 'M70', it can be restored to "
+"exactly that state by executing an 'M72'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:482
+msgid ""
+"A pair of 'M70' and 'M72' instructions will typically be used to protect a "
+"program against inadvertent modal changes within subroutines."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/m-code.adoc:484
+#, no-wrap
+msgid "M70 Saved state(((M70 Saved state)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:486
+msgid "The state saved consists of:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:488
+msgid "current G20/G21 settings (imperial/metric)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:489
+msgid "selected plane (G17/G18/G19 G17.1,G18.1,G19.1)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:490
+msgid "status of cutter compensation (G40,G41,G42,G41.1,G42,1)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:491
+msgid "distance mode - relative/absolute (G90/G91)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:492
+msgid "feed mode (G93/G94,G95)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:493
+msgid "current coordinate system (G54-G59.3)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:494
+msgid "tool length compensation status (G43,G43.1,G49)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:495
+msgid "retract mode (G98,G99)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:496
+msgid "spindle mode (G96-css or G97-RPM)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:497
+msgid "arc distance mode (G90.1, G91.1)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:498
+msgid "lathe radius/diameter mode (G7,G8)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:499
+msgid "path control mode (G61, G61.1, G64)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:500
+msgid "current feed and speed ('F' and 'S' values)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:501
+msgid "spindle status (M3,M4,M5) - on/off and direction"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:502
+msgid "mist (M7) and flood (M8) status"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:503
+msgid "speed override (M51) and feed override (M50) settings"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:504
+msgid "adaptive feed setting (M52)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:505
+msgid "feed hold setting (M53)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:507
+msgid "Note that in particular, the motion mode (G1 etc) is NOT restored."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:509
+msgid "'current call level' means either:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:514
+msgid ""
+"executing in the main program. There is a single storage location for state "
+"at the main program level; if several 'M70' instructions are executed in "
+"turn, only the most recently saved state is restored when an 'M72' is "
+"executed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:518
+msgid ""
+"executing within a G-code subroutine. The state saved with 'M70' within a "
+"subroutine behaves exactly like a local named parameter - it can be referred "
+"to only within this subroutine invocation with an 'M72' and when the "
+"subroutine exits, the parameter goes away."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:520
+msgid "A recursive invocation of a subroutine introduces a new call level."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:522
+#, no-wrap
+msgid "M71 Invalidate Stored Modal State(((M71 Invalidate Stored Modal State)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:526
+msgid ""
+"Modal state saved with an 'M70' or by an 'M73' at the current call level is "
+"invalidated (cannot be restored from anymore)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:528
+msgid "A subsequent 'M72' at the same call level will fail."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:531
+msgid ""
+"If executed in a subroutine which protects modal state by an 'M73', a "
+"subsequent return or endsub will *not* restore modal state."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:534
+msgid ""
+"The usefulness of this feature is dubious. It should not be relied upon as "
+"it might go away."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:536
+#, no-wrap
+msgid "M72 Restore Modal State(((M72 Restore Modal State)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:540
+msgid ""
+"<<mcode:m70-saved-state,Modal state saved with an 'M70'>> code can be "
+"restored by executing an 'M72'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:546
+msgid ""
+"The handling of G20/G21 is specially treated as feeds are interpreted "
+"differently depending on G20/G21: if length units (mm/in) are about to be "
+"changed by the restore operation, 'M72 'will restore the distance mode "
+"first, and then all other state including feed to make sure the feed value "
+"is interpreted in the correct unit setting."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:549
+msgid ""
+"It is an error to execute an 'M72' with no previous 'M70' save operation at "
+"that level."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:554
+msgid ""
+"The following example demonstrates saving and explicitly restoring modal "
+"state around a subroutine call using 'M70' and 'M72'. Note that the "
+"'imperialsub' subroutine is not \"aware\" of the M7x features and can be "
+"used unmodified:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:560 src/gcode/m-code.adoc:612
+#, no-wrap
+msgid ""
+"O<showstate> sub\n"
+"(DEBUG, imperial=#<_imperial> absolute=#<_absolute> feed=#<_feed> "
+"rpm=#<_rpm>)\n"
+"O<showstate> endsub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:569
+#, no-wrap
+msgid ""
+"O<imperialsub> sub\n"
+"g20 (imperial)\n"
+"g91 (relative mode)\n"
+"F5 (low feed)\n"
+"S300 (low rpm)\n"
+"(debug, in subroutine, state now:)\n"
+"o<showstate> call\n"
+"O<imperialsub> endsub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:575
+#, no-wrap
+msgid ""
+"; main program\n"
+"g21 (metric)\n"
+"g90 (absolute)\n"
+"f200 (fast speed)\n"
+"S2500 (high rpm)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:578
+#, no-wrap
+msgid ""
+"(debug, in main, state now:)\n"
+"o<showstate> call\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:582
+#, no-wrap
+msgid ""
+"M70 (save caller state in at global level)\n"
+"O<imperialsub> call\n"
+"M72 (explicitly restore state)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:586
+#, no-wrap
+msgid ""
+"(debug, back in main, state now:)\n"
+"o<showstate> call\n"
+"m2\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:589
+#, no-wrap
+msgid ""
+"M73 Save and Autorestore Modal State(((M73 Save and Autorestore Modal "
+"State)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:593
+msgid ""
+"To save modal state within a subroutine, and restore state on subroutine "
+"'endsub' or any 'return' path, program 'M73'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:596
+msgid ""
+"Aborting a running program in a subroutine which has an 'M73' operation will "
+"*not* restore state ."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:599
+msgid ""
+"Also, the normal end ('M2') of a main program which contains an 'M73' will "
+"*not* restore state."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:606
+msgid ""
+"The suggested use is at the beginning of a O-word subroutine as in the "
+"following example. Using 'M73' this way enables designing subroutines which "
+"need to modify modal state but will protect the calling program against "
+"inadvertent modal changes. Note the use of "
+"<<gcode:predefined-named-parameters,predefined named parameters>> in the "
+"'showstate' subroutine."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:621
+#, no-wrap
+msgid ""
+"O<imperialsub> sub\n"
+"M73 (save caller state in current call context, restore on return or "
+"endsub)\n"
+"g20 (imperial)\n"
+"g91 (relative mode)\n"
+"F5 (low feed)\n"
+"S300 (low rpm)\n"
+"(debug, in subroutine, state now:)\n"
+"o<showstate> call\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:625
+#, no-wrap
+msgid ""
+"; note - no M72 is needed here - the following endsub or an\n"
+"; explicit 'return' will restore caller state\n"
+"O<imperialsub> endsub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:637
+#, no-wrap
+msgid ""
+"; main program\n"
+"g21 (metric)\n"
+"g90 (absolute)\n"
+"f200 (fast speed)\n"
+"S2500 (high rpm)\n"
+"(debug, in main, state now:)\n"
+"o<showstate> call\n"
+"o<imperialsub> call\n"
+"(debug, back in main, state now:)\n"
+"o<showstate> call\n"
+"m2\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:640
+#, no-wrap
+msgid "M98 and M99"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:645
+msgid ""
+"The interpreter supports Fanuc-style main- and sub-programs with the 'M98' "
+"and 'M99' M-codes.  See <<ocode:fanuc-style-programs,Fanuc-Style Programs>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/m-code.adoc:646
+#, no-wrap
+msgid "Selectively Restoring Modal State"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:650
+msgid ""
+"Executing an 'M72' or returning from a subroutine which contains an 'M73' "
+"will restore <<mcode:m70-saved-state,*all* modal state saved>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:657
+msgid ""
+"If only some aspects of modal state should be preserved, an alternative is "
+"the usage of <<gcode:predefined-named-parameters, predefined named "
+"parameters>>, local parameters and conditional statements. The idea is to "
+"remember the modes to be restored at the beginning of the subroutine, and "
+"restore these before exiting. Here is an example, based on snippet of "
+"'nc_files/tool-length-probe.ngc':"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:675
+#, no-wrap
+msgid ""
+"O<measure> sub   (measure reference tool)\n"
+";\n"
+"#<absolute> = #<_absolute>  (remember in local variable if G90 was set)\n"
+";\n"
+"g30 (above switch)\n"
+"g38.2 z0 f15 (measure)\n"
+"g91 g0z.2 (off the switch)\n"
+"#1000=#5063 (save reference tool length)\n"
+"(print,reference length is #1000)\n"
+";\n"
+"O<restore_abs> if [#<absolute>]\n"
+"    g90 (restore G90 only if it was set on entry:)\n"
+"O<restore_abs> endif\n"
+";\n"
+"O<measure> endsub\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/m-code.adoc:678
+#, no-wrap
+msgid "M100-M199 User Defined Commands(((M100-M199 User Defined Commands)))"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:683
+#, no-wrap
+msgid "M1-- <P- Q->\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:686
+msgid "'M1--' - an integer in the range of 100 - 199."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:687
+msgid "'P-' - a number passed to the file as the first parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:688
+msgid "'Q-' - a number passed to the file as the second parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:692
+msgid ""
+"After creating a new 'M1nn' file you must restart the GUI so it is aware of "
+"the new file, otherwise you will get an 'Unknown m code' error."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:697
+msgid ""
+"The external program named 'M100' through 'M199' (no extension, a capital M, "
+"found in directory pointed by '[DISPLAY] PROGRAM_PREFIX' parameter of the "
+"INI file) is executed with the optional P and Q values as its two arguments."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:702
+msgid ""
+"Execution of the G-code file pauses until the external program exits.  Any "
+"valid executable file can be used. The file must be located in the search "
+"path specified in the INI file configuration.  See the "
+"<<sub:ini:sec:display,Display>> section for more information on search "
+"paths."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:705
+msgid ""
+"After creating a new M1nn program, the GUI should be restarted so that the "
+"new program is taken into account, otherwise a 'Unknown M-code' error will "
+"occur."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:711
+msgid ""
+"Do not use a word processor to create or edit the files. A word processor "
+"will leave unseen codes that will cause problems and may prevent a bash or "
+"python file from working. Use a text editor like Geany in Debian or "
+"Notepad++ in other operating systems to create or edit the files."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:713
+msgid "The error 'Unknown M-code used' denotes one of the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:715
+msgid "The specified User Defined Command does not exist"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:716
+msgid "The file is not an executable file"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:717
+msgid "The file name has an extension"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:718
+msgid "The file name does not follow this format Mnnn where nnn = 100 through 199"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:719
+msgid "The file name used a lower case M"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:725
+msgid ""
+"For example to open and close a collet closer that is controlled by a "
+"parallel port pin using a bash script file using M101 and M102. Create two "
+"files named M101 and M102. Set them as executable files (typically right "
+"click/properties/permissions) before running LinuxCNC. Make sure the "
+"parallel port pin is not connected to anything in a HAL file."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/m-code.adoc:726
+#, no-wrap
+msgid "M101 Example File"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:732
+#, no-wrap
+msgid ""
+"#!/bin/bash\n"
+"# file to turn on parport pin 14 to open the collet closer\n"
+"halcmd setp parport.0.pin-14-out True\n"
+"exit 0\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/m-code.adoc:734
+#, no-wrap
+msgid "M102 Example File"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:740
+#, no-wrap
+msgid ""
+"#!/bin/bash\n"
+"# file to turn off parport pin 14 to open the collet closer\n"
+"halcmd setp parport.0.pin-14-out False\n"
+"exit 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:743
+msgid "To pass a variable to a M1nn file you use the P and Q option like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:747
+#, no-wrap
+msgid "M100 P123.456 Q321.654\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/m-code.adoc:749
+#, no-wrap
+msgid "M100 Example file"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:757
+#, no-wrap
+msgid ""
+"#!/bin/bash\n"
+"voltage=$1\n"
+"feedrate=$2\n"
+"halcmd setp thc.voltage $voltage\n"
+"halcmd setp thc.feedrate $feedrate\n"
+"exit 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:762
+msgid ""
+"To display a graphic message and stop until the message window is closed use "
+"a graphic display program like Eye of Gnome to display the graphic "
+"file. When you close it the program will resume."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/m-code.adoc:763
+#, no-wrap
+msgid "M110 Example file"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:768
+#, no-wrap
+msgid ""
+"#!/bin/bash\n"
+"eog /home/john/linuxcnc/nc_files/message.png\n"
+"exit 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/m-code.adoc:772
+msgid ""
+"To display a graphic message and continue processing the G-code file suffix "
+"an ampersand to the command."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/m-code.adoc:773
+#, no-wrap
+msgid "M110 Example display and keep going"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/m-code.adoc:778
+#, no-wrap
+msgid ""
+"#!/bin/bash\n"
+"eog /home/john/linuxcnc/nc_files/message.png &\n"
+"exit 0\n"
+msgstr ""
+
+#. type: Title =
+#: src/gcode/o-code.adoc:5
+#, no-wrap
+msgid "O Codes(((O Codes)))"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:13
+#, no-wrap
+msgid "Use of O-codes"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:20
+msgid ""
+"O-codes provide for flow control in NC programs.  Each block has an "
+"associated number, which is the number used after O.  Care must be taken to "
+"properly match the O-numbers.  O-codes use the letter 'O' not the number "
+"zero as the first character in the number like O100 or o100.  O-codes are "
+"also sometimes called o-words and these terms are interchangeable."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:24
+msgid ""
+"Using the lower case 'o' makes it easier to distinguish from a 0 that might "
+"have been mistyped.  For example 'o100' is easier to see than 'O100' that it "
+"is not a '0'."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:25
+#, no-wrap
+msgid "Numbering"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:28
+msgid "Numbered o-codes must have a unique number for each subroutine,"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:29
+#, no-wrap
+msgid "Numbering Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:43
+#, no-wrap
+msgid ""
+"(the start of o100)\n"
+"o100 sub\n"
+"(notice that the if-endif block uses a different number)\n"
+"  (the start of o110)\n"
+"  o110 if [#2 GT 5]\n"
+"    (some code here)\n"
+"  (the end of o110)\n"
+"  o110 endif\n"
+"  (some more code here)\n"
+"(the end of o100)\n"
+"o100 endsub\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:46 src/gcode/overview.adoc:160
+#: src/gcode/overview.adoc:991
+#, no-wrap
+msgid "Comments(((Comments)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:50
+msgid ""
+"Comments on the same line as the o-word should not be used as the behavior "
+"can change in the future."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:52
+msgid "The behavior is undefined if:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:54
+msgid "The same number is used for more than one block."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:55
+msgid "Other words are used on a line with an o-word."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:56
+msgid "Comments are used on a line with an o-word."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:59
+#, no-wrap
+msgid "Subroutines(((Subroutines)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:64
+msgid ""
+"Subroutines starts at 'oNNN sub' and ends at 'oNNN endsub'. The lines "
+"between 'oNNN sub' and 'oNNN endsub' are not executed until the subroutine "
+"is called with 'oNNN call'. Each subroutine must use a unique number."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:65
+#, no-wrap
+msgid "Subroutine Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:71
+#, no-wrap
+msgid ""
+"o100 sub\n"
+"  G53 G0 X0 Y0 Z0 (rapid move to machine home)\n"
+"o100 endsub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:75
+#, no-wrap
+msgid ""
+"(the subroutine is called)\n"
+"o100 call\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:78
+msgid ""
+"See <<gcode:g53,G53>>, <<gcode:g0,G0>> and <<mcode:m2-m30,M2>> sections for "
+"more information."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:79
+#, no-wrap
+msgid "O- Return"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:82
+msgid ""
+"Inside a subroutine, 'o- return' can be executed.  This immediately returns "
+"to the calling code, just as though 'o- endsub' was encountered."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:83
+#, no-wrap
+msgid "O- Return Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:95
+#, no-wrap
+msgid ""
+"o100 sub\n"
+"  (test if parameter #2 is greater than 5)\n"
+"  o110 if [#2 GT 5]\n"
+"    (return to top of subroutine if test is true)\n"
+"    o100 return\n"
+"  o110 endif\n"
+"    (this only gets executed if parameter #2 is not greater than 5)\n"
+"    (DEBUG, parameter 1 is [#1])\n"
+"o100 endsub\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:98
+msgid ""
+"See the <<gcode:binary-operators,Binary Operators>> and "
+"<<sec:overview-parameters,Parameters>> sections for more information."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:99
+#, no-wrap
+msgid "O- Call"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:105
+msgid ""
+"'o- Call' takes up to 30 optional arguments, which are passed to the "
+"subroutine as '#1', '#2' , ..., #N.  Parameters from #N+1 to #30 have the "
+"same value as in the calling context.  On return from the subroutine, the "
+"values of parameters #1 through #30 (regardless of the number of arguments)  "
+"will be restored to the values they had before the call.  Parameters #1 - "
+"#30 are local to the subroutine."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:108
+msgid ""
+"Because '1 2 3' is parsed as the number 123, the parameters must be enclosed "
+"in square brackets.  The following calls a subroutine with 3 arguments:"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:109
+#, no-wrap
+msgid "O- Call Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:122
+#, no-wrap
+msgid ""
+"o100 sub\n"
+"  (test if parameter #2 is greater than 5)\n"
+"  o110 if [#2 GT 5]\n"
+"    (return to top of subroutine if test is true)\n"
+"    o100 return\n"
+"  o110 endif\n"
+"    (this only gets executed if parameter #2 is not greater than 5)\n"
+"    (DEBUG, parameter 1 is [#1])\n"
+"    (DEBUG, parameter 3 is [#3])\n"
+"o100 endsub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:124
+#, no-wrap
+msgid "o100 call [100] [2] [325]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:130
+msgid ""
+"Subroutine bodies may not be nested.  They may only be called after they are "
+"defined.  They may be called from other functions, and may call themselves "
+"recursively if it makes sense to do so.  The maximum subroutine nesting "
+"level is 10."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:133
+msgid ""
+"Subroutines can change the value of parameters above #30 and those changes "
+"will be visible to the calling code.  Subroutines may also change the value "
+"of <<gcode:named-parameters,global named parameters>> (i.e. parameters whose "
+"names begin with the underscore character \"`_`\")."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/o-code.adoc:135
+#, no-wrap
+msgid "Fanuc-Style Numbered Programs(((Subroutines,M98,M99)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:140
+msgid ""
+"Numbered programs (both main and subprograms), the 'M98' call and 'M99' "
+"return M-codes, and their respective semantic differences are an alternative "
+"to the rs274ngc subroutines described above, provided for compatibility with "
+"Fanuc and other machine controllers."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:143
+msgid ""
+"Numbered programs are enabled by default, and may be disabled by placing "
+"`DISABLE_FANUC_STYLE_SUB = 1` in the `[RS274NGC]` section of the `.ini` "
+"file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:149
+msgid ""
+"Numbered main and subprogram definitions and calls differ from traditional "
+"rs274ngc both in syntax and execution.  To reduce the possibility of "
+"confusion, the interpreter will raise an error if definitions of one style "
+"are mixed with calls of another."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:150
+#, no-wrap
+msgid "Numbered Subprogram Simple Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:156
+#, no-wrap
+msgid ""
+"o1 (Example 1)    ; Main program 1, \"Example 1\"\n"
+"M98 P100          ; Call subprogram 100\n"
+"M30               ; End main program\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:160
+#, no-wrap
+msgid ""
+"o100              ; Beginning of subprogram 100\n"
+"  G53 G0 X0 Y0 Z0 ; Rapid move to machine home\n"
+"M99               ; Return from subprogram 100\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:162
+#, no-wrap
+msgid "'o1 (Title)'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:166
+msgid ""
+"The optional main program beginning block gives the main program the number "
+"`1`.  Some controllers treat an optional following parenthesized comment as "
+"a program title, `Example 1` in this example, but this has no special "
+"meaning in the rs274ngc interpreter."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:167
+#, no-wrap
+msgid "'M98 P- <L\\->'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:172
+msgid ""
+"Call a numbered subprogram.  The block `M98 P100` is analogous to the "
+"traditional `o100 call` syntax, but may only be used to call a following "
+"numbered subprogram defined with `o100`...`M99`.  An optional 'L'-word "
+"specifies a loop count."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:173
+#, no-wrap
+msgid "'M30'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:176
+msgid ""
+"The main program must be terminated with `M02` or `M30` (or `M99`; see "
+"below)."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:177
+#, no-wrap
+msgid "'O-' subprogram definition start"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:181
+msgid ""
+"Marks the start of a numbered subprogram definition.  The block `o100` is "
+"similar to `o100 sub`, except that it must be placed later in the file than "
+"the `M98 P100` calling block."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:182
+#, no-wrap
+msgid "'M99' return from numbered subroutine"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:187
+msgid ""
+"The block `M99` is analogous to the traditional `o100 endsub` syntax, but "
+"may only terminate a numbered program (`o100` in this example), and may not "
+"terminate a subroutine beginning with the `o100 sub` syntax."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:190
+msgid ""
+"The `M98` subprogram call differs from rs274ngc `o call` in the following "
+"ways:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:193
+msgid ""
+"The numbered subprogram must follow the `M98` call in the program file.  The "
+"interpreter will throw an error if the subprogram precedes the call block."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:198
+msgid ""
+"Parameters `#1`, `#2`, ..., `#30` are global and accessible in numbered "
+"subprograms, similar to higher-numbered parameters in traditional style "
+"calls.  Modifications to these parameters within a subprogram are global "
+"modifications, and will be persist after subprogram return."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:199
+msgid "`M98` subprogram calls have no return value."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:202
+msgid ""
+"`M98` subprogram call blocks may contain an optional L-word specifying a "
+"loop repeat count.  Without the L-word, the subprogram will execute once "
+"only (equivalent to `M98 L1`).  An `M98 L0` block will not execute the "
+"subprogram."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:210
+msgid ""
+"In rare cases, the `M99` M-code may be used to terminate the main program, "
+"where it indicates an 'endless program'.  When the interpreter reaches an "
+"`M99` in the main program, it will skip back to the beginning of the file "
+"and resume execution at the first line.  An example use of an endless "
+"program is in a machine warm-up cycle; a block delete program end `/M30` "
+"block might be used to stop the cycle at a tidy point when the operator is "
+"ready."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:211
+#, no-wrap
+msgid "Numbered Subprogram Full Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:220
+#, no-wrap
+msgid ""
+"o1                             ; Main program 1\n"
+"  #1 = 0\n"
+"  (PRINT,X MAIN BEGIN:  1=#1)\n"
+"  M98 P100 L5                  ; Call subprogram 100\n"
+"  (PRINT,X MAIN END:  1=#1)\n"
+"M30                            ; End main program\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:226
+#, no-wrap
+msgid ""
+"o100                           ; Subprogram 100\n"
+"  #1 = [#1 + 1]\n"
+"  M98 P200 L5                  ; Call subprogram 200\n"
+"  (PRINT,>> o100:  #1)\n"
+"M99                            ; Return from Subprogram 100\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:231
+#, no-wrap
+msgid ""
+"o200                           ; Subprogram 200\n"
+"  #1 = [#1 + 0.01]\n"
+"  (PRINT,>>>> o200:  #1)\n"
+"M99                            ; Return from Subprogram 200\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:237
+msgid ""
+"In this example, parameter `#1` is initialized to `0`.  Subprogram `o100` is "
+"called five times in a loop.  Nested within each call to `o100`, subprogram "
+"`o200` is called five times in a loop, for 25 times total."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:240
+msgid ""
+"Note that parameter `#1` is global.  At the end of the main program, after "
+"updates within `o100` and `o200`, its value will equal `5.25`."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:242
+#, no-wrap
+msgid "Looping(((Subroutines,Looping)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:249
+msgid ""
+"The 'while loop' has two structures: 'while/endwhile', and 'do/while'. In "
+"each case, the loop is exited when the 'while' condition evaluates to "
+"false. The difference is when the test condition is done. The 'do/while' "
+"loop runs the code in the loop then checks the test condition. The "
+"'while/endwhile' loop does the test first."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:250
+#, no-wrap
+msgid "While Endwhile Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:263
+#, no-wrap
+msgid ""
+"(draw a sawtooth shape)\n"
+"G0 X1 Y0 (move to start position)\n"
+"#1 = 0 (assign parameter #1 the value of 0)\n"
+"F25 (set a feed rate)\n"
+"o101 while [#1 LT 10]\n"
+"  G1 X0\n"
+"  G1 Y[#1/10] X1\n"
+"  #1 = [#1+1] (increment the test counter)\n"
+"o101 endwhile\n"
+"M2 (end program)\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:265
+#, no-wrap
+msgid "Do While Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:281
+#, no-wrap
+msgid ""
+"#1 = 0 (assign parameter #1 the value of 0)\n"
+"o100 do\n"
+"  (debug, parameter 1 = #1)\n"
+"  o110 if [#1 EQ 2]\n"
+"    #1 = 3 (assign the value of 3 to parameter #1)\n"
+"    (msg, #1 has been assigned the value of 3)\n"
+"    o100 continue (skip to start of loop)\n"
+"  o110 endif\n"
+"  (some code here)\n"
+"  #1 = [#1 + 1] (increment the test counter)\n"
+"o100 while [#1 LT 3]\n"
+"(msg, Loop Done!)\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:287
+msgid ""
+"Inside a while loop, 'o- break' immediately exits the loop, and 'o- "
+"continue' immediately skips to the next evaluation of the 'while' "
+"condition. If it is still true, the loop begins again at the top. If it is "
+"false, it exits the loop."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:289
+#, no-wrap
+msgid "Conditional(((Subroutines,Conditional Loops)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:294
+msgid ""
+"The 'if' conditional consists of a group of statements with the same 'o' "
+"number that start with 'if' and end with 'endif'. Optional 'elseif' and "
+"'else' conditions may be between the starting 'if' and the ending 'endif'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:297
+msgid ""
+"If the 'if' conditional evaluates to true then the group of statements "
+"following the 'if' up to the next conditional line are executed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:304
+msgid ""
+"If the 'if' conditional evaluates to false then the 'elseif' conditions are "
+"evaluated in order until one evaluates to true. If the 'elseif' condition is "
+"true then the statements following the 'elseif' up to the next conditional "
+"line are executed. If none of the 'if' or 'elseif' conditions evaluate to "
+"true then the statements following the 'else' are executed. When a condition "
+"is evaluated to true no more conditions are evaluated in the group."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:305
+#, no-wrap
+msgid "If Endif Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:312
+#, no-wrap
+msgid ""
+"(if parameter #31 is equal to 3 set S2000)\n"
+"o101 if [#31 EQ 3]\n"
+"  S2000\n"
+"o101 endif\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:314
+#, no-wrap
+msgid "If ElseIf Else EndIf Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:327
+#, no-wrap
+msgid ""
+"(if parameter #2 is greater than 5 set F100)\n"
+"o102 if [#2 GT 5]\n"
+"  F100\n"
+"o102 elseif [#2 LT 2]\n"
+"(else if parameter #2 is less than 2 set F200)\n"
+"  F200\n"
+"(else if parameter #2 is 2 through 5 set F150)\n"
+"o102 else\n"
+"  F150\n"
+"o102 endif\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:331
+msgid ""
+"Several conditions may be tested for by 'elseif' statements until the 'else' "
+"path is finally executed if all preceding conditions are false:"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:332
+#, no-wrap
+msgid "If Elseif Else Endif Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:345
+#, no-wrap
+msgid ""
+"(if parameter #2 is greater than 5 set F100)\n"
+"o102 if [#2 GT 5]\n"
+"  F100\n"
+"(else if parameter #2 less than 2 set F200)\n"
+"o102 elseif [#2 LT 2]\n"
+"  F20\n"
+"(parameter #2 is between 2 and 5)\n"
+"o102 else\n"
+"  F200\n"
+"o102 endif\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:348
+#, no-wrap
+msgid "Repeat(((Subroutines,Repeat Loop)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:354
+msgid ""
+"The 'repeat' will execute the statements inside of the repeat/endrepeat the "
+"specified number of times. The example shows how you might mill a diagonal "
+"series of shapes starting at the present position."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:355
+#, no-wrap
+msgid "Example with 'repeat'"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:365
+#, no-wrap
+msgid ""
+"(Mill 5 diagonal shapes)\n"
+"G91 (Incremental mode)\n"
+"o103 repeat [5]\n"
+"... (insert milling code here)\n"
+"G0 X1 Y1 (diagonal move to next position)\n"
+"o103 endrepeat\n"
+"G90 (Absolute mode)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:368
+#, no-wrap
+msgid "Indirection(((Indirection)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:371
+msgid "The o-number may be given by a parameter and/or calculation."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:372
+#, no-wrap
+msgid "Indirection Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:376
+#, no-wrap
+msgid "o[#101+2] call\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:378
+#, no-wrap
+msgid "Computing values in O-words"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:380
+msgid "For more information on computing values see the following sections:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:382
+msgid "<<sec:overview-parameters,Parameters>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:383
+msgid "<<gcode:expressions,Expressions>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:384
+msgid "<<gcode:binary-operators,Binary Operators>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:385
+msgid "<<gcode:functions,Functions>>"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:387
+#, no-wrap
+msgid "Calling Files(((Calling Files)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:394
+msgid ""
+"To call a separate file with a subroutine name the file the same as your "
+"call and include a sub and endsub in the file. The file must be in the "
+"directory pointed to by 'PROGRAM_PREFIX' or 'SUBROUTINE_PATH' in the INI "
+"file.  The file name can include *lowercase* letters, numbers, dash, and "
+"underscore only. A named subroutine file can contain only a single "
+"subroutine definition."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:395
+#, no-wrap
+msgid "Named File Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:399
+#, no-wrap
+msgid "o<myfile> call\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:401
+#, no-wrap
+msgid "Numbered File Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:405
+#, no-wrap
+msgid "o123 call\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:409
+msgid ""
+"In the called file you must include the oxxx sub and endsub and the file "
+"must be a valid file."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:410
+#, no-wrap
+msgid "Called File Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:418
+#, no-wrap
+msgid ""
+"(filename myfile.ngc)\n"
+"o<myfile> sub\n"
+"  (code here)\n"
+"o<myfile> endsub\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:424
+msgid ""
+"The file names are lowercase letters only so 'o<MyFile>' is converted to "
+"'o<myfile>' by the interpreter. More information about the search path and "
+"options for the search path are in the INI configuration section."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:425
+#, no-wrap
+msgid "Subroutine return values(((Return Values)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:429
+msgid ""
+"Subroutines may optionally return a value by an optional expression at an "
+"'endsub' or 'return' statement."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/o-code.adoc:430
+#, no-wrap
+msgid "Return value example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/o-code.adoc:436
+#, no-wrap
+msgid ""
+"o123 return [#2 *5]\n"
+"...\n"
+"o123 endsub [3 * 4]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:443
+msgid ""
+"A subroutine return value is stored in the '#<_value>' "
+"<<gcode:predefined-named-parameters,predefined named parameter>> , and the "
+"'#<_value_returned>' predefined parameter is set to 1, to indicate a value "
+"was returned. Both parameters are global, and are cleared just before the "
+"next subroutine call."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/o-code.adoc:445
+#, no-wrap
+msgid "Errors(((O-Code Errors)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:449
+msgid "The following statements cause an error message and abort the interpreter:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:451
+msgid "a `return` or `endsub` not within a sub definition"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:452
+msgid "a label on `repeat` which is defined elsewhere"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:453
+msgid "a label on `while` which is defińed elsewhere and not referring to a `do`"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:454
+msgid "a label on `if` defined elsewhere"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:455
+msgid "a undefined label on `else` or `elseif`"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:456
+msgid "a label on `else`, `elseif` or `endif` not pointing to a matching `if`"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:457
+msgid ""
+"a label on `break` or `continue` which does not point to a matching `while` "
+"or `do`"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:458
+msgid ""
+"a label on `endrepeat` or `endwhile` no referring to a corresponding `while` "
+"or `repeat`"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/o-code.adoc:461
+msgid ""
+"To make these errors non-fatal warnings on stderr, set bit 0x20 in the "
+"`[RS274NGC]FEATURE=` mask ini option."
+msgstr ""
+
+#. type: Title =
+#: src/gcode/other-code.adoc:5
+#, no-wrap
+msgid "Other Codes(((Other Codes)))"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/other-code.adoc:8
+#, no-wrap
+msgid "F: Set Feed Rate(((F: Set Feed Rate)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:12
+msgid ""
+"'Fx' - set the feed rate to 'x'.  'x' is usually in machine units (inches or "
+"millimeters) per minute."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:17
+msgid ""
+"The application of the feed rate is as described in the <<sub:feed-rate,Feed "
+"Rate>> Section, unless 'inverse time feed rate mode' or 'feed per revolution "
+"mode' are in effect, in which case the feed rate is as described in the "
+"<<gcode:g93-g94-g95,G93 G94 G95>> section."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/other-code.adoc:19
+#, no-wrap
+msgid "S: Set Spindle Speed(((S: Set Spindle Speed)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:24
+msgid ""
+"'Sx [$n]' - set the speed of the spindle to 'x' revolutions per minute (RPM)  "
+"with the optional $ set the spindle speed for a specific spindle. Without "
+"the $ the command will default to spindle.0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:29
+msgid ""
+"The spindle(s) or selected spindle will turn at that speed when a 'M3' or "
+"'M4' is in effect. It is OK to program an S word whether the spindle is "
+"turning or not. If the speed override switch is enabled and not set at 100%, "
+"the speed will be different from what is programmed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:31
+msgid "It is OK to program S0, the spindle will not turn if that is done."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:35
+msgid "the S number is negative."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:42
+msgid ""
+"As described in the section <<gcode:g84, Right-hand Tapping Cycle with "
+"Dwell>>, if a 'G84' (tapping) drilling cycle is active and the speed and "
+"feed potentiometers are enabled, the one with the lowest setting will be "
+"used.  The rotational speed and feed rate will remain synchronized. In this "
+"case, the speed may differ from the one programmed, even if the speed "
+"correction potentiometer is set to 100%."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/other-code.adoc:44
+#, no-wrap
+msgid "T: Select Tool(((T: Select Tool)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:47
+msgid "'Tx' - prepare to change to tool 'x'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:53
+msgid ""
+"The tool is not changed until an 'M6' is programmed (see Section "
+"<<mcode:m6,M6>>). The T word may appear on the same line as the 'M6' or on a "
+"previous line. It is OK if T words appear on two or more lines with no tool "
+"change. Only the the most recent T word will take effect at the next tool "
+"change."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:58
+msgid ""
+"When LinuxCNC is configured for a nonrandom toolchanger (see the entry for "
+"RANDOM_TOOLCHANGER in the <<sub:ini:sec:emcio,EMCIO Section>>), 'T0' gets "
+"special handling: no tool will be selected. This is useful if you want the "
+"spindle to be empty after a tool change."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:65
+msgid ""
+"When LinuxCNC is configured for a random toolchanger (see the entry for "
+"RANDOM_TOOLCHANGER in the <<sub:ini:sec:emcio,EMCIO Section>>), 'T0' does "
+"not get any special treatment: T0 is a valid tool like any other.  It is "
+"customary to use T0 on a random toolchanger machine to track an empty "
+"pocket, so that it behaves like a nonrandom toolchanger machine and unloads "
+"the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:69
+msgid "a negative T number is used,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:72
+msgid ""
+"T number is used that does not appear in the tool table file (with the "
+"exception that T0 on nonrandom toolchangers *is* accepted, as noted above)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:79
+msgid ""
+"On some machines, the carousel will move when a T word is programmed, at the "
+"same time machining is occurring. On such machines, programming the T word "
+"several lines before a tool change will save time. A common programming "
+"practice for such machines is to put the T word for the next tool to be used "
+"on the line after a tool change. This maximizes the time available for the "
+"carousel to move."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/other-code.adoc:85
+msgid ""
+"Rapid moves after a 'T<n>' will not show on the AXIS preview until after a "
+"feed move. This is for machines that travel long distances to change the "
+"tool like a lathe. This can be very confusing at first. To turn this feature "
+"off for the current tool program a G1 without any move after the 'T<n>'."
+msgstr ""
+
+#. type: Title =
+#: src/gcode/overview.adoc:6
+#, no-wrap
+msgid "Overview of G-Code Programming"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:22
+msgid ""
+"The LinuxCNC G-code language is based on the RS274/NGC language.  The G-code "
+"language is based on lines of code.  Each line (also called a 'block') may "
+"include commands to do several different things.  Lines of code may be "
+"collected in a file to make a program."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:35
+msgid ""
+"A typical line of code consists of an optional line number at the beginning "
+"followed by one or more 'words'. A word consists of a letter followed by a "
+"number (or something that evaluates to a number). A word may either give a "
+"command or provide an argument to a command. For example, 'G1 X3' is a valid "
+"line of code with two words. 'G1' is a command meaning 'move in a straight "
+"line at the programmed feed rate to the programmed end point', and 'X3' "
+"provides an argument value (the value of X should be 3 at the end of the "
+"move).  Most LinuxCNC G-code commands start with either G or M (for General "
+"and Miscellaneous).  The words for these commands are called 'G-codes' and "
+"'M-codes'.  Also common are subroutine codes that begin with 'o-' which are "
+"called 'o-codes'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:48
+msgid ""
+"The LinuxCNC language has no indicator for the start of a program. The "
+"Interpreter, however, deals with files. A single program may be in a single "
+"file, or a program may be spread across several files. A file may demarcated "
+"with percents in the following way. The first non-blank line of a file may "
+"contain nothing but a percent sign, '%', possibly surrounded by white space, "
+"and later in the file (normally at the end of the file) there may be a "
+"similar line. Demarcating a file with percents is optional if the file has "
+"an 'M2' or 'M30' in it, but is required if not. An error will be signaled if "
+"a file has a percent line at the beginning but not at the end. The useful "
+"contents of a file demarcated by percents stop after the second percent "
+"line. Anything after that is ignored."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:53
+msgid ""
+"The LinuxCNC G-code language has two commands ('M2' or 'M30'), either of "
+"which ends a program. A program may end before the end of a file. Lines of a "
+"file that occur after the end of a program are not to be executed. The "
+"interpreter does not even read them."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:54
+#, no-wrap
+msgid "Format of a line"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:59
+msgid ""
+"A permissible line of input code consists of the following, in order, with "
+"the restriction that there is a maximum (currently 256) to the number of "
+"characters allowed on a line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:61
+msgid "an optional block delete character, which is a slash '/'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:62
+msgid "an optional line number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:63
+msgid "Any number of:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:64
+msgid "words,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:65
+msgid "parameter settings,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:66
+msgid "subroutine codes, and"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:67
+msgid "comments."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:68
+msgid "an end of line marker (carriage return or line feed or both)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:71
+msgid ""
+"Any input not explicitly allowed is illegal and will cause the Interpreter "
+"to signal an error."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:76
+msgid ""
+"Spaces and tabs are allowed anywhere on a line of code and do not change the "
+"meaning of the line, except inside comments. This makes some strange-looking "
+"input legal. The line 'G0X +0. 12 34Y 7' is equivalent to 'G0 x+0.1234 Y7', "
+"for example."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:78
+msgid "Blank lines are allowed in the input. They are to be ignored."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:82
+msgid ""
+"Input is case insensitive, except in comments, i.e., any letter outside a "
+"comment may be in upper or lower case without changing the meaning of a "
+"line."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:84
+#, no-wrap
+msgid "'/': Block Delete((('/' Block Delete)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:90
+msgid ""
+"The optional block delete character the slash '/' when placed first on a "
+"line can be used by some user interfaces to skip lines of code when "
+"needed. In Axis the key combination Alt-m-/ toggles block delete on and "
+"off. When block delete is on any lines starting with the slash '/' are "
+"skipped."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:92
+msgid "In AXIS, it is also possible to enable block delete with the following icon:"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:93
+#, no-wrap
+msgid "AXIS Block Delete Icon"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:95
+msgid "image:../gui/images/tool_blockdelete.png[]"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:96
+#, no-wrap
+msgid "Optional Line Number(((Optional Line Number)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:105
+msgid ""
+"A line number is the letter N followed by an unsigned integer, optionally "
+"followed by a period and another unsigned integer. For example, 'N1234' and "
+"'N56.78' are valid line numbers. They may be repeated or used out of order, "
+"although normal practice is to avoid such usage. Line numbers may also be "
+"skipped, and that is normal practice. A line number is not required to be "
+"used, but must be in the proper place if used."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:107
+msgid ""
+"Line numbers are not recommended. See <<gcode:best-practices,Best "
+"Practices>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:108
+#, no-wrap
+msgid "Words, Parameters, Subroutines, Comments"
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/overview.adoc:110
+#, no-wrap
+msgid "Words(((Words)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:113
+msgid "A word is a letter other than N or O (\"o\") followed by a real value."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:116
+msgid ""
+"Words may begin with any of the letters shown in the following Table.  The "
+"table includes N and O for completeness, even though, as defined above, line "
+"numbers and program flow parameters are not words. Several letters (I, J, K, "
+"L, P, R) may have different meanings in different contexts. Letters which "
+"refer to axis names are not valid on a machine which does not have the "
+"corresponding axis."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:117
+#, no-wrap
+msgid "Words and their meanings"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:120
+#, no-wrap
+msgid "Letter"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:122
+#, no-wrap
+msgid "A axis of machine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:123
+#, no-wrap
+msgid "B axis of machine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:124
+#, no-wrap
+msgid "C axis of machine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:125
+#, no-wrap
+msgid "Tool radius compensation number"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:125
+#, no-wrap
+msgid "F"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:126
+#, no-wrap
+msgid "G"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:127
+#, no-wrap
+msgid "General function (See table  <<cap:modal-groups,G-code Modal Groups>>)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:128
+#, no-wrap
+msgid "Tool length offset index"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:128 src/gui/axis.adoc:631
+#: src/motion/pid-theory.adoc:156 src/motion/pid-theory.adoc:179
+#, no-wrap
+msgid "I"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:129
+#, no-wrap
+msgid "X offset for arcs and G87 canned cycles"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:129
+#, no-wrap
+msgid "J"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:130
+#, no-wrap
+msgid "Y offset for arcs and G87 canned cycles"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:130
+#, no-wrap
+msgid "K"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:131
+#, no-wrap
+msgid "Z offset for arcs and G87 canned cycles."
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:132
+#, no-wrap
+msgid "Spindle-Motion Ratio for G33 synchronized movements."
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:132 src/plasma/qtplasmac.adoc:2537
+#, no-wrap
+msgid "L"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:133
+#, no-wrap
+msgid "generic parameter word for G10, M66 and others"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:133
+#, no-wrap
+msgid "M"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:134
+#, no-wrap
+msgid ""
+"Miscellaneous function (See table  <<tbl:mcodes-modal-groups,M-code Modal "
+"Groups>>)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:134
+#, no-wrap
+msgid "N"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:135
+#, no-wrap
+msgid "Line number (not recommended, see <<gcode:best-practices, Best Practices>>)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:135 src/gui/axis.adoc:639
+#: src/plasma/qtplasmac.adoc:2536
+#, no-wrap
+msgid "O"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:136
+#, no-wrap
+msgid "o-codes for program flow control (See <<cha:o-codes,o-Codes>>)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:137
+#, no-wrap
+msgid "Dwell time in canned cycles and with G4."
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:138
+#, no-wrap
+msgid "Key used with G10."
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:139
+#, no-wrap
+msgid "Feed increment in G73, G83 canned cycles"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:140
+#, no-wrap
+msgid "Arc radius or canned cycle plane"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:140 src/gui/axis.adoc:643
+#, no-wrap
+msgid "S"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:141
+#, no-wrap
+msgid "Spindle speed"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:142
+#, no-wrap
+msgid "Tool selection"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:143
+#, no-wrap
+msgid "U axis of machine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:144
+#, no-wrap
+msgid "V axis of machine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:145
+#, no-wrap
+msgid "W axis of machine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:146
+#, no-wrap
+msgid "X axis of machine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:147
+#, no-wrap
+msgid "Y axis of machine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:148
+#, no-wrap
+msgid "Z axis of machine"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:153
+msgid ""
+"Parameters are identified with a \"#\" symbol in front of them. See "
+"<<sec:overview-parameters,Parameters Section>> below."
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/overview.adoc:154
+#, no-wrap
+msgid "Subroutine Codes(((Subroutine Codes)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:157
+msgid ""
+"Also called 'o-codes' these provide program flow control (such as if-else "
+"logic and callable subroutines) and are covered fully at the page on "
+"<<cha:o-codes,o-Codes>> and also below in "
+"<<sub:subroutine-parameters,Subroutine Codes and Parameters>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:159
+msgid "o-codes are sometimes also called o-words."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:163
+msgid ""
+"Comments can be embedded in a line using parentheses () or for the remainder "
+"of a line using a semi-colon. There are also 'active' comments like MSG, "
+"DEBUG, etc. See the <<gcode:comments,section on comments>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:164
+#, no-wrap
+msgid "End of Line Marker(((End of Line Marker)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:167
+msgid "This is any combination of carriage return or line feed."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:169
+#, no-wrap
+msgid "Numbers(((Numbers)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:173
+msgid ""
+"The following rules are used for (explicit) numbers. In these rules a digit "
+"is a single character between 0 and 9."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:175
+msgid "A number consists of:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:176
+msgid "an optional plus or minus sign, followed by"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:177
+msgid "zero to many digits, followed, possibly, by"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:178
+msgid "one decimal point, followed by"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:179
+msgid ""
+"zero to many digits - provided that there is at least one digit somewhere in "
+"the number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:180
+msgid "There are two kinds of numbers:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:181
+msgid "Integers, that does not have a decimal point,"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:182
+msgid "Decimals, that do have a decimal point."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:184
+msgid ""
+"Numbers may have any number of digits, subject to the limitation on line "
+"length.  Only about seventeen significant figures will be retained, however "
+"(enough for all known applications)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:185
+msgid ""
+"A non-zero number with no sign but the first character is assumed to be "
+"positive."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:191
+msgid ""
+"Notice that initial (before the decimal point and the first non-zero digit) "
+"and trailing (after the decimal point and the last non-zero digit) zeros are "
+"allowed but not required. A number written with initial or trailing zeros "
+"will have the same value when it is read as if the extra zeros were not "
+"there."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:199
+msgid ""
+"Numbers used for specific purposes in RS274/NGC are often restricted to some "
+"finite set of values or some to some range of values. In many uses, decimal "
+"numbers must be close to integers; this includes the values of indices (for "
+"parameters and carousel slot numbers, for example), M-codes, and G-codes "
+"multiplied by ten. A decimal number which is intended to represent an "
+"integer is considered close enough if it is within 0.0001 of an integer "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:213
+msgid ""
+"The RS274/NGC language supports 'parameters' - what in other programming "
+"languages would be called 'variables'. There are several types of parameter "
+"of different purpose and appearance, each described in the following "
+"sections. The only value type supported by parameters is floating-point; "
+"there are no string, boolean or integer types in G-code like in other "
+"programming languages. However, logic expressions can be formulated with "
+"<<gcode:binary-operators,boolean operators>> ( 'AND', 'OR', 'XOR', and the "
+"comparison operators 'EQ','NE','GT','GE','LT','LE'), and the 'MOD', 'ROUND', "
+"'FUP' and 'FIX' <<gcode:functions,operators>> support integer arithmetic."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:216
+msgid ""
+"Parameters differ in syntax, scope, behavior when not yet initialized, mode, "
+"persistence and intended use."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:218
+msgid "There are three kinds of syntactic appearance:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:219
+msgid "'numbered' - #4711"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:220
+msgid "'named local' - #<localvalue>"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:221
+msgid "'named global' - #<_globalvalue>"
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/overview.adoc:222
+#, no-wrap
+msgid "Scope"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:229
+msgid ""
+"The scope of a parameter is either global, or local within a subroutine.  "
+"Subroutine parameters and local named variables have local scope.  Global "
+"named parameters and numbered parameters starting from number 31 are global "
+"in scope. RS274/NGC uses 'lexical scoping' - in a subroutine only the local "
+"variables defined therein, and any global variables are visible. The local "
+"variables of a calling procedure are not visible in a called procedure."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/overview.adoc:230
+#, no-wrap
+msgid "Behavior of uninitialized parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:233
+msgid ""
+"Uninitialized global parameters, and unused subroutine parameters return the "
+"value zero when used in an expression."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:234
+msgid "Uninitialized named parameters signal an error when used in an expression."
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:235 src/gcode/overview.adoc:510
+#: src/gcode/overview.adoc:532 src/gui/axis.adoc:624 src/gui/halui.adoc:248
+#: src/man/man1/halui.1.adoc:143 src/plasma/qtplasmac.adoc:97
+#, no-wrap
+msgid "Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:240
+msgid ""
+"Most parameters are read/write and may be assigned to within an assignment "
+"statement. However, for many predefined parameters this does not make sense, "
+"so they are are read-only - they may appear in expressions, but not on the "
+"left-hand side of an assignment statement."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/overview.adoc:241
+#, no-wrap
+msgid "Persistence"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:250
+msgid ""
+"When LinuxCNC is shut down, volatile parameters lose their values. All "
+"parameters except numbered parameters in the current persistent range "
+"footnote:[persistent_range,The range of persistent parameters may change as "
+"development progresses. This range is currently 5161- 5390. It is defined in "
+"the 'required_parameters array' in file the src/emc/rs274ngc/interp_array.cc "
+".] are volatile.  Persistent parameters are saved in the .var file and "
+"restored to their previous values when LinuxCNC is started again. Volatile "
+"numbered parameters are reset to zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/overview.adoc:251
+#, no-wrap
+msgid "Intended Use"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:257
+msgid ""
+"user parameters - numbered parameters in the range 31..5000, and named "
+"global and local parameters except predefined parameters. These are "
+"available for general-purpose storage of floating-point values, like "
+"intermediate results, flags etc, throughout program execution. They are "
+"read/write (can be assigned a value)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:258
+msgid ""
+"<<sub:subroutine-parameters,subroutine parameters>> - these are used to hold "
+"the actual parameters passed to a subroutine."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:259
+msgid ""
+"<<sub:numbered-parameters,numbered parameters>> - most of these are used to "
+"access offsets of coordinate systems."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:260
+msgid ""
+"<<sub:system-parameters,system parameters>> - used to determine the current "
+"running version. They are read-only."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:262
+#, no-wrap
+msgid "Numbered Parameters(((Numbered Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:273
+msgid ""
+"A numbered parameter is the pound character '#' followed by an integer "
+"between 1 and (currently) 5602 footnote:[The RS274/NGC interpreter maintains "
+"an array of numbered parameters. Its size is defined by the symbol "
+"'RS274NGC_MAX_PARAMETERS' in the file "
+"src/emc/rs274ngc/interp_internal.hh). This number of numerical parameters "
+"may also increase as development adds support for new parameters.]. The "
+"parameter is referred to by this integer, and its value is whatever number "
+"is stored in the parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:275
+msgid "A value is stored in a parameter with the = operator; for example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:278
+#, no-wrap
+msgid "#3 = 15 (set parameter 3 to 15)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:285
+msgid ""
+"A parameter setting does not take effect until after all parameter values on "
+"the same line have been found. For example, if parameter 3 has been "
+"previously set to 15 and the line '#3=6 G1 X#3' is interpreted, a straight "
+"move to a point where X equals 15 will occur and the value of parameter 3 "
+"will be 6."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:293
+msgid ""
+"The '\\#' character takes precedence over other operations, so that, for "
+"example, '\\#1+2' means the number found by adding 2 to the value of "
+"parameter 1, not the value found in parameter 3. Of course, '\\#[1+2]' does "
+"mean the value found in parameter 3. The '\\#' character may be repeated; "
+"for example '##2' means the value of the parameter whose index is the "
+"(integer) value of parameter 2."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:296
+msgid ""
+"'31-5000' - G-code user parameters. These parameters are global in the G "
+"code file, and available for general use. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:299
+msgid ""
+"'5061-5069' - Coordinates of a <<gcode:g38,G38>> probe result (X, Y, Z, A, "
+"B, C, U, V & W).  Coordinates are in the coordinate system in which the G38 "
+"took place.  Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:301
+msgid ""
+"'5070' - <<gcode:g38,G38>> probe result: 1 if success, 0 if probe failed to "
+"close.  Used with G38.3 and G38.5. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:302
+msgid "'5161-5169' - \"G28\" Home for X, Y, Z, A, B, C, U, V & W. Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:303
+msgid "'5181-5189' - \"G30\" Home for X, Y, Z, A, B, C, U, V & W. Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:307
+msgid ""
+"'5210' - 1 if \"G52\" or \"G92\" offset is currently applied, 0 otherwise.  "
+"Persistent by default; volatile if 'DISABLE_G92_PERSISTENCE = 1' in the "
+"'[RS274NGC]' section of the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:311
+msgid ""
+"'5211-5219' - Shared \"G52\" and \"G92\" offset for X, Y, Z, A, B, C, U, V & "
+"W.  Volatile by default; persistent if 'DISABLE_G92_PERSISTENCE = 1' in the "
+"'[RS274NGC]' section of the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:312
+msgid "'5220' - Coordinate System number 1 - 9 for G54 - G59.3. Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:314
+msgid ""
+"'5221-5230' - Coordinate System 1, G54 for X, Y, Z, A, B, C, U, V, W & R.  R "
+"denotes the XY rotation angle around the Z axis. Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:316
+msgid ""
+"'5241-5250' - Coordinate System 2, G55 for X, Y, Z, A, B, C, U, V, W & R.  "
+"Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:318
+msgid ""
+"'5261-5270' - Coordinate System 3, G56 for X, Y, Z, A, B, C, U, V, W & R.  "
+"Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:320
+msgid ""
+"'5281-5290' - Coordinate System 4, G57 for X, Y, Z, A, B, C, U, V, W & R.  "
+"Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:322
+msgid ""
+"'5301-5310' - Coordinate System 5, G58 for X, Y, Z, A, B, C, U, V, W & R.  "
+"Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:324
+msgid ""
+"'5321-5330' - Coordinate System 6, G59 for X, Y, Z, A, B, C, U, V, W & R.  "
+"Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:326
+msgid ""
+"'5341-5350' - Coordinate System 7, G59.1 for X, Y, Z, A, B, C, U, V, W & R.  "
+"Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:328
+msgid ""
+"'5361-5370' - Coordinate System 8, G59.2 for X, Y, Z, A, B, C, U, V, W & R.  "
+"Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:330
+msgid ""
+"'5381-5390' - Coordinate System 9, G59.3 for X, Y, Z, A, B, C, U, V, W & R.  "
+"Persistent."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:331
+msgid "'5399' - Result of M66 - Check or wait for input. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:332
+msgid "'5400' - Tool Number. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:333
+msgid ""
+"'5401-5409' - Tool Offsets for X, Y, Z, A, B, C, U, V & W. Set by "
+"G43. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:334
+msgid "'5410' - Tool Diameter. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:335
+msgid "'5411' - Tool Front Angle. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:336
+msgid "'5412' - Tool Back Angle. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:337
+msgid "'5413' - Tool Orientation. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:340
+msgid ""
+"'5420-5428' - Current relative position in the active coordinate system "
+"including all offsets and in the current program units for X, Y, Z, A, B, C, "
+"U, V & W, volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:342
+msgid ""
+"'5599' - Flag for controlling the output of (DEBUG,) statements.  1=output, "
+"0=no output; default=1. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:344
+msgid ""
+"'5600' - Toolchanger fault indicator. Used with the iocontrol-v2 component.  "
+"1: toolchanger faulted, 0: normal. Volatile."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:347
+msgid ""
+"'5601' - Toolchanger fault code. Used with the iocontrol-v2 component.  "
+"Reflects the value of the 'toolchanger-reason' HAL pin if a fault occurred.  "
+"Volatile."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:348
+#, no-wrap
+msgid "Numbered Parameters Persistence"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:354
+msgid ""
+"The values of parameters in the persistent range are retained over time, "
+"even if the machining center is powered down. LinuxCNC uses a parameter file "
+"to ensure persistence. It is managed by the Interpreter. The Interpreter "
+"reads the file when it starts up, and writes the file when it exits."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:357
+msgid ""
+"The format of a parameter file is shown in Table "
+"<<gcode:format-parameter-file,Parameter File Format>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:365
+msgid ""
+"The Interpreter expects the file to have two columns. It skips any lines "
+"which do not contain exactly two numeric values. The first column is "
+"expected to contain an integer value (the parameter's number). The second "
+"column contains a floating point number (this parameter's last value). The "
+"value is represented as a double-precision floating point number inside the "
+"Interpreter, but a decimal point is not required in the file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:369
+msgid ""
+"Parameters in the user-defined range (31-5000) may be added to this "
+"file. Such parameters will be read by the Interpreter and written to the "
+"file as it exits."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:372
+msgid ""
+"Missing Parameters in the persistent range will be initialized to zero and "
+"written with their current values on the next save operation."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:376
+msgid ""
+"The parameter numbers must be arranged in ascending order. An 'Parameter "
+"file out of order' error will be signaled if they are not in ascending "
+"order."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:379
+msgid "The original file is saved as a backup file when the new file is written."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:390
+#, no-wrap
+msgid "Subroutine Codes and Parameters(((Subroutine Codes and Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:393
+msgid ""
+"Subroutine codes, or o-codes (sometimes also called o-words), provide for "
+"logic and flow control in NGC programs (as in if-else logic). They are "
+"called Subroutine codes because they can also form called subroutines (as in "
+"sub-endsub)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:395
+msgid "See the chapter on <<cha:o-codes,o-Codes>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:397
+msgid ""
+"If o-codes are used to form subroutines, then o-codes can also call those "
+"subroutines and pass up to 30 parameters, which are local to the subroutine "
+"and volatile. (Again, see <<cha:o-codes,o-Codes>> for fuller treatment and "
+"examples.)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:399
+msgid ""
+"While both lower and upper case o- are valid, best practice is using lower "
+"case \"o-\" because it disambiguates 0 (zero) and O (capital o)."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:401
+#, no-wrap
+msgid "Named Parameters(((Named Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:407
+msgid ""
+"Named parameters work like numbered parameters but are easier to read.  All "
+"parameter names are converted to lower case and have spaces and tabs "
+"removed, so '#<param>' and '#<P a R am >' refer to the same parameter. Named "
+"parameters must be enclosed with '< >' marks."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:413
+msgid ""
+"'#<named parameter>' is a local named parameter. By default, a named "
+"parameter is local to the scope in which it is assigned. You can't access a "
+"local parameter outside of its subroutine. This means that two subroutines "
+"can use the same parameter names without fear of one subroutine overwriting "
+"the values in another."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:418
+msgid ""
+"'#<_global named parameter>' is a global named parameter. They are "
+"accessible from within called subroutines and may set values within "
+"subroutines that are accessible to the caller. As far as scope is concerned, "
+"they act just like regular numeric parameters. They are not stored in files."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:420 src/plasma/qtplasmac.adoc:1805
+#: src/remap/remap.adoc:1422
+msgid "Examples:"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:421
+#, no-wrap
+msgid "Declaration of named global variable"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:424
+#, no-wrap
+msgid "#<_endmill_dia> = 0.049\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:426
+#, no-wrap
+msgid "Reference to previously declared global variable"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:429
+#, no-wrap
+msgid "#<_endmill_rad> = [#<_endmill_dia>/2.0]\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:431
+#, no-wrap
+msgid "Mixed literal and named parameters"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:434
+#, no-wrap
+msgid ""
+"o100 call [0.0] [0.0] [#<_inside_cutout>-#<_endmill_dia>] [#<_Zcut>] "
+"[#<_feedrate>]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:440
+msgid ""
+"Named parameters spring into existence when they are assigned a value for "
+"the first time. Local named parameters vanish when their scope is left: when "
+"a subroutine returns, all its local parameters are deleted and cannot be "
+"referred to anymore."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:445
+msgid ""
+"It is an error to use a non-existent named parameter within an expression, "
+"or at the right-hand side of an assignment. Printing the value of a "
+"non-existent named parameter with a DEBUG statement - like '(DEBUG, "
+"#<no_such_parameter>)' will display the string '######'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:449
+msgid ""
+"Global parameters, as well as local parameters assigned to at the global "
+"level, retain their value once assigned even when the program ends, and have "
+"these values when the program is run again."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:451
+msgid ""
+"The <<gcode:functions,'EXISTS' function>> tests whether a given named "
+"parameter exists."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:453
+#, no-wrap
+msgid "Predefined Named Parameters(((Predefined Named Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:461
+msgid ""
+"The following global read only named parameters are available to access "
+"internal state of the interpreter and machine state. They can be used in "
+"arbitrary expressions, for instance to control flow of the program with "
+"if-then-else statements. Note that new "
+"<<remap:adding-predefined-named-parameters,predefined named parameters>> can "
+"be added easily without changes to the source code."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:463
+msgid ""
+"'#<_vmajor>' - Major package version. If current version was 2.5.2 would "
+"return 2.5."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:464
+msgid ""
+"'#<_vminor>' - Minor package version. If current version was 2.6.2 it would "
+"return 0.2."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:465
+msgid ""
+"'#<_line>' - Sequence number. If running a G-code file, this returns the "
+"current line number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:466
+msgid "'#<_motion_mode>' - Return the interpreter's current motion mode:"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:469
+#, no-wrap
+msgid "Motion mode"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:470 src/gcode/overview.adoc:498
+#: src/gcode/overview.adoc:511 src/gcode/overview.adoc:533
+#, no-wrap
+msgid "return value"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:470
+#, no-wrap
+msgid "G1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:471
+#, no-wrap
+msgid "G2"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:472
+#, no-wrap
+msgid "G3"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:473 src/remap/remap.adoc:1835
+#, no-wrap
+msgid "30"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:473
+#, no-wrap
+msgid "G33"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:474
+#, no-wrap
+msgid "330"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:475
+#, no-wrap
+msgid "382"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:476
+#, no-wrap
+msgid "383"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:477
+#, no-wrap
+msgid "384"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:478
+#, no-wrap
+msgid "385"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:478
+#, no-wrap
+msgid "G5.2"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:479 src/remap/remap.adoc:1869
+#, no-wrap
+msgid "52"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:479
+#, no-wrap
+msgid "G73"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:480
+#, no-wrap
+msgid "730"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:481
+#, no-wrap
+msgid "760"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:482 src/integrator/stepper-timing.adoc:42
+#, no-wrap
+msgid "800"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:483
+#, no-wrap
+msgid "810"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:484
+#, no-wrap
+msgid "820"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:485
+#, no-wrap
+msgid "830"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:486
+#, no-wrap
+msgid "840"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:487 src/integrator/stepper-timing.adoc:82
+#: src/integrator/stepper-timing.adoc:83
+#, no-wrap
+msgid "850"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:488
+#, no-wrap
+msgid "860"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:489
+#, no-wrap
+msgid "870"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:490
+#, no-wrap
+msgid "880"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:491
+#, no-wrap
+msgid "890"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:494
+msgid "'#<_plane>' - returns the value designating the current plane:"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:497
+#, no-wrap
+msgid "Plane"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:499
+#, no-wrap
+msgid "170"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:500
+#, no-wrap
+msgid "180"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:501
+#, no-wrap
+msgid "190"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:501 src/remap/remap.adoc:1810
+#, no-wrap
+msgid "G17.1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:502
+#, no-wrap
+msgid "171"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:502 src/remap/remap.adoc:1811
+#, no-wrap
+msgid "G18.1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:503
+#, no-wrap
+msgid "181"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:503 src/remap/remap.adoc:1812
+#, no-wrap
+msgid "G19.1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:504
+#, no-wrap
+msgid "191"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:507
+msgid "'#<_ccomp>' - Status of cutter compensation. Return values:"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:512
+#, no-wrap
+msgid "400"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:512 src/gcode/overview.adoc:514
+#: src/remap/remap.adoc:1852
+#, no-wrap
+msgid "G41"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:513 src/gcode/overview.adoc:515
+#, no-wrap
+msgid "410"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:513 src/remap/remap.adoc:1852
+#, no-wrap
+msgid "G41.1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:514
+#, no-wrap
+msgid "411"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:515 src/remap/remap.adoc:1853
+#, no-wrap
+msgid "G42"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:516
+#, no-wrap
+msgid "420"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:516 src/remap/remap.adoc:1853
+#, no-wrap
+msgid "G42.1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:517
+#, no-wrap
+msgid "421"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:520
+msgid "'#<_metric>' - Return 1 if G21 is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:521
+msgid "'#<_imperial>' - Return 1 if G20 is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:522
+msgid "'#<_absolute>' - Return 1 if G90 is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:523
+msgid "'#<_incremental>' - Return 1 if G91 is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:524
+msgid "'#<_inverse_time>' - Return 1 if inverse feed mode (G93) is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:525
+msgid ""
+"'#<_units_per_minute>' - Return 1 if Units/minute feed mode (G94) is on, "
+"else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:526
+msgid "'#<_units_per_rev>' - Return 1 if Units/revolution mode (G95) is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:529
+msgid ""
+"'#<_coord_system>' - Return a float of the current coordinate system name "
+"(G54..G59.3).  For example if your in G55 coordinate system the return value "
+"is 550.000000 and if your in G59.1 the return value is 591.000000."
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:534
+#, no-wrap
+msgid "540"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:535
+#, no-wrap
+msgid "550"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:536
+#, no-wrap
+msgid "560"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:537
+#, no-wrap
+msgid "570"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:538
+#, no-wrap
+msgid "580"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:539
+#, no-wrap
+msgid "590"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:540
+#, no-wrap
+msgid "591"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:541
+#, no-wrap
+msgid "592"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:542
+#, no-wrap
+msgid "593"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:545
+msgid "'#<_tool_offset>' - Return 1 if tool offset (G43) is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:546
+msgid "'#<_retract_r_plane>' - Return 1 if G98 is set, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:547
+msgid "'#<_retract_old_z>' - Return 1 if G99 is on, else 0."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/overview.adoc:549
+#, no-wrap
+msgid "System Parameters(((System Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:552
+msgid "'#<_spindle_rpm_mode>' - Return 1 if spindle rpm mode (G97) is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:553
+msgid ""
+"'#<_spindle_css_mode>' - Return 1 if constant surface speed mode (G96) is "
+"on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:554
+msgid ""
+"'#<_ijk_absolute_mode>' - Return 1 if Absolute Arc distance mode (G90.1) is "
+"on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:555
+msgid ""
+"'#<_lathe_diameter_mode>' - Return 1 if this is a lathe configuration and "
+"diameter (G7) mode is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:556
+msgid ""
+"'#<_lathe_radius_mode>' - Return 1 if this is a lathe configuration and "
+"radius (G8) mode is on, else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:557
+msgid "'#<_spindle_on>' - Return 1 if spindle currently running (M3 or M4) else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:558
+msgid "'#<_spindle_cw>' - Return 1 if spindle direction is clockwise (M3) else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:559
+msgid "'#<_mist>' - Return 1 if mist (M7) is on."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:560
+msgid "'#<_flood>' - Return 1 if flood (M8) is on."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:561
+msgid ""
+"'#<_speed_override>' - Return 1 if feed override (M48 or M50 P1) is on, else "
+"0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:562
+msgid ""
+"'#<_feed_override>' - Return 1 if feed override (M48 or M51 P1) is on, else "
+"0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:563
+msgid ""
+"'#<_adaptive_feed>' - Return 1 if adaptive feed (M52 or M52 P1) is on, else "
+"0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:564
+msgid "'#<_feed_hold>' - Return 1 if feed hold switch is enabled (M53 P1), else 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:565
+msgid "'#<_feed>' - Return the current value of F, not the actual feed rate."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:566
+msgid "'#<_rpm>' - Return the current value of S, not the actual spindle speed."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:568
+msgid ""
+"'#<_x>' - Return current relative X coordinate including all offsets. Same "
+"as #5420.  In a lathe configuration, it always returns radius."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:569
+msgid ""
+"'#<_y>' - Return current relative Y coordinate including all offsets. Same "
+"as #5421."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:570
+msgid ""
+"'#<_z>' - Return current relative Z coordinate including all offsets. Same "
+"as #5422."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:571
+msgid ""
+"'#<_a>' - Return current relative A coordinate including all offsets. Same "
+"as #5423."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:572
+msgid ""
+"'#<_b>' - Return current relative B coordinate including all offsets. Same "
+"as #5424."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:573
+msgid ""
+"'#<_c>' - Return current relative C coordinate including all offsets. Same "
+"as #5425."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:574
+msgid ""
+"'#<_u>' - Return current relative U coordinate including all offsets. Same "
+"as #5426."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:575
+msgid ""
+"'#<_v>' - Return current relative V coordinate including all offsets. Same "
+"as #5427."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:576
+msgid ""
+"'#<_w>' - Return current relative W coordinate including all offsets. Same "
+"as #5428."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:577
+msgid ""
+"'#<_abs_x>' - Return current absolute X coordinate (G53) including no "
+"offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:578
+msgid ""
+"'#<_abs_y>' - Return current absolute Y coordinate (G53) including no "
+"offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:579
+msgid ""
+"'#<_abs_z>' - Return current absolute Z coordinate (G53) including no "
+"offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:580
+msgid ""
+"'#<_abs_a>' - Return current absolute A coordinate (G53) including no "
+"offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:581
+msgid ""
+"'#<_abs_b>' - Return current absolute B coordinate (G53) including no "
+"offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:582
+msgid ""
+"'#<_abs_c>' - Return current absolute C coordinate (G53) including no "
+"offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:583
+msgid ""
+"'#<_current_tool>' - Return number of the current tool in spindle. Same as "
+"#5400."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:584
+msgid "'#<_current_pocket>' - Return the tooldata index for the current tool."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:585
+msgid ""
+"'#<_selected_tool>' - Return number of the selected tool post a T "
+"code. Default -1."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:587
+msgid ""
+"'#<_selected_pocket>' - Return the tooldata index of the selected pocket "
+"post a T code.  Default -1 (no pocket selected)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:590
+msgid ""
+"'#<_value>' - Return value from the last O-code 'return' or "
+"'endsub'. Default value 0 if no expression after 'return' or "
+"'endsub'. Initialized to 0 on program start."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:592
+msgid ""
+"'#<_value_returned>' - 1.0 if the last O-code 'return' or 'endsub' returned "
+"a value, 0 otherwise. Cleared by the next O-code call."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:597
+msgid ""
+"'#<_task>' - 1.0 if the executing interpreter instance is part of milltask, "
+"0.0 otherwise. Sometimes it is necessary to treat this case specially to "
+"retain proper preview, for instance when testing the success of a probe "
+"(G38.n) by inspecting #5070, which will always fail in the preview "
+"interpreter (e.g. Axis)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:598
+msgid ""
+"'#<_call_level>' - current nesting level of O-code procedures. For "
+"debugging."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:600
+msgid ""
+"'#<_remap_level>' - current level of the remap stack. Each remap in a block "
+"adds one to the remap level. For debugging."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:602
+#, no-wrap
+msgid "HAL pins and INI values(((HAL pins and INI values)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:606
+msgid ""
+"If enabled in the <<sub:ini:sec:rs274ngc, INI file>> G-code has access to "
+"the values of INI file entries and HAL pins."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:609
+msgid ""
+"'#<_ini[section]name>' Returns the value of the corresponding item in the "
+"INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:611
+msgid "For example, if the INI file looks like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:617
+#, no-wrap
+msgid ""
+"[SETUP]\n"
+"XPOS = 3.145\n"
+"YPOS = 2.718\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:621
+msgid ""
+"you may refer to the named parameters `#<_ini[setup]xpos>` and "
+"`#<_ini[setup]ypos>` within G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:624
+msgid "`EXISTS` can be used to test for presence of a given INI file variable:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:632
+#, no-wrap
+msgid ""
+"o100 if [EXISTS[#<_ini[setup]xpos>]]\n"
+"  (debug, [setup]xpos exists: #<_ini[setup]xpos>)\n"
+"o100 else\n"
+"  (debug, [setup]xpos does not exist)\n"
+"o100 endif\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:638
+msgid ""
+"The value is read from the INI file once, and cached in the "
+"interpreter. These parameters are read-only - assigning a value will cause a "
+"runtime error. The names are not case sensitive - they are converted to "
+"uppercase before consulting the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:647
+msgid ""
+"'#<_hal[HAL item]>' Allows G-code programs to read the values of HAL pins "
+"Variable access is read-only, the only way to _set_ HAL pins from G-code "
+"remains M62-M65, M67, M68 and custom M100-M199 codes.  Note that the value "
+"read will not update in real-time, typically the value that was on the pin "
+"when the G-code program was started will be returned. It is possible to work "
+"round this by forcing a state synch.  One way to do this is with a dummy M66 "
+"command: M66E0L0"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:653
+#, no-wrap
+msgid "(debug, #<_hal[motion-controller.time]>)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:657
+msgid ""
+"Access of HAL items is read-only. Currently, only all-lowercase HAL names "
+"can be accessed this way."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:659
+msgid "`EXISTS` can be used to test for the presence of a given HAL item:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:667
+#, no-wrap
+msgid ""
+"o100 if [EXISTS[#<_hal[motion-controller.time]>]]\n"
+"  (debug, [motion-controller.time] exists: "
+"#<_hal[motion-controller.time]>)\n"
+"o100 else\n"
+"  (debug, [motion-controller.time] does not exist)\n"
+"o100 endif\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:675
+msgid ""
+"This feature was motivated by the desire for stronger coupling between user "
+"interface components like `GladeVCP` and `PyVCP` to act as parameter source "
+"for driving NGC file behavior. The alternative - going through the M6x pins "
+"and wiring them - has a limited, non-mnemonic namespace and is unnecessarily "
+"cumbersome just as a UI/Interpreter communications mechanism."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:677
+#, no-wrap
+msgid "Expressions(((Expressions)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:686
+msgid ""
+"An expression is a set of characters starting with a left bracket '[' and "
+"ending with a balancing right bracket ']' . In between the brackets are "
+"numbers, parameter values, mathematical operations, and other "
+"expressions. An expression is evaluated to produce a number. The expressions "
+"on a line are evaluated when the line is read, before anything on the line "
+"is executed. An example of an expression is '[1 + acos[0] - [#3 ** "
+"[4.0/2]]]'."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:688
+#, no-wrap
+msgid "Binary Operators(((Binary Operators)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:700
+msgid ""
+"Binary operators only appear inside expressions. There are four basic "
+"mathematical operations: addition ('+'), subtraction ('-'), multiplication "
+"('\\*'), and division ('/'). There are three logical operations: "
+"non-exclusive or ('OR'), exclusive or ('XOR'), and logical and ('AND'). The "
+"eighth operation is the modulus operation ('MOD'). The ninth operation is "
+"the 'power' operation ('**') of raising the number on the left of the "
+"operation to the power on the right. The relational operators are equality "
+"('EQ'), inequality ('NE'), strictly greater than ('GT'), greater than or "
+"equal to ('GE'), strictly less than ('LT'), and less than or equal to "
+"('LE')."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:710
+msgid ""
+"The binary operations are divided into several groups according to their "
+"precedence. If operations in different precedence groups are strung together "
+"(for example in the expression '[2.0 / 3 * 1.5 - 5.5 / 11.0]'), operations "
+"in a higher group are to be performed before operations in a lower group. If "
+"an expression contains more than one operation from the same group (such as "
+"the first '/' and '*' in the example), the operation on the left is "
+"performed first. Thus, the example is equivalent to: '[ [ [2.0 / 3] * 1.5] - "
+"[5.5 / 11.0] ]' , which is equivalent to to '[1.0 - 0.5]' , which is '0.5'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:714
+msgid ""
+"The logical operations and modulus are to be performed on any real numbers, "
+"not just on integers. The number zero is equivalent to logical false, and "
+"any non-zero number is equivalent to logical true."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:716
+#, no-wrap
+msgid "Operators Precedence(((Operators Precedence)))"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:719
+#, no-wrap
+msgid "Operators"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:720
+#, no-wrap
+msgid "Precedence"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:720
+#, no-wrap
+msgid "**"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:721
+#, no-wrap
+msgid "'highest'"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:721
+#, no-wrap
+msgid "* / MOD"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:722
+#, no-wrap
+msgid "+ -"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:723
+#, no-wrap
+msgid "EQ NE GT GE LT LE"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:724
+#, no-wrap
+msgid "AND OR XOR"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:725
+#, no-wrap
+msgid "'lowest'"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:727
+#, no-wrap
+msgid "Equality and floating-point values"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:734
+msgid ""
+"Testing for equality or inequality of two double-precision floating-point "
+"values is inherently problematic.  The interpreter solves this problem by "
+"considering values equal if their absolute difference is less than 1e-6 "
+"(this value is defined as 'TOLERANCE_EQUAL' in "
+"src/emc/rs274ngc/interp_internal.hh)."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:736
+#, no-wrap
+msgid "Functions(((Functions)))(((Unary operations)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:742
+msgid ""
+"The available functions are shown in following table. Arguments to unary "
+"operations which take angle measures ('COS', 'SIN', and 'TAN' ) are in "
+"degrees. Values returned by unary operations which return angle measures "
+"('ACOS', 'ASIN', and 'ATAN') are also in degrees."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:743
+#, no-wrap
+msgid "G-code Functions"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:746
+#, no-wrap
+msgid "Function Name"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:747
+#, no-wrap
+msgid "Function result"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:747
+#, no-wrap
+msgid "ATAN[arg]/[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:748
+#, no-wrap
+msgid "Four quadrant inverse tangent"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:748
+#, no-wrap
+msgid "ABS[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:749
+#, no-wrap
+msgid "Absolute value"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:749
+#, no-wrap
+msgid "ACOS[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:750
+#, no-wrap
+msgid "Inverse cosine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:750
+#, no-wrap
+msgid "ASIN[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:751
+#, no-wrap
+msgid "Inverse sine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:751
+#, no-wrap
+msgid "COS[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:752
+#, no-wrap
+msgid "Cosine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:752
+#, no-wrap
+msgid "EXP[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:753
+#, no-wrap
+msgid "e raised to the given power"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:753
+#, no-wrap
+msgid "FIX[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:754
+#, no-wrap
+msgid "Round down to integer"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:754
+#, no-wrap
+msgid "FUP[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:755
+#, no-wrap
+msgid "Round up to integer"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:755
+#, no-wrap
+msgid "ROUND[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:756
+#, no-wrap
+msgid "Round to nearest integer"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:756
+#, no-wrap
+msgid "LN[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:757
+#, no-wrap
+msgid "Base-e logarithm"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:757
+#, no-wrap
+msgid "SIN[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:758
+#, no-wrap
+msgid "Sine"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:758
+#, no-wrap
+msgid "SQRT[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:759
+#, no-wrap
+msgid "Square Root"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:759
+#, no-wrap
+msgid "TAN[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:760
+#, no-wrap
+msgid "Tangent"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:760
+#, no-wrap
+msgid "EXISTS[arg]"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:761
+#, no-wrap
+msgid "Check named Parameter"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:765
+msgid ""
+"The 'FIX' function rounds towards the left (less positive or more negative)  "
+"on a number line, so that 'FIX[2.8] =2' and 'FIX[-2.8] = -3'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:768
+msgid ""
+"The 'FUP' operation rounds towards the right (more positive or less "
+"negative) on a number line; 'FUP[2.8] = 3' and 'FUP[-2.8] = -2'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:773
+msgid ""
+"The 'EXISTS' function checks for the existence of a single named parameter.  "
+"It takes only one named parameter and returns 1 if it exists and 0 if it "
+"does not exist. It is an error if you use a numbered parameter or an "
+"expression.  Here is an example for the usage of the EXISTS function:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:783
+#, no-wrap
+msgid ""
+"o<test> sub\n"
+"o10 if [EXISTS[#<_global>]]\n"
+"    (debug, _global exists and has the value #<_global>)\n"
+"o10 else\n"
+"    (debug, _global does not exist)\n"
+"o10 endif\n"
+"o<test> endsub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:788
+#, no-wrap
+msgid ""
+"o<test> call\n"
+"#<_global> = 4711\n"
+"o<test> call\n"
+"m2\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:790
+#, no-wrap
+msgid "Repeated Items"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:795
+msgid ""
+"A line may have any number of G words, but two G words from the same modal "
+"group may not appear on the same line.  See the <<gcode:modal-groups,Modal "
+"Groups>> section for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:798
+msgid ""
+"A line may have zero to four M words. Two M words from the same modal group "
+"may not appear on the same line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:801
+msgid ""
+"For all other legal letters, a line may have only one word beginning with "
+"that letter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:806
+msgid ""
+"If a parameter setting of the same parameter is repeated on a line, '#3=15 "
+"#3=6', for example, only the last setting will take effect.  It is silly, "
+"but not illegal, to set the same parameter twice on the same line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:811
+msgid ""
+"If more than one comment appears on a line, only the last one will be used; "
+"each of the other comments will be read and its format will be checked, but "
+"it will be ignored thereafter. It is expected that putting more than one "
+"comment on a line will be very rare."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:812
+#, no-wrap
+msgid "Item order"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:818
+msgid ""
+"The three types of item whose order may vary on a line (as given at the "
+"beginning of this section) are word, parameter setting, and comment. Imagine "
+"that these three types of item are divided into three groups by type."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:821
+msgid ""
+"The first group (the words) may be reordered in any way without changing the "
+"meaning of the line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:829
+msgid ""
+"If the second group (the parameter settings) is reordered, there will be no "
+"change in the meaning of the line unless the same parameter is set more than "
+"once. In this case, only the last setting of the parameter will take "
+"effect. For example, after the line '#3=15 #3=6' has been interpreted, the "
+"value of parameter 3 will be 6. If the order is reversed to '#3=6 #3=15' and "
+"the line is interpreted, the value of parameter 3 will be 15."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:832
+msgid ""
+"If the third group (the comments) contains more than one comment and is "
+"reordered, only the last comment will be used."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:840
+msgid ""
+"If each group is kept in order or reordered without changing the meaning of "
+"the line, then the three groups may be interleaved in any way without "
+"changing the meaning of the line. For example, the line 'g40 g1 #3=15 (foo) "
+"#4=-7.0' has five items and means exactly the same thing in any of the 120 "
+"possible orders (such as '#4=-7.0 g1 #3=15 g40 (foo)') for the five items."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:841
+#, no-wrap
+msgid "Commands and Machine Modes"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:852
+msgid ""
+"Many commands cause the controller to change from one mode to another, and "
+"the mode stays active until some other command changes it implicitly or "
+"explicitly. Such commands are called 'modal'. For example, if coolant is "
+"turned on, it stays on until it is explicitly turned off. The G-codes for "
+"motion are also modal. If a G1 (straight move) command is given on one line, "
+"for example, it will be executed again on the next line if one or more axis "
+"words is available on the line, unless an explicit command is given on that "
+"next line using the axis words or canceling motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:855
+msgid ""
+"'Non-modal' codes have effect only on the lines on which they occur.  For "
+"example, G4 (dwell) is non-modal."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:857
+#, no-wrap
+msgid "Polar Coordinates(((Polar Coordinates)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:867
+msgid ""
+"Polar Coordinates can be used to specify the XY coordinate of a move.  The "
+"@n is the distance and ^n is the angle. The advantage of this is for things "
+"like bolt hole circles which can be done very simply by moving to a point in "
+"the center of the circle, setting the offset and then moving out to the "
+"first hole then run the drill cycle.  Polar Coordinates always are from the "
+"current XY zero position.  To shift the Polar Coordinates from machine zero "
+"use an offset or select a coordinate system."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:871
+msgid ""
+"In Absolute Mode the distance and angle is from the XY zero position and the "
+"angle starts with 0 on the X Positive axis and increases in a CCW direction "
+"about the Z axis. The code G1 @1^90 is the same as G1 Y1."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:875
+msgid ""
+"In Relative Mode the distance and angle is also from the XY zero position "
+"but it is cumulative.  This can be confusing at first how this works in "
+"incremental mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:878
+msgid ""
+"For example if you have the following program you might expect it to be a "
+"square pattern:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:887
+#, no-wrap
+msgid ""
+"F100 G1 @.5 ^90\n"
+"G91 @.5 ^90\n"
+"@.5 ^90\n"
+"@.5 ^90\n"
+"@.5 ^90\n"
+"G90 G0 X0 Y0 M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:892
+msgid ""
+"You can see from the following figure that the output is not what you might "
+"expect. Because we added 0.5 to the distance each time the distance from the "
+"XY zero position increased with each line."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/overview.adoc:894 src/gcode/overview.adoc:895
+#, no-wrap
+msgid "Polar Spiral"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/overview.adoc:895
+#, no-wrap
+msgid "images/polar01.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:898
+msgid "The following code will produce our square pattern:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:907
+#, no-wrap
+msgid ""
+"F100 G1 @.5 ^90\n"
+"G91 ^90\n"
+"^90\n"
+"^90\n"
+"^90\n"
+"G90 G0 X0 Y0 M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:911
+msgid ""
+"As you can see by only adding to the angle by 90 degrees each time the end "
+"point distance is the same for each line."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/overview.adoc:913 src/gcode/overview.adoc:914
+#, no-wrap
+msgid "Polar Square"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/overview.adoc:914
+#, no-wrap
+msgid "images/polar02.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:919
+msgid "An incremental move is started at the origin"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:920
+msgid "A mix of Polar and X or Y words are used"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:922
+#, no-wrap
+msgid "Modal Groups(((Modal Groups)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:931
+msgid ""
+"Modal commands are arranged in sets called 'modal groups', and only one "
+"member of a modal group may be in force at any given time. In general, a "
+"modal group contains commands for which it is logically impossible for two "
+"members to be in effect at the same time - like measure in inches "
+"vs. measure in millimeters. A machining center may be in many modes at the "
+"same time, with one mode from each modal group being in effect. The modal "
+"groups are shown in the following Table."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:933
+#, no-wrap
+msgid "G-code Modal Groups(((Modal Groups: G-codes)))"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:936 src/gcode/overview.adoc:958
+#, no-wrap
+msgid "Modal Group Meaning"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:937 src/gcode/overview.adoc:959
+#, no-wrap
+msgid "Member Words"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:937
+#, no-wrap
+msgid "Non-modal codes (Group 0)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:938
+#, no-wrap
+msgid "G4, G10 G28, G30, G52, G53, G92, G92.1, G92.2, G92.3,"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:938
+#, no-wrap
+msgid "Motion (Group 1)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:940
+#, no-wrap
+msgid ""
+"G0, G1, G2, G3, G33, G38.n, G73, G76, G80, G81\n"
+"                                          G82, G83, G84, G85, G86, G87, G88, "
+"G89"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:940
+#, no-wrap
+msgid "Plane selection (Group 2)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:941
+#, no-wrap
+msgid "G17, G18, G19, G17.1, G18.1, G19.1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:941
+#, no-wrap
+msgid "Distance Mode (Group 3)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:942
+#, no-wrap
+msgid "G90, G91"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:942
+#, no-wrap
+msgid "Arc IJK Distance Mode (Group 4)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:943
+#, no-wrap
+msgid "G90.1, G91.1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:943
+#, no-wrap
+msgid "Feed Rate Mode (Group 5)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:944
+#, no-wrap
+msgid "G93, G94, G95"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:944
+#, no-wrap
+msgid "Units (Group 6)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:945
+#, no-wrap
+msgid "G20, G21"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:945
+#, no-wrap
+msgid "Cutter Diameter Compensation (Group 7)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:946
+#, no-wrap
+msgid "G40, G41, G42, G41.1, G42.1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:946
+#, no-wrap
+msgid "Tool Length Offset (Group 8)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:947
+#, no-wrap
+msgid "G43, G43.1, G49"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:947
+#, no-wrap
+msgid "Canned Cycles Return Mode (Group 10)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:948
+#, no-wrap
+msgid "G98, G99"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:948
+#, no-wrap
+msgid "Coordinate System (Group 12)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:949
+#, no-wrap
+msgid "G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:949
+#, no-wrap
+msgid "Control Mode (Group 13)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:950
+#, no-wrap
+msgid "G61, G61.1, G64"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:950
+#, no-wrap
+msgid "Spindle Speed Mode (Group 14)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:951
+#, no-wrap
+msgid "G96, G97"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:951
+#, no-wrap
+msgid "Lathe Diameter Mode (Group 15)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:952
+#, no-wrap
+msgid "G7, G8"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:955
+#, no-wrap
+msgid "M-code Modal Groups(((Modal Groups: M-codes)))"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:959
+#, no-wrap
+msgid "Stopping (Group 4)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:960
+#, no-wrap
+msgid "M0, M1, M2, M30, M60"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:960
+#, no-wrap
+msgid "I/O Pins (Group 5)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:962
+#, no-wrap
+msgid ""
+"(M62-M65 digital output), (M66 digital or analog input),\n"
+"                               (M67, M68 analog output)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:962
+#, no-wrap
+msgid "Toolchange (Group 6)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:963
+#, no-wrap
+msgid "M6 T__n__"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:963
+#, no-wrap
+msgid "Spindle (Group 7)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:964
+#, no-wrap
+msgid "M3, M4, M5"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:964
+#, no-wrap
+msgid "Coolant (Group 8)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:965
+#, no-wrap
+msgid "(M7 M8 can both be on), M9"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:965
+#, no-wrap
+msgid "Override Switches (Group 9)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:966
+#, no-wrap
+msgid "M48, M49"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:966
+#, no-wrap
+msgid "User Defined (Group 10)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/overview.adoc:967
+#, no-wrap
+msgid "M100-M199"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:974
+msgid ""
+"For several modal groups, when a machining center is ready to accept "
+"commands, one member of the group must be in effect. There are default "
+"settings for these modal groups. When the machining center is turned on or "
+"otherwise re-initialized, the default values are automatically in effect."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:978
+msgid ""
+"Group 1, the first group on the table, is a group of G-codes for motion. One "
+"of these is always in effect. That one is called the current motion mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:986
+msgid ""
+"It is an error to put a G-code from group 1 and a G-code from group 0 on the "
+"same line if both of them use axis words. If an axis word-using G-code from "
+"group 1 is implicitly in effect on a line (by having been activated on an "
+"earlier line), and a group 0 G-code that uses axis words appears on the "
+"line, the activity of the group 1 G-code is suspended for that line. The "
+"axis word-using G-codes from group 0 are G10, G28, G30, G52 and G92."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:989
+msgid ""
+"It is an error to include any unrelated words on a line with 'O-' flow "
+"control."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:994
+msgid "Comments are purely informative and have no influence on machine behaviour."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1000
+msgid ""
+"Comments can be added to lines of G-code to help clear up the intention of "
+"the programmer. Comments can be embedded in a line using parentheses () or "
+"for the remainder of a line using a semi-colon. The semi-colon is not "
+"treated as the start of a comment when enclosed in parentheses."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1004
+msgid ""
+"Comments may appear between words, but not between words and their "
+"corresponding parameter. So, 'S100(set speed)F200(feed)' is OK while "
+"'S(speed)100F(feed)' is not."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1006
+msgid "Here is an example of a commented program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:1012
+#, no-wrap
+msgid ""
+"G0 (Rapid to start) X1 Y1\n"
+"G0 X1 Y1 (Rapid to start; but don't forget the coolant)\n"
+"M2 ; End of program.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1021
+msgid ""
+"There are several 'active' comments which look like comments but cause some "
+"action, like '(debug,..)' or '(print,..)'. If there are several comments on "
+"a line, only the last comment will be interpreted according to these "
+"rules. Hence, a normal comment following an active comment will in effect "
+"disable the active comment. For example, '(foo)  (debug,#1)' will print the "
+"value of parameter '#1', however '(debug,#1)(foo)' will not."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1024
+msgid ""
+"A comment introduced by a semicolon is by definition the last comment on "
+"that line, and will always be interpreted for active comment syntax."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1027
+msgid ""
+"Inline comments on O-codes should not be used see the O-code "
+"<<ocode:comments,comments>> section for more information."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1029
+#, no-wrap
+msgid "Messages(((Messages)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1037
+msgid ""
+"'(MSG,)' - displays message if 'MSG' appears after the left parenthesis and "
+"before any other printing characters. Variants of 'MSG' which include white "
+"space and lower case characters are allowed. The rest of the characters "
+"before the right parenthesis are considered to be a message.  Messages "
+"should be displayed on the message display device of the user interface if "
+"provided."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1038
+#, no-wrap
+msgid "Message Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:1041
+#, no-wrap
+msgid "(MSG, This is a message)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1044
+#, no-wrap
+msgid "Probe Logging(((Probe Logging)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1048
+msgid ""
+"'(PROBEOPEN filename.txt)' - will open filename.txt and store the 9-number "
+"coordinate consisting of XYZABCUVW of each successful straight probe in it."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1049
+msgid "'(PROBECLOSE)' - will close the open probelog file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1051
+msgid "For more information on probing see the <<gcode:g38,G38>> section."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1053
+#, no-wrap
+msgid "Logging(((Logging)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1057
+msgid ""
+"'(LOGOPEN,filename.txt)' - opens the named log file. If the file already "
+"exists, it is truncated."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1059
+msgid ""
+"'(LOGAPPEND,filename)' - opens the named log file. If the file already "
+"exists, the data is appended."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1060
+msgid "'(LOGCLOSE)' - closes an open log file."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1062
+msgid ""
+"'(LOG,)' - everything past the ',' is written to the log file if it is "
+"open.  Supports expansion of parameters as described below."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1065
+msgid ""
+"Examples of logging are in 'nc_files/examples/smartprobe.ngc' and in "
+"'nc_files/ngcgui_lib/rectange_probe.ngc' sample G-code files."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1067
+#, no-wrap
+msgid "Debug Messages(((Debug Messages)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1071
+msgid ""
+"'(DEBUG,)' - displays a message like '(MSG,)' with the addition of special "
+"handling for comment parameters as described below."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1073
+#, no-wrap
+msgid "Print Messages(((Print Messages)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1077
+msgid ""
+"'(PRINT,)' - messages are output to 'stderr' with special handling for "
+"comment parameters as described below."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1079
+#, no-wrap
+msgid "Comment Parameters(((Comment Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1083
+msgid ""
+"In the DEBUG, PRINT and LOG comments, the values of parameters in the "
+"message are expanded."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1086
+msgid ""
+"For example: to print a named global variable to stderr (the default console "
+"window)."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1087
+#, no-wrap
+msgid "Parameters Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:1091
+#, no-wrap
+msgid ""
+"(print,endmill dia = #<_endmill_dia>)\n"
+"(print,value of variable 123 is: #123)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1098
+msgid ""
+"Inside the above types of comments, sequences like '\\#123' are replaced by "
+"the value of the parameter 123. Sequences like '\\#<named parameter>' are "
+"replaced by the value of the named parameter. Named parameters will have "
+"white space removed from them. So, '\\#<named parameter>' will be converted "
+"to '#<namedparameter>'."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1100
+msgid "Parameter numbers can be formatted, e.g.:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:1103
+#, no-wrap
+msgid "(DEBUG, value = %d#<some_value>)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1105
+msgid "will print the value rounded to an integer."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1107
+msgid "%lf is default if there is no formatting string."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1108
+msgid "%d = 0 decimals"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1109
+msgid "%f = four decimals"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1110
+msgid "%.xf = x (0-9) number of decimals"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1113
+msgid ""
+"The formatting will be performed on all parameters in the same line unless "
+"changed, i.e., multiple formatting is allowed in one line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1115
+msgid "The formatting string does not need to be right beside the parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1118
+msgid ""
+"If the formatting string is created with the wrong pattern it will be "
+"printed as characters."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1120
+#, no-wrap
+msgid "File Requirements(((File Requirements)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1125
+msgid ""
+"A G-code file must contain one or more lines of G-code and be terminated "
+"with a <<mcode:m2-m30,Program End>>. Any G-code past the program end is not "
+"evaluated."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1130
+msgid ""
+"If a program end code is not used a pair of percent signs '%' with the first "
+"percent sign on the first line of the file followed by one or more lines of "
+"G-code and a second percent sign. Any code past the second percent sign is "
+"not evaluated."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1137
+msgid ""
+"Using % to wrap a G-code file will not do the same thing as using a program "
+"end. The machine will be in what ever state the program left it in using %, "
+"the spindle and coolant may still be on and things like G90/91 are left as "
+"the last program set them. If you don't use a proper preamble the next "
+"program could start in a dangerous condition."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1141
+msgid ""
+"The file must be created with a text editor like Gedit and not a word "
+"processor like Open Office Word Processor."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1143
+#, no-wrap
+msgid "File Size(((File Size)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1153
+msgid ""
+"The interpreter and task are carefully written so that the only limit on "
+"part program size is disk capacity. The TkLinuxCNC and Axis interface both "
+"load the program text to display it to the user, though, so RAM becomes a "
+"limiting factor. In Axis, because the preview plot is drawn by default, the "
+"redraw time also becomes a practical limit on program size. The preview can "
+"be turned off in Axis to speed up loading large part programs. In Axis "
+"sections of the preview can be turned off using "
+"<<axis:preview-control,preview control>> comments."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1155
+#, no-wrap
+msgid "G-code Order of Execution(((G-code Order of Execution)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1159
+msgid ""
+"The order of execution of items on a line is defined not by the position of "
+"each item on the line, but by the following list:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1162
+msgid ""
+"O-code commands (optionally followed by a comment but no other words allowed "
+"on the same line)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1163
+msgid "Comment (including message)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1164
+msgid "Set feed rate mode (G93, G94)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1165
+msgid "Set feed rate (F)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1166
+msgid "Set spindle speed (S)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1167
+msgid "Select tool (T)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1168
+msgid "HAL pin I/O (M62-M68)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1169
+msgid "Change tool (M6) and Set Tool Number (M61)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1170
+msgid "Spindle on or off (M3, M4, M5)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1171
+msgid "Save State (M70, M73), Restore State (M72), Invalidate State (M71)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1172
+msgid "Coolant on or off (M7, M8, M9)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1173
+msgid "Enable or disable overrides (M48, M49,M50,M51,M52,M53)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1174
+msgid "User-defined Commands (M100-M199)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1175
+msgid "Dwell (G4)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1176
+msgid "Set active plane (G17, G18, G19)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1177
+msgid "Set length units (G20, G21)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1178
+msgid "Cutter radius compensation on or off (G40, G41, G42)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1179
+msgid "Cutter length compensation on or off (G43, G49)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1180
+msgid ""
+"Coordinate system selection (G54, G55, G56, G57, G58, G59, G59.1, G59.2, "
+"G59.3)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1181
+msgid "Set path control mode (G61, G61.1, G64)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1182
+msgid "Set distance mode (G90, G91)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1183
+msgid "Set retract mode (G98, G99)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1185
+msgid ""
+"Go to reference location (G28, G30) or change coordinate system data (G10) "
+"or set axis offsets (G52, G92, G92.1, G92.2, G94)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1187
+msgid ""
+"Perform motion (G0 to G3, G33, G38.n, G73, G76, G80 to G89), as modified "
+"(possibly) by G53."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1188
+msgid "Stop (M0, M1, M2, M30, M60)."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1190
+#, no-wrap
+msgid "G-code Best Practices(((G-code Best Practices)))"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1192
+#, no-wrap
+msgid "Use an appropriate decimal precision"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1195
+msgid ""
+"Use at least 3 digits after the decimal when milling in millimeters, and at "
+"least 4 digits after the decimal when milling in inches."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1198
+msgid ""
+"In particular, tolerance checks of arcs are done for .001 and .0001 "
+"according to the active units."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1199
+#, no-wrap
+msgid "Use consistent white space"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1203
+msgid ""
+"G-code is most legible when at least one space appears before words.  While "
+"it is permitted to insert white space in the middle of numbers, there is no "
+"reason to do so."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1204
+#, no-wrap
+msgid "Use Center-format arcs"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1208
+msgid ""
+"Center-format arcs (which use 'I- J- K-' instead of 'R-' ) behave more "
+"consistently than R-format arcs, particularly for included angles near 180 "
+"or 360 degrees."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1209
+#, no-wrap
+msgid "Use a Preamble set modal groups"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1213
+msgid ""
+"When correct execution of your program depends on modal settings, be sure to "
+"set them at the beginning of the part program. Modes can carry over from "
+"previous programs and from the MDI commands."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1214
+#, no-wrap
+msgid "Example Preamble for a Mill"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/overview.adoc:1219
+#, no-wrap
+msgid "G17 G20 G40 G49 G54 G80 G90 G94\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1224
+msgid ""
+"G17 use XY plane, G20 inch mode, G40 cancel diameter compensation, G49 "
+"cancel length offset, G54 use coordinate system 1, G80 cancel canned cycles, "
+"G90 absolute distance mode, G94 feed/minute mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1229
+msgid ""
+"Perhaps the most critical modal setting is the distance units--If you do not "
+"include G20 or G21, then different machines will mill the program at "
+"different scales. Other settings, such as the return mode in canned cycles "
+"may also be important."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1230
+#, no-wrap
+msgid "Don't put too many things on one line"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1233
+msgid ""
+"Ignore everything in section <<gcode:order-of-execution,Order of "
+"Execution>>, and instead write no line of code that is the slightest bit "
+"ambiguous."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1234
+#, no-wrap
+msgid "Don't set & use a parameter on the same line"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1238
+msgid ""
+"Don't use and set a parameter on the same line, even though the semantics "
+"are well defined. Updating a variable to a new value, such as '#1=[#1+#2]' "
+"is OK."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1239
+#, no-wrap
+msgid "Don't use line numbers"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1243
+msgid ""
+"Line numbers offer no benefits. When line numbers are reported in error "
+"messages, the numbers refer to the line number in the file, not the N-word "
+"value."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/overview.adoc:1244
+#, no-wrap
+msgid "When several coordinate systems are moved"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1247
+msgid "Consider using the inverse time speed mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1252
+msgid ""
+"Because the meaning of an 'F' word in meters per minute varies depending on "
+"the type of axis to be moved and because the amount of removed material does "
+"not depend only on the feed rate, it can be simpler to use G93, inverse "
+"speed of time, to achieve the removal of desired material."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1253
+#, no-wrap
+msgid "Linear and Rotary Axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1260
+msgid ""
+"Because the meaning of an F-word in feed-per-minute mode varies depending on "
+"which axes are commanded to move, and because the amount of material removed "
+"does not depend only on the feed rate, it may be easier to use G93 inverse "
+"time feed mode to achieve the desired material removal rate."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/overview.adoc:1261
+#, no-wrap
+msgid "Common Error Messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1266
+msgid ""
+"'G-code out of range' - A G-code greater than G99 was used, the scope of G "
+"codes in LinuxCNC is 0 - 99. Not every number between 0 and 99 is a valid "
+"G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1268
+msgid ""
+"'Unknown G-code used' - A G-code was used that is not part of the LinuxCNC "
+"G-code language."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1270
+msgid ""
+"'i,j,k word with no Gx to use it' - i, j and k words must be used on the "
+"same line as the G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1273
+msgid ""
+"'Cannot use axis values without a G-code that uses them' - Axis values can "
+"not be used on a line without either a modal G-code in effect or a G-code on "
+"the same line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/overview.adoc:1275
+msgid ""
+"'File ended with no percent sign or program end' - Every G-code file must "
+"end in a M2 or M30 or be wrapped with the percent sign %."
+msgstr ""
+
+#. type: Title =
+#: src/gcode/rs274ngc.adoc:5
+#, no-wrap
+msgid "RS274/NGC Differences"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/rs274ngc.adoc:13
+#, no-wrap
+msgid "Changes from RS274/NGC"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/rs274ngc.adoc:15
+#, no-wrap
+msgid "Differences that change the meaning of RS274/NGC programs"
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:17
+#, no-wrap
+msgid "Location after a tool change"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:23
+msgid ""
+"In LinuxCNC, the machine does not return to its original position after a "
+"tool change. This change was made because the new tool might be longer than "
+"the old tool, and the move to the original machine position could therefore "
+"leave the tool tip too low."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:24
+#, no-wrap
+msgid "Offset parameters are INI file units"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:31
+msgid ""
+"In LinuxCNC, the values stored in parameters for the G28 and G30 home "
+"locations, the P1...P9 coordinate systems, and the G92 offset are in \"INI "
+"file units\". This change was made because otherwise the meaning of a "
+"location changed depending on whether G20 or G21 was active when G28, G30, "
+"G10 L2, or G92.3 is programmed."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:32
+#, no-wrap
+msgid "Tool table lengths/diameters are in INI file units"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:42
+msgid ""
+"In LinuxCNC, the tool lengths (offsets) and diameters in the tool table are "
+"specified in INI file units only. This change was made because otherwise the "
+"length of a tool and its diameter would change based on whether G20 or G21 "
+"was active when initiating G43, G41, G42 modes. This made it impossible to "
+"run G-code in the machine's non-native units, even when the G-code was "
+"simple and well-formed (starting with G20 or G21, and didn't change units "
+"throughout the program), without changing the tool table."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:43
+#, no-wrap
+msgid "G84, G87 not implemented"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:47
+msgid ""
+"G84 and G87 are not currently implemented, but may be added to a future "
+"release of LinuxCNC."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:48
+#, no-wrap
+msgid "G28, G30 with axis words"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:54
+msgid ""
+"When G28 or G30 is programmed with only some axis words present, LinuxCNC "
+"only moves the named axes. This is common on other machine controls. To move "
+"some axes to an intermediate point and then move all axes to the predefined "
+"point, write two lines of G code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/rs274ngc.adoc:59
+#, no-wrap
+msgid ""
+"G0 X- Y- (axes to move to intermediate point)\n"
+"G28 (move all axes to predefined point)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/rs274ngc.adoc:61
+#, no-wrap
+msgid "Additions to RS274/NGC"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/rs274ngc.adoc:63
+#, no-wrap
+msgid "Differences that do not change the meaning of RS274/NGC programs"
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:65
+#, no-wrap
+msgid "G33, G76 threading codes"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:68
+msgid "These codes are not defined in RS274/NGC."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:73
+msgid ""
+"The probe tip is not retracted after a G38.2 movement. This retraction move "
+"may be added in a future release of LinuxCNC."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:74
+#, no-wrap
+msgid "G38.3...G38.5"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:77 src/gcode/rs274ngc.adoc:81
+#: src/gcode/rs274ngc.adoc:85 src/gcode/rs274ngc.adoc:89
+msgid "These codes are not defined in RS274/NGC"
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:78
+#, no-wrap
+msgid "O-codes"
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:82
+#, no-wrap
+msgid "M50...M53 overrides"
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:86
+#, no-wrap
+msgid "M61..M66"
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:90
+#, no-wrap
+msgid "G43, G43.1"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:93
+msgid "'Negative Tool Lengths'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:96
+msgid ""
+"The RS274/NGC spec says \"it is expected that\" all tool lengths will be "
+"positive. However, G43 works for negative tool lengths."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:98
+msgid "'Lathe tools'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:101
+msgid ""
+"G43 tool length compensation can offset the tool in both the X and Z "
+"dimensions. This feature is primarily useful on lathes."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:103
+msgid "'Dynamic tool lengths'"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:106
+msgid "LinuxCNC allows specification of a computed tool length through G43.1 I K."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:107
+#, no-wrap
+msgid "G41.1, G42.1"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:113
+msgid ""
+"LinuxCNC allows specification of a tool diameter and, if in lathe mode, "
+"orientation in the G-code. The format is G41.1/G42.1 D L, where D is "
+"diameter and L (if specified) is the lathe tool orientation."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:114
+#, no-wrap
+msgid "G43 without H word"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:122
+msgid ""
+"In NGC this is not allowed. In LinuxCNC, it sets length offsets for the "
+"currently loaded tool. If no tool is currently loaded, it is an error. This "
+"change was made so the user doesn't have to specify the tool number in two "
+"places for each tool change, and because it's consistent with the way "
+"G41/G42 work when the D word is not specified."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/rs274ngc.adoc:123
+#, no-wrap
+msgid "U, V, and W axes"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/rs274ngc.adoc:127
+msgid ""
+"LinuxCNC allows machines with up to 9 axes by defining an additional set of "
+"3 linear axes known as U, V and W"
+msgstr ""
+
+#. type: Title =
+#: src/gcode/tool-compensation.adoc:5
+#, no-wrap
+msgid "Tool Compensation(((Tool Compensation)))"
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/tool-compensation.adoc:14
+#, no-wrap
+msgid "Touch Off(((Touch Off)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:17
+msgid ""
+"Using the Touch Off Screen in the AXIS interface you can update the tool "
+"table automatically."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:19
+msgid "Typical steps for updating the tool table:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:21
+msgid "After homing load a tool with 'T__n__ M6' where _n_ is the tool number."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:22
+msgid ""
+"Move tool to an established point using a gauge or take a test cut and "
+"measure."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:23
+msgid ""
+"Click the 'Touch Off' button in the Manual Control tab (or hit the 'End' "
+"button on your keyboard)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:24
+msgid "Select 'Tool Table' in the Coordinate System drop down box."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:25
+msgid "Enter the gauge or measured dimension and select OK."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:28
+msgid ""
+"The Tool Table will be changed with the correct Z length to make the DRO "
+"display the correct Z position and a G43 command will be issued so the new "
+"tool Z length will be in effect.  Tool table touch off is only available "
+"when a tool is loaded with 'T__n__ M6'."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/tool-compensation.adoc:30 src/gcode/tool-compensation.adoc:31
+#, no-wrap
+msgid "Touch Off Tool Table"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/tool-compensation.adoc:31
+#, no-wrap
+msgid "images/ToolTable-TouchOff.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/tool-compensation.adoc:33
+#, no-wrap
+msgid "Using G10 L1/L10/L11"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:36
+msgid "The G10 L1/L10/L11 commands can be used to set tool table offsets:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:38
+msgid ""
+"`G10 L1 P__n__` - Set offset(s) to a value. Current position irrelevant (see "
+"<<gcode:g10-l1,G10 L1>> for details)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:39
+msgid ""
+"`G10 L10 P__n__` - Set offset(s) so current position w/ fixture 1-8 becomes "
+"a value (see <<gcode:g10-l10,G10 L10>> for details)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:40
+msgid ""
+"`G10 L11 P__n__` - Set offset(s) so current position w/ fixture 9 becomes a "
+"value (see <<gcode:g10-l11,G10 L11>> for details)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:43
+msgid ""
+"This is only a brief presentation, refer to the reference guide of the "
+"G-code for more detailed explanations."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:54
+msgid ""
+"The 'Tool Table' is a text file that contains information about each tool.  "
+"The file is located in the same directory as your configuration and is "
+"called 'tool.tbl' by default.  A file name may be specified with the INI "
+"file [EMCIO]TOOL_TABLE setting.  The tools might be in a tool changer or "
+"just changed manually.  The file can be edited with a text editor or be "
+"updated using G10 L1.  See the <<sec:lathe-tool-table,Lathe Tool Table>> "
+"section for an example of the lathe tool table format.  The maximum pocket "
+"number is 1000."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:57
+msgid ""
+"The <<cha:tooledit-gui,Tool Editor>> or a text editor can be used to edit "
+"the tool table.  If you use a text editor make sure you reload the tool "
+"table in the GUI."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/tool-compensation.adoc:59
+#, no-wrap
+msgid "Tool Table Format(((Tool Table Format)))"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/tool-compensation.adoc:61
+#, no-wrap
+msgid "Tool Table Format"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "T#"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "P#"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "Dia"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "FA"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "BA"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:64
+#, no-wrap
+msgid "Ori"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:65
+#, no-wrap
+msgid "Rem"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:65
+#, no-wrap
+msgid ";"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66
+#, no-wrap
+msgid "(no data after opening semicolon)"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66
+#, no-wrap
+msgid "T1"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66
+#, no-wrap
+msgid "P17"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "X0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "Y0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "Z0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "A0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "B0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "C0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "U0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "V0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "W0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "D0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "I0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "J0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:66 src/gcode/tool-compensation.adoc:67
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "Q0"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:67 src/gcode/tool-compensation.adoc:68
+#: src/gcode/tool-compensation.adoc:69
+#, no-wrap
+msgid ";rem"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:67
+#, no-wrap
+msgid "T2"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:67
+#, no-wrap
+msgid "P5"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "T3"
+msgstr ""
+
+#. type: Table
+#: src/gcode/tool-compensation.adoc:68
+#, no-wrap
+msgid "P12"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:72
+msgid "In general, the tool table line format is:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:74
+msgid "T - tool number (tool numbers must be unique)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:75
+msgid ""
+"P - pocket number, 1-1000 (pocket numbers must be unique, Pocket 0 "
+"represents the spindle)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:76
+msgid "X..W - tool offset on specified axis - floating-point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:77
+msgid "D - tool diameter - floating-point, absolute value"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:78
+msgid "I - front angle (lathe only) - floating-point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:79
+msgid "J - back angle (lathe only) - floating-point"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:80
+msgid "Q - tool orientation (lathe only) - integer, 0-9"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:81
+msgid "; - beginning of comment or remark - text"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:84
+msgid ""
+"Tool numbers should be unique.  Lines beginning with a semicolon are "
+"ignored."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:86
+msgid "The units used for the length, diameter, etc., are in machine units."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:89
+msgid ""
+"You will probably want to keep the tool entries in ascending order, "
+"especially if you are going to be using a randomizing tool changer.  "
+"Although the tool table does allow for tool numbers in any order."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:95
+msgid ""
+"One line may contain as many as 16 entries, but will likely contain much "
+"fewer.  The entries for T (tool number) and P (pocket number) are required.  "
+"The last entry (a remark or comment, preceded by a semicolon) is optional.  "
+"It makes reading easier if the entries are arranged in columns, as shown in "
+"the table, but the only format requirement is that there be at least one "
+"space or tab after each of the entries on a line and a newline character at "
+"the end of each entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:97
+msgid ""
+"The meanings of the entries and the type of data to be put in each are as "
+"follows."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/tool-compensation.adoc:98
+#, no-wrap
+msgid "Tool Number (required)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:101
+msgid ""
+"The 'T' column contains the number (unsigned integer) which represents a "
+"code number for the tool.  The user may use any code for any tool, as long "
+"as the codes are unsigned integers."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/tool-compensation.adoc:102
+#, no-wrap
+msgid "Pocket Number (required)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:105
+msgid ""
+"The 'P' column contains the number (unsigned integer) which represents the "
+"pocket number (slot number) of the tool changer slot where the tool can be "
+"found.  The entries in this column must all be different."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:111
+msgid ""
+"The pocket numbers will typically start at 1 and go up to the highest "
+"available pocket on your tool changer.  But not all tool changers follow "
+"this pattern.  Your pocket numbers will be determined by the numbers that "
+"your tool changer uses to refer to the pockets.  So all this is to say that "
+"the pocket numbers you use will be determined by the numbering scheme used "
+"in your tool changer, and the pocket numbers you use must make sense on your "
+"machine."
+msgstr ""
+
+#. type: Labeled list
+#: src/gcode/tool-compensation.adoc:112
+#, no-wrap
+msgid "Data Offset Numbers (optional)"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:117
+msgid ""
+"The 'Data Offset' columns (XYZABCUVW) contain real numbers which represent "
+"tool offsets in each axis.  This number will be used if tool length offsets "
+"are being used and this tool is selected.  These numbers can be positive, "
+"zero, or negative, and are in fact completely optional.  Although you will "
+"probably want to make at least one entry here, otherwise there would be "
+"little point in making an entry in the tool table to begin with."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:122
+msgid ""
+"In a typical mill, you probably want an entry for Z (tool length offset).  "
+"In a typical lathe, you probably want an entry for X (X tool offset) and Z "
+"(Z tool offset).  In a typical mill using cutter diameter compensation "
+"(cutter comp), you probably also want to add an entry for D (cutter "
+"diameter).  In a typical lathe using tool nose diameter compensation (tool "
+"comp), you probably also want to add an entry for D (tool nose diameter)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:126
+msgid ""
+"A lathe also requires some additional information to describe the shape and "
+"orientation of the tool.  So you probably want to have entries for I (tool "
+"front angle) and J (tool back angle).  You probably also want an entry for Q "
+"(tool orientation)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:128
+msgid ""
+"See the <<cha:lathe-user-information,Lathe User Information>> chapter for "
+"more detail."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:134
+msgid ""
+"The 'Diameter' column contains a real number. This number is used only if "
+"cutter compensation is turned on using this tool.  If the programmed path "
+"during compensation is the edge of the material being cut, this should be a "
+"positive real number representing the measured diameter of the tool.  If the "
+"programmed path during compensation is the path of a tool whose diameter is "
+"nominal, this should be a small number (positive or negative, but near zero) "
+"representing only the difference between the measured diameter of the tool "
+"and the nominal diameter.  If cutter compensation is not used with a tool, "
+"it does not matter what number is in this column."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:137
+msgid ""
+"The 'Comment' column may optionally be used to describe the tool. Any type "
+"of description is OK.  This column is for the benefit of human readers "
+"only. The comment must be preceded by a semicolon."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:140
+msgid ""
+"Earlier versions of LinuxCNC had two different tool table formats for mills "
+"and lathes, but since the 2.4.x release, one tool table format is used for "
+"all machines."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/tool-compensation.adoc:142
+#, no-wrap
+msgid "Tool IO(((Tool IO)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:148
+msgid ""
+"The non-realtime program specified by *[EMCIO]EMCIO = io* is conventionally "
+"used for tool changer management (and other io functions for enabling "
+"LinuxCNC and the control of coolant hardware).  The HAL pins used for tool "
+"management are prefixed with *iocontrol.0.*."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:151
+msgid ""
+"A G-code *T* command asserts the HAL output pin `iocontrol.0.tool-prepare`.  "
+"The HAL input pin, `iocontrol.0.tool-prepared`, must be set by external HAL "
+"logic to complete tool preparation leading to a subsequent reset of the "
+"tool-prepare pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:154
+msgid ""
+"A G-code *M6* command asserts the HAL output pin `iocontrol.0.tool-change`.  "
+"The related HAL input pin, `iocontrol.0.tool-prepared`, must be set by "
+"external HAL logic to indicate completion of the tool change leading to a "
+"subsequent reset of the tool-change pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:156
+msgid ""
+"Tooldata is accessed by an ordered index (idx) that depends on the type of "
+"toolchanger specified by `[EMCIO]RANDOM_TOOLCHANGER=`__type__."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:158
+msgid ""
+"For `RANDOM_TOOLCHANGER = 0`, (0 is default and specifies a non-random "
+"toolchanger) idx is a number indicating the sequence in which tooldata was "
+"loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:159
+msgid ""
+"For `RANDOM_TOOLCHANGER = 1`, idx is the *current* pocket number for the "
+"tool number specified by the G-code select tool command *T__n__*."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:161
+msgid ""
+"The io program provides HAL output pins to facilitate toolchanger "
+"management:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:163
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-number*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:164
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-index*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:165
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-pocket*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:166
+#, no-wrap
+msgid "*iocontrol.0.tool-from-pocket*\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:167
+#, no-wrap
+msgid "IO for non-random toolchanger"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:170
+msgid "Tool number _n_==0 indicates no tool."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:171
+msgid ""
+"The pocket number for a tool is set when tooldata is loaded/reloaded from "
+"its data source ([EMCIO]TOOL_TABLE or [EMCIO]DB_PROGRAM)."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:172
+msgid "At G-code *T__n__* (_n_ != 0) command:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:173
+#, no-wrap
+msgid ""
+"*iocontrol.0.tool-prep-index*  = _idx_ (index based on tooldata load "
+"sequence)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:174 src/gcode/tool-compensation.adoc:190
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-number* = _n_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:175
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-pocket* = the pocket number for _n_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:176
+#, no-wrap
+msgid "At G-code *T0* (_n_ == 0 remove) command:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:177
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-index*  = 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:178
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-number* = 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:179
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-pocket* = 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:180 src/gcode/tool-compensation.adoc:192
+#, no-wrap
+msgid "At M-code *M6* (following iocontrol.0.tool-changed pin 0-->1):\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:181 src/gcode/tool-compensation.adoc:193
+#, no-wrap
+msgid "*iocontrol.0.tool-from-pocket* = pocket number used to retrieve tool\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:182
+#, no-wrap
+msgid "IO for random toolchanger"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:185
+msgid "Tool number _n_==0 is *not special*."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:186
+msgid "Pocket number 0 is *special* as it indicates the *spindle*."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:187
+msgid ""
+"The *current* pocket number for tool _n_ is the tooldata index (_idx_) for "
+"tool _n_."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:188
+msgid "At G-code command *T__n__*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:189
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-index*  = tooldata index (idx) for tool _n_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:191
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-pocket* = pocket number for tool _n_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:198
+msgid ""
+"At startup, *iocontrol.0.tool-from-pocket* = 0.  An M61Q__n__ (_n_!=0) "
+"command does not change the *iocontrol.0.tool-from-pocket*.  An M61Q0 "
+"(_n_==0) command sets *iocontrol.0.tool-from-pocket* to 0."
+msgstr ""
+
+#. type: Title ===
+#: src/gcode/tool-compensation.adoc:200
+#, no-wrap
+msgid "Tool Changers(((Tool Changers)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:204
+msgid ""
+"LinuxCNC supports three types of tool changers: 'manual', 'random location' "
+"and 'non-random or fixed location'.  Information about configuring a "
+"LinuxCNC tool changer is in the <<sub:ini:sec:emcio,EMCIO Section>> of the "
+"INI chapter."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/tool-compensation.adoc:205
+#, no-wrap
+msgid "Manual Tool Changer"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:208
+msgid ""
+"Manual tool changer (you change the tool by hand) is treated like a fixed "
+"location tool changer.  Manual toolchanges can be aided by a HAL "
+"configuration that employs the non-realtime program *hal_manualtoolchange* "
+"and is typically specified in an INI file with INI statements:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/tool-compensation.adoc:213
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"HALFILE = axis_manualtoolchange.hal\n"
+msgstr ""
+
+#. type: Block title
+#: src/gcode/tool-compensation.adoc:215
+#, no-wrap
+msgid "Fixed Location Tool Changers"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:220
+msgid ""
+"Fixed location tool changers always return the tools to a fixed position in "
+"the tool changer.  This would also include designs like lathe turrets.  When "
+"LinuxCNC is configured for a fixed location tool changer the 'P' number is "
+"not used internally (but read, preserved and rewritten) by LinuxCNC, so you "
+"can use P for any bookkeeping number you want."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:227
+msgid ""
+"When using `[EMCIO]RANDOM_TOOLCHANGER = 0` (the default), the 'P' pocket "
+"number is a parameter of the tooldata that is retrieved from the tooldata "
+"source (`[EMCIO]TOOL_TABLE` or `[EMCIO]DB_PROGRAM`).  In many applications "
+"it is fixed but it may be changed by edits to the `[EMCIO]TOOL_TABLE` or "
+"programmatically when the `[EMCIO]DB_PROGRAM` is used.  LinuxCNC pushes "
+"updates to the data source (`[EMCIO]TOOL_TABLE` or `[EMCIO]DB_PROGRAM`) for "
+"G-codes G10L1, G10L10, G10L11, M61.  LinuxCNC can pull tooldata updates from "
+"the data source by UI (user-interface) commands (Python example: "
+"`linuxcnc.command().load_tool_table()`) or by the G-code: `G10L0`."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/tool-compensation.adoc:228
+#, no-wrap
+msgid "Random Location Tool Changers"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:233
+msgid ""
+"Random location tool changers (`[EMCIO]RANDOM_TOOLCHANGER = 1`) swap the "
+"tool in the spindle with the one in the changer.  With this type of tool "
+"changer the tool will always be in a different pocket after a tool change.  "
+"When a tool is changed LinuxCNC rewrites the pocket number to keep track of "
+"where the tools are.  T can be any number but P must be a number that makes "
+"sense for the machine."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/tool-compensation.adoc:235
+#, no-wrap
+msgid "Tool Length Compensation(((Tool Length Compensation)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:240
+msgid ""
+"The tool length compensations are given as positive numbers in the tool "
+"table.  A tool compensation is programmed using G43 H_n_, where _n_ is the "
+"index number of the desired tool in the tool table.  It is intended that all "
+"entries in the tool table are positive.  The value of H is checked, it must "
+"be a non-negative integer when read. The interpreter behaves as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:244
+msgid ""
+"If G43 H_n_ is programmed, a call to the function "
+"`USE_TOOL_LENGTH_OFFSET(`__length__`)` is made (where _length_ is the length "
+"difference, read from the tool table, of the indexed tool _n_), "
+"tool_length_offset is repositioned in the machine settings model and the "
+"value of current_z in the model is adjusted.  Note that _n_ does not have to "
+"be the same as the slot number of the tool currently in the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:251
+msgid ""
+"If G49 is programmed, `USE_TOOL_LENGTH_OFFSET(0.0)` is called, "
+"tool_length_offset is reset to 0.0 in the machine settings template and the "
+"current value of current_z in the model is adjusted.  The effect of the tool "
+"length compensation is illustrated in the capture below.  Note that the tool "
+"length is subtracted from Z so that the programmed control point corresponds "
+"to the tip of the tool.  Note also that the effect of the length "
+"compensation is immediate when you see the compensation is immediate when "
+"the position of Z is seen as a relative coordinate, but it has no effect on "
+"the actual machine position until a Z movement is programmed."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/tool-compensation.adoc:252
+#, no-wrap
+msgid "Tool length test program. Tool #1 is one inch long."
+msgstr ""
+
+#. type: delimited block -
+#: src/gcode/tool-compensation.adoc:261
+#, no-wrap
+msgid ""
+"N01 G1 F15 X0 Y0 Z0\n"
+"N02 G43 H1 Z0 X1\n"
+"N03 G49 X0 Z0\n"
+"N04 G0 X2\n"
+"N05 G1 G43 H1 G4 P10 Z0 X3\n"
+"N06 G49 X2 Z0\n"
+"N07 G0 X0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:264
+msgid "image:images/length1.png[]"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:266
+msgid ""
+"With this program, in most cases, the machine will apply the offset in the "
+"form of a ramp during the movement in xyz following the word G43."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/tool-compensation.adoc:268
+#, no-wrap
+msgid "Cutter Radius Compensation(((Cutter Radius Compensation)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:272
+msgid ""
+"Cutter Compensation allows the programmer to program the tool path without "
+"knowing the exact tool diameter.  The only caveat is the programmer must "
+"program the lead in move to be at least as long as the largest tool radius "
+"that might be used."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:277
+msgid ""
+"There are two possible paths the cutter can take since the cutter "
+"compensation can be on to the left or right side of a line when facing the "
+"direction of cutter motion from behind the cutter.  To visualize this "
+"imagine you were standing on the part walking behind the tool as it "
+"progresses across the part.  G41 is your left side of the line and G42 is "
+"the right side of the line."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:282
+msgid ""
+"The end point of each move depends on the next move.  If the next move "
+"creates an outside corner the move will be to the end point of the "
+"compensated cut line.  If the next move creates in an inside corner the move "
+"will stop short so to not gouge the part.  The following figure shows how "
+"the compensated move will stop at different points depending on the next "
+"move."
+msgstr ""
+
+#. type: Block title
+#: src/gcode/tool-compensation.adoc:284
+#, no-wrap
+msgid "Compensation End Point(((Compensation End Point)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/tool-compensation.adoc:285
+#, no-wrap
+msgid "Compensation End Point"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/tool-compensation.adoc:285
+#, no-wrap
+msgid "images/comp-path_en.svg"
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:289
+#, no-wrap
+msgid "Tool Table"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:293
+msgid ""
+"Cutter compensation uses the data from the tool table to determine the "
+"offset needed.  The data can be set at run time with G10 L1."
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:294
+#, no-wrap
+msgid "Programming Entry Moves"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:299
+msgid ""
+"Any move that is long enough to perform the compensation will work as the "
+"entry move.  The minimum length is the cutter radius. This can be a rapid "
+"move above the work piece.  If several rapid moves are issued after a G41/42 "
+"only the last one will move the tool to the compensated position."
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:303
+msgid ""
+"In the following figure you can see that the entry move is compensated to "
+"the right of the line.  This puts the center of the tool to the right of X0 "
+"in this case.  If you were to program a profile and the end is at X0 the "
+"resulting profile would leave a bump due to the offset of the entry move."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/tool-compensation.adoc:305 src/gcode/tool-compensation.adoc:306
+#, no-wrap
+msgid "Entry Move"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/tool-compensation.adoc:306
+#, no-wrap
+msgid "images/comp02_en.svg"
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:308
+#, no-wrap
+msgid "Z Motion"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:312
+msgid ""
+"Z axis motion may take place while the contour is being followed in the XY "
+"plane.  Portions of the contour may be skipped by retracting the Z axis "
+"above the part and by extending the Z-axis at the next start point."
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:313
+#, no-wrap
+msgid "Rapid Moves"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:316
+msgid "Rapid moves may be programmed while compensation is turned on."
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:317
+#, no-wrap
+msgid "Good Practices"
+msgstr ""
+
+#. type: Plain text
+#: src/gcode/tool-compensation.adoc:320
+msgid "Start a program with G40 to make sure compensation is off."
+msgstr ""
+
+#. type: Title ==
+#: src/gcode/tool-compensation.adoc:321 src/gui/qtvcp-libraries.adoc:1004
+#: src/gui/qtvcp-libraries.adoc:1264 src/hal/comp.adoc:493
+#: src/hal/general-ref.adoc:112 src/hal/general-ref.adoc:145
+#: src/hal/twopass.adoc:193 src/motion/external-offsets.adoc:259
+#, no-wrap
+msgid "Examples"
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:323
+#, no-wrap
+msgid "Outside Profile Example"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/tool-compensation.adoc:326 src/gcode/tool-compensation.adoc:327
+#, no-wrap
+msgid "Outside Profile"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/tool-compensation.adoc:327
+#, no-wrap
+msgid "images/outside-comp.png"
+msgstr ""
+
+#. type: Title ====
+#: src/gcode/tool-compensation.adoc:329
+#, no-wrap
+msgid "Inside Profile Example"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gcode/tool-compensation.adoc:332 src/gcode/tool-compensation.adoc:333
+#, no-wrap
+msgid "Inside Profile"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gcode/tool-compensation.adoc:333
+#, no-wrap
+msgid "images/inside-comp.png"
+msgstr ""
+
+#. type: Title =
+#: src/getting-started/about-linuxcnc.adoc:5
+#, no-wrap
+msgid "About LinuxCNC(((About LinuxCNC)))"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/about-linuxcnc.adoc:7
+#, no-wrap
+msgid "The Software"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:12
+msgid ""
+"LinuxCNC (the Enhanced Machine Control) is a software system for computer "
+"control of machine tools such as milling machines and lathes, robots such as "
+"puma and scara and other computer controlled machines up to 9 axes."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:15
+msgid ""
+"LinuxCNC is free software with open source code. Current versions of "
+"LinuxCNC are entirely licensed under the GNU General Public License and "
+"Lesser GNU General Public License (GPL and LGPL)."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:16
+msgid "LinuxCNC provides:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:17
+msgid "easy discovery and testing without installation with the LiveCD,"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:18
+msgid "easy installation from the Live CD,"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:20
+msgid ""
+"easy to use graphical configuration wizards to rapidly create a "
+"configuration specific to the machine,"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:21
+msgid ""
+"directly available as regular packages of recent releases of Debian (since "
+"Bookworm) and Ubuntu (since Kinetic Kudu),"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:22
+msgid "a graphical user interface (actually several interfaces to choose from),"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:23
+msgid "a graphical interface creation tool (Glade),"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:25
+msgid "an interpreter for 'G-code' (the RS-274 machine tool programming language),"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:26
+msgid "a realtime motion planning system with look-ahead,"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:27
+msgid "operation of low-level machine electronics such as sensors and motor drives,"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:28
+msgid ""
+"an easy to use 'breadboard' layer for quickly creating a unique "
+"configuration for your machine,"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:29
+msgid "a software PLC programmable with ladder diagrams."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:31
+msgid ""
+"It does not provide drawing (CAD - Computer Aided Design) or G-code "
+"generation from the drawing (CAM - Computer Automated Manufacturing) "
+"functions."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:32
+msgid ""
+"It can simultaneously move up to 9 axes and supports a variety of "
+"interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:35
+msgid ""
+"The control can operate true servos (analog or PWM) with the feedback loop "
+"closed by the LinuxCNC software at the computer, or open loop with "
+"step-servos or stepper motors."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:39
+msgid ""
+"Motion control features include: cutter radius and length compensation, path "
+"deviation limited to a specified tolerance, lathe threading, synchronized "
+"axis motion, adaptive feedrate, operator feed override, and constant "
+"velocity control."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:43
+msgid ""
+"Support for non-Cartesian motion systems is provided via custom kinematics "
+"modules. Available architectures include hexapods (Stewart platforms and "
+"similar concepts) and systems with rotary joints to provide motion such as "
+"PUMA or SCARA robots."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:44
+msgid "LinuxCNC runs on Linux using real time extensions."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/about-linuxcnc.adoc:45
+#, no-wrap
+msgid "The Operating System"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:49
+msgid ""
+"LinuxCNC is available as ready-to-use packages for the Ubuntu and Debian "
+"distributions."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/about-linuxcnc.adoc:51
+#, no-wrap
+msgid "Getting Help(((Getting Help)))"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/about-linuxcnc.adoc:53
+#, no-wrap
+msgid "IRC"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:58
+msgid ""
+"IRC stands for Internet Relay Chat.  It is a live connection to other "
+"LinuxCNC users.  The LinuxCNC IRC channel is #linuxcnc on libera.chat."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:61
+msgid ""
+"The simplest way to get on the IRC is to use the embedded web client client "
+"https://web.libera.chat/#linuxcnc[from libera]."
+msgstr ""
+
+#. type: Labeled list
+#: src/getting-started/about-linuxcnc.adoc:62
+#, no-wrap
+msgid "Some IRC etiquette"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:64
+msgid "Ask specific questions... Avoid questions like \"Can someone help me?\"."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:67
+msgid ""
+"If you're really new to all this, think a bit about your question before "
+"typing it.  Make sure you give enough information so someone can answer your "
+"question or solve your problem."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:70
+msgid ""
+"Have some patience when waiting for an answer, sometimes it takes a while to "
+"formulate an answer or everyone might be busy working or something."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:75
+msgid ""
+"Set up your IRC account with your unique name so people will know who you "
+"are.  If you use the java client, use the same name every time you log in.  "
+"This helps people remember who you are and if you have been on before many "
+"will remember the past discussions which saves time on both ends."
+msgstr ""
+
+#. type: Labeled list
+#: src/getting-started/about-linuxcnc.adoc:76
+#, no-wrap
+msgid "Sharing Files"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:79
+msgid ""
+"The most common way to share files on the IRC is to upload the file to one "
+"of the following or a similar service and paste the link:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:81
+msgid ""
+"'For text': https://pastebin.com/, https://gist.github.com/, "
+"https://0bin.net/, https://paste.debian.net/"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:82
+msgid ""
+"'For pictures': https://imagebin.org/, https://imgur.com/, "
+"https://bayimg.com/"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:83
+msgid ""
+"'For files': https://filedropper.com/, https://filefactory.com/, "
+"https://1fichier.com/"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/about-linuxcnc.adoc:84
+#, no-wrap
+msgid "Mailing List"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:92
+msgid ""
+"An Internet Mailing List is a way to put questions out for everyone on that "
+"list to see and answer at their convenience. You get better exposure to your "
+"questions on a mailing list than on the IRC but answers take longer. In a "
+"nutshell you e-mail a message to the list and either get daily digests or "
+"individual replies back depending on how you set up your account."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:95
+msgid ""
+"You can subscribe to the emc-users mailing list at: "
+"https://lists.sourceforge.net/lists/listinfo/emc-users."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/about-linuxcnc.adoc:96
+#, no-wrap
+msgid "Web Forum"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:100
+msgid ""
+"A web forum can be found at https://forum.linuxcnc.org/ or by following the "
+"link at the top of the https://linuxcnc.org/ home page."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:104
+msgid ""
+"This is quite active but the demographic is more user-biased than the "
+"mailing list.  If you want to be sure that your message is seen by the "
+"developers then the mailing list is to be preferred."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/about-linuxcnc.adoc:105
+#, no-wrap
+msgid "LinuxCNC Wiki"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:108
+msgid "A Wiki site is a user maintained web site that anyone can add to or edit."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:111
+msgid ""
+"The user maintained LinuxCNC Wiki site contains a wealth of information and "
+"tips at https://wiki.linuxcnc.org/."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/about-linuxcnc.adoc:112
+#, no-wrap
+msgid "Bug Reports"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/about-linuxcnc.adoc:116
+msgid ""
+"Report bugs to the LinuxCNC "
+"link:https:///github.com/LinuxCNC/linuxcnc/issues[github bug tracker]."
+msgstr ""
+
+#. type: Title =
+#: src/getting-started/getting-linuxcnc.adoc:6
+#, no-wrap
+msgid "Getting LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:12
+msgid ""
+"This section describes the recommended way to download and make a fresh "
+"install of LinuxCNC.  There are also <<_alternate_install_methods,Alternate "
+"Install Methods>> for the adventurous.  If you have an existing install that "
+"you want to upgrade, go to the <<cha:updating-linuxcnc,Updating LinuxCNC>> "
+"section instead."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:18
+msgid ""
+"To operate machinery LinuxCNC requires a special kernel with real-time "
+"extensions. There are three possibilities here: preempt-rt, RTAI or "
+"Xenomai. In addition there are two versions of LinuxCNC which work with "
+"these kernels. See the table below for details. However for code testing and "
+"simulation it is possible to run the `linuxcnc-uspace` application on a "
+"stock kernel of the distribution."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:26
+msgid ""
+"Fresh installs of LinuxCNC are most easily created using the Live/Install "
+"Image. This is a hybrid ISO filesystem image that can be written to a USB "
+"storage device or a DVD and used to boot a computer. At boot time you will "
+"be given a choice of booting the \"Live\" system (to run LinuxCNC without "
+"making any permanent changes to your computer) or booting the Installer (to "
+"install LinuxCNC and its operating system onto your computer's hard drive)."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:28
+msgid "The outline of the process looks like this:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:30
+msgid "Download the Live/Install Image."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:31
+msgid "Write the image to a USB storage device or DVD."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:32
+msgid "Boot the Live system to test out LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:33
+msgid "Boot the Installer to install LinuxCNC."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/getting-linuxcnc.adoc:34
+#, no-wrap
+msgid "Download the image"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:37
+msgid "This section describes some methods for downloading the Live/Install image."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:38
+#, no-wrap
+msgid "Normal Download"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:44
+msgid ""
+"Software for LinuxCNC to download is presented on the project's "
+"https://linuxcnc.org/downloads/[Downloads page].  Most users will aim for "
+"the disk image for Intel/AMD PCs, the URL will resemble "
+"https://www.linuxcnc.org/iso/linuxcnc_2.9.2-amd64.hybrid.iso."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:47
+msgid ""
+"For the Raspberry Pi, multiple images are provided to address differences "
+"between the RPi4 and RPi5."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:51
+msgid ""
+"Do not use the regular Raspbian distribution for LinuxCNC that may have "
+"shipped with your RPi starter kit - that will not have the real-time kernel "
+"and you cannot migrate from Raspbian to Debian's kernel image."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:52
+#, no-wrap
+msgid "Download using zsync"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:59
+msgid ""
+"zsync is a download application that efficiently resumes interrupted "
+"downloads and efficiently transfers large files with small modifications (if "
+"you have an older local copy).  Use zsync if you have trouble downloading "
+"the image using the <<_normal_download,Normal Download>> method."
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/getting-linuxcnc.adoc:60
+#, no-wrap
+msgid "zsync in Linux"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:63
+msgid ""
+"Install zsync using Synaptic or, by running the following in a "
+"<<faq:terminal,terminal>>"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:66
+#, no-wrap
+msgid "sudo apt-get install zsync\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:68
+msgid "Then run this command to download the iso to your computer"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:71
+#, no-wrap
+msgid "zsync https://www.linuxcnc.org/iso/linuxcnc_2.9.2-amd64.hybrid.iso\n"
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/getting-linuxcnc.adoc:73
+#, no-wrap
+msgid "zsync in Windows"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:78
+msgid ""
+"There is a Windows port of zsync.  It works as a console application and can "
+"be downloaded from https://www.assembla.com/spaces/zsync-windows/documents ."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:79
+#, no-wrap
+msgid "Verify the image"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:82
+msgid "(This step is unnecessary if you used zsync)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:84
+msgid "After downloading, verify the checksum of the image to ensure integrity."
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:87
+#, no-wrap
+msgid "md5sum linuxcnc-2.9.2-amd64.iso\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:93
+#, no-wrap
+msgid "sha256sum linuxcnc-2.9.2-amd64.iso\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:95
+msgid "Then compare to these checksums"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:103
+#, no-wrap
+msgid ""
+"amd64 (PC)\n"
+"md5sum: 1815aceaac0e7861747aa34d61846e79\n"
+"sha256sum: "
+"08b3f59233e47c91cf1c9a85c41df48542c97b134efefa7446d3060c9a3e644b\n"
+"arm64 (Pi)\n"
+"md5sum: 4547e8a72433efb033f0a5cf166a5cd2\n"
+"sha256sum: "
+"ff3ba9b8dfb93baf1e2232746655f8521a606bc0fab91bffc04ba74cc3be6bf0\n"
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/getting-linuxcnc.adoc:105
+#, no-wrap
+msgid "Verify md5sum on Windows or Mac"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:110
+msgid ""
+"Windows and Mac OS X do not come with an md5sum program, but there are "
+"alternatives.  More information can be found at: "
+"https://help.ubuntu.com/community/HowToMD5SUM[How To MD5SUM]"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/getting-linuxcnc.adoc:111
+#, no-wrap
+msgid "Write the image to a bootable device"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:116
+msgid ""
+"The LinuxCNC Live/Install ISO Image is a hybrid ISO image which can be "
+"written directly to a USB storage device (flash drive) or a DVD and used to "
+"boot a computer.  The image is too large to fit on a CD."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:117
+#, no-wrap
+msgid "Raspberry Pi Image"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:121
+msgid ""
+"The Raspberry Pi image is a complete SD card image and should be written to "
+"an SD card with the https://www.raspberrypi.com/software/[Raspberry Pi "
+"Imager App]."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:122
+#, no-wrap
+msgid "AMD-64 (x86-64, PC) Image using GUI tools"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:126
+msgid ""
+"Download and install Balena Etcher from "
+"https://etcher.balena.io/#download-etcher (Linux, Windows, Mac) and write "
+"the downloaded image to a USB drive."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:129
+msgid ""
+"If your image fails to boot then please also try https://rufus.ie/[Rufus].  "
+"It looks more complicated but seems to be more compatible with various "
+"BIOSes."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:130
+#, no-wrap
+msgid "Command line - Linux"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:134
+msgid ""
+"Connect a USB storage device (for example a flash drive or thumb drive type "
+"device)."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:137
+msgid ""
+"Determine the device file corresponding to the USB flash drive.  This "
+"information can be found in the output of `dmesg` after connecting the "
+"device.  `/proc/partitions` may also be helpful."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:140
+msgid ""
+"Use the `dd` command to write the image to your USB storage device.  For "
+"example, if your storage device showed up as `/dev/sde`, then use this "
+"command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:143
+#, no-wrap
+msgid "dd if=linuxcnc_2.9.2-amd64.hybrid.iso of=/dev/sde\n"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:145
+#, no-wrap
+msgid "Command line - MacOS"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:151
+#, no-wrap
+msgid "diskutil list\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:153
+msgid ""
+"Insert the USB and note the name of the new disk that appears, "
+"e.g. /dev/disk5."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:154
+msgid ""
+"Unmount the USB. The number found above should be substituted in place of "
+"the N."
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:157
+#, no-wrap
+msgid "diskutil unmountDisk /dev/diskN\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:160
+msgid ""
+"Transfer the data with dd, as for Linux above.  Note that the disk name has "
+"an added \"r\" at the beginning."
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:163
+#, no-wrap
+msgid "sudo dd if=/linuxcnc_2.9.2-amd64.hybrid.iso of=/dev/rdiskN bs=1m\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:166
+msgid ""
+"Note that this may take a long time to complete and there will be no "
+"feedback during the process."
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/getting-linuxcnc.adoc:167
+#, no-wrap
+msgid "Writing the image to a DVD in Linux"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:171
+msgid ""
+"Insert a blank DVD into your burner. A 'CD/DVD Creator' or 'Choose Disc "
+"Type' window will pop up. Close this, as we will not be using it."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:172
+msgid "Browse to the downloaded image in the file browser."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:173
+msgid "Right click on the ISO image file and choose Write to Disc."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:175
+msgid ""
+"Select the write speed. It is recommended that you write at the lowest "
+"possible speed."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:176
+msgid "Start the burning process."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:177
+msgid "If a 'choose a file name for the disc image' window pops up, just pick OK."
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/getting-linuxcnc.adoc:178
+#, no-wrap
+msgid "Writing the image to a DVD in Windows"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:182
+msgid ""
+"Download and install Infra Recorder, a free and open source image burning "
+"program: https://infrarecorder.org/ ."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:184
+msgid ""
+"Insert a blank CD in the drive and select Do nothing or Cancel if an "
+"auto-run dialog pops up."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:185
+msgid "Open Infra Recorder, and select the 'Actions' menu, then 'Burn image'."
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/getting-linuxcnc.adoc:186
+#, no-wrap
+msgid "Writing the image to a DVD in Mac OSX"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:189
+msgid "Download the .iso file"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:192
+msgid ""
+"Right-click on the file in the Finder window and select \"Burn to disc\".  "
+"(The option to burn to disc will only appear if the machine has an optical "
+"drive fitted or connected.)"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/getting-linuxcnc.adoc:193
+#, no-wrap
+msgid "Testing LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:198
+msgid ""
+"With the USB storage device plugged in or the DVD in the DVD drive, shut "
+"down the computer then turn the computer back on. This will boot the "
+"computer from the Live/Install Image and choose the Live boot option."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:201
+msgid ""
+"If the system does not boot from the DVD or USB stick, it may be necessary "
+"to change the boot order in the PC BIOS."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:205
+msgid ""
+"Once the computer has booted up you can try out LinuxCNC without installing "
+"it. You can not create custom configurations or modify most system settings "
+"in a Live session, but you can (and should) run the latency test."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:211
+msgid ""
+"To try out LinuxCNC: from the Applications/CNC menu pick LinuxCNC. A dialog "
+"box will open from which you can choose one of many sample "
+"configurations. At this point it only really makes sense to pick a \"sim\" "
+"configuration. Some of the sample configurations include onscreen 3D "
+"simulated machines, look for \"Vismach\" to see these."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:214
+msgid ""
+"To see if your computer is suitable for software step pulse generation run "
+"the Latency Test as shown <<sec:latency-test,here>>."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:219
+msgid ""
+"At the time of writing the Live Image is only available with the preempt-rt "
+"kernel and a matching LinuxCNC. On some hardware this might not offer good "
+"enough latency. There is an experimental version available using the RTAI "
+"realtime kernel which will often give better latency."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/getting-linuxcnc.adoc:220 src/plasma/qtplasmac.adoc:52
+#, no-wrap
+msgid "Installing LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:223
+msgid "To install LinuxCNC from the Live CD select 'Install (Graphical)' at bootup."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/getting-linuxcnc.adoc:224
+#, no-wrap
+msgid "Updates to LinuxCNC (((Updates to LinuxCNC)))"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:230
+msgid ""
+"With the normal install the Update Manager will notify you of updates to "
+"LinuxCNC when you go on line and allow you to easily upgrade with no Linux "
+"knowledge needed.  It is OK to upgrade everything except the operating "
+"system when asked to."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:233
+msgid ""
+"Do not upgrade the operating system to a new version if prompted to do "
+"so. You should accept OS _updates_ however, especially security updates."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/getting-linuxcnc.adoc:234
+#, no-wrap
+msgid "Install Problems"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:239
+msgid ""
+"In rare cases you might have to reset the BIOS to default settings if during "
+"the Live CD install it cannot recognize the hard drive during the boot up."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/getting-linuxcnc.adoc:240
+#, no-wrap
+msgid "Alternate Install Methods"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:246
+msgid ""
+"The easiest, preferred way to install LinuxCNC is to use the Live/Install "
+"Image as described above.  That method is as simple and reliable as we can "
+"make it, and is suitable for novice users and experienced users alike.  "
+"However, this will typically replace any existing operating system.  If you "
+"have files on the target PC that you want to keep, then use one of the "
+"methods described in this section."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:250
+msgid ""
+"In addition, for experienced users who are familiar with Debian system "
+"administration (finding install images, manipulating apt sources, changing "
+"kernel flavors, etc), new installs are supported on following platforms: "
+"(\"amd64\" means \"64-bit\", and is not specific to AMD processors, it will "
+"run on any 64-bit x86 system)"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:253
+#, no-wrap
+msgid "Distribution"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:253
+#, no-wrap
+msgid "Architecture"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:253
+#, no-wrap
+msgid "Kernel"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:253
+#, no-wrap
+msgid "Package name"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:254
+#, no-wrap
+msgid "Typical use"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:254
+#: src/getting-started/getting-linuxcnc.adoc:255
+#, no-wrap
+msgid "Debian Bookworm"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:254
+#: src/getting-started/getting-linuxcnc.adoc:257
+#, no-wrap
+msgid "amd64 & arm64"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:254
+#: src/getting-started/getting-linuxcnc.adoc:256
+#: src/getting-started/getting-linuxcnc.adoc:257
+#, no-wrap
+msgid "preempt-rt"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:254
+#: src/getting-started/getting-linuxcnc.adoc:256
+#: src/getting-started/getting-linuxcnc.adoc:257
+#: src/getting-started/getting-linuxcnc.adoc:259
+#, no-wrap
+msgid "linuxcnc-uspace"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:255
+#: src/getting-started/getting-linuxcnc.adoc:257
+#: src/getting-started/getting-linuxcnc.adoc:258
+#, no-wrap
+msgid "machine control & simulation"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:255
+#: src/getting-started/getting-linuxcnc.adoc:256
+#: src/getting-started/getting-linuxcnc.adoc:258
+#, no-wrap
+msgid "amd64"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:255
+#: src/getting-started/getting-linuxcnc.adoc:258
+#, no-wrap
+msgid "linuxcnc"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:256
+#: src/getting-started/getting-linuxcnc.adoc:259
+#, no-wrap
+msgid "machine control"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:256
+#, no-wrap
+msgid "Debian Bullseye"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:257
+#: src/getting-started/getting-linuxcnc.adoc:258
+#, no-wrap
+msgid "Debian Buster"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:259 src/gui/axis.adoc:625
+#: src/gui/axis.adoc:626 src/gui/axis.adoc:651 src/gui/axis.adoc:652
+#, no-wrap
+msgid "Any"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:259
+#, no-wrap
+msgid "Stock"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/getting-linuxcnc.adoc:260
+#, no-wrap
+msgid "simulation ONLY"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:263
+msgid "LinuxCNC v2.9 is not supported on Debian 9 or older."
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/getting-linuxcnc.adoc:264
+#, no-wrap
+msgid "Preempt-RT kernels"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:270
+msgid ""
+"The Preempt-rt kernels are available for Debian from the regular debian.org "
+"archive.  The package is called `linux-image-rt-*`.  Simply install the "
+"package in the same way as any other package from the Synaptic Package "
+"manager or with apt-get at the command-line."
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/getting-linuxcnc.adoc:271
+#, no-wrap
+msgid "RTAI Kernels"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:275
+msgid ""
+"The RTAI kernels are available for download from the linuxcnc.org debian "
+"archive.  The apt source is:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:277
+msgid "Debian Bookworm: `deb https://linuxcnc.org bookworm base`"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:278
+msgid "Debian Bullseye: `deb https://linuxcnc.org bullseye base`"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:279
+msgid "Debian Buster: `deb https://linuxcnc.org buster base`"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:282
+msgid ""
+"LinuxCNC and the RTAI kernel are now only available for 64-bit OSes but "
+"there are very few surviving systems that can not run a 64-bit OS."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:283
+#, no-wrap
+msgid "Installing on Debian Bookworm (with Preempt-RT kernel)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:288
+msgid ""
+"Install Debian Bookworm (Debian 12), amd64 version.  You can download the "
+"installer here: https://www.debian.org/distrib/"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:292
+msgid ""
+"After burning the iso and booting up if you don't want Gnome desktop select "
+"'Advanced Options' > 'Alternative desktop environments' and pick the one you "
+"like. Then select 'Install' or 'Graphical Install'."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:295
+msgid ""
+"Do not enter a root password, if you do sudo is disabled and you won't be "
+"able to complete the following steps."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:298
+msgid ""
+"Run the following in a <<faq:terminal,terminal>> to bring the machine up to "
+"date with the latest packages."
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:302
+#, no-wrap
+msgid ""
+"sudo apt-get update\n"
+"sudo apt-get dist-upgrade\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:307
+msgid ""
+"It is possible to download a version of LinuxCNC directly from Debian but "
+"this will install an old pre-release version, and is not recommended at this "
+"time."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:309
+msgid "Install the Preempt-RT kernel and modules"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:312
+#, no-wrap
+msgid "sudo apt-get install linux-image-rt-amd64\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:320
+msgid ""
+"Re-boot, and select the Linux 6.1.0-10-rt-amd64 kernel. The exact kernel "
+"version might be different, look for the \"-rt\" suffix. This might be "
+"hidden in the \"Advanced options for Debian Bookworm\" sub-menu in Grub.  "
+"When you log in, verify that `PREEMPT RT`is reported by the following "
+"command."
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:323
+#, no-wrap
+msgid "uname -v\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:332
+msgid ""
+"Open Applications Menu > System > Synaptic Package Manager search for "
+"'linux-image' and right click on the original non-rt and select 'Mark for "
+"Complete Removal'. Reboot.  This is to force the system to boot from the RT "
+"kernel. If you prefer to retain both kernels then the other kernels need not "
+"be deleted, but grub boot configuration changes will be needed beyond the "
+"scope of this document."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:336
+msgid ""
+"Add the LinuxCNC Archive Signing Key to your apt keyring by downloading [the "
+"LinuxCNC installer script](https://www.linuxcnc.org/linuxcnc-install.sh).  "
+"You will need to make the script executable to run it:"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:339
+#, no-wrap
+msgid "chmod +x linuxcnc-install.sh\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:342
+#, no-wrap
+msgid "  Then you can run the installer:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:345
+#, no-wrap
+msgid "sudo ./linuxcnc-install.sh\n"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:348
+#, no-wrap
+msgid "Installing on Debian Bookworm (with experimental RTAI kernel)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:353
+msgid ""
+"This kernel and LinuxCNC version can be installed on top of the Live DVD "
+"install, or alternatively on a fresh Install of Debian Bookworm 64-bit as "
+"described above."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:356
+msgid ""
+"You can add the LinuxCNC archive signing key and repository information by "
+"downloading and running the installer script as described above.  If an RTAI "
+"kernel is detected it will stop before installing any packages."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:357
+msgid "Update the package list from linuxcnc.org"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:360
+#, no-wrap
+msgid "sudo apt-get update\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:362
+msgid "Install the new realtime kernel, RTAI and the RTAI-version of LinuxCNC."
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/getting-linuxcnc.adoc:365
+#, no-wrap
+msgid "sudo apt-get install linuxcnc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:367
+msgid ""
+"Reboot the machine, ensuring that the system boots from the new 5.4.258-rtai "
+"kernel."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/getting-linuxcnc.adoc:368
+#, no-wrap
+msgid "Installing on Raspbian 12"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/getting-linuxcnc.adoc:374
+msgid ""
+"Don't do that.  The latencies are too bad with the default kernel and the "
+"PREEMPT_RT (the RT is important) kernel of Debian does not boot on the Pi "
+"(as of 1/2024).  Please refer to the .iso images provided online on the "
+"regular https://linuxcnc.org/downloads/[LinuCNC download page].  You can "
+"create them yourself following the scripts provided "
+"https://github.com/rodw-au/rpi-img-builder-lcnc[online]."
+msgstr ""
+
+#. type: Title =
+#: src/getting-started/running-linuxcnc.adoc:5
+#, no-wrap
+msgid "Running LinuxCNC(((Running LinuxCNC)))"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/running-linuxcnc.adoc:7
+#, no-wrap
+msgid "Invoking LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:12
+msgid ""
+"After installation, LinuxCNC starts just like any other Linux program: run "
+"it from the <<faq:terminal,terminal>> by issuing the command 'linuxcnc', or "
+"select it in the 'Applications -> CNC' menu."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/running-linuxcnc.adoc:14
+#, no-wrap
+msgid "Configuration Launcher(((Configuration Launcher)))"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:18
+msgid ""
+"When starting LinuxCNC (from the CNC menu or from the command line without "
+"specifying an INI file) the Configuration Selector dialog starts."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:24
+msgid ""
+"The Configuration Selector dialog allows the user to pick one of their "
+"existing configurations (My Configurations) or select a new one (from the "
+"Sample Configurations) to be copied to their home directory. Copied "
+"configurations will appear under My Configurations on the next invocation of "
+"the Configuration Selector."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:26
+msgid "The Configuration Selector offers a selection of configurations organized:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:28
+msgid ""
+"'My Configurations' - User configurations located in linuxcnc/configs in "
+"your home directory."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:31
+msgid ""
+"'Sample Configurations' - Sample configurations, when selected, are copied "
+"to linuxcnc/configs.  Once a sample configuration was copied to your local "
+"directory, the launcher will offer it as 'My Configurations'.  The names "
+"under which these local configurations are presented correspond to the names "
+"of the directories within the configs/ directory:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:33
+msgid ""
+"'sim' - Configurations that include simulated hardware.  These can be used "
+"for testing or learning how LinuxCNC works."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:34
+msgid "'by_interface' - Configurations organized by GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:35
+msgid "'by_machine' - Configurations organized by machine."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:37
+msgid ""
+"'apps' - Applications that do not require starting linuxcnc but may be "
+"useful for testing or trying applications like <<cha:pyvcp,PyVCP>> or "
+"<<cha:glade-vcp,GladeVCP>>."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:38
+msgid "'attic' - Obsolete or historical configurations."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:41
+msgid ""
+"The sim configurations are often the most useful starting point for new "
+"users and are organized around supported GUIs:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:43
+msgid "'axis' - Keyboard and Mouse GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:44
+msgid "'craftsman' - Touch Screen GUI (no longer maintained ???)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:45
+msgid "'gmoccapy' - Touch Screen GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:46
+msgid "'gscreen' - Touch Screen GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:47
+msgid "'pyvcp_demo' - Python Virtual Control Panel"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:48
+msgid "'qtaxis' - Touch Screen GUI, axis lookalike"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:49
+msgid "'qtdragon' - Touch Screen GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:50
+msgid "'qtdragon_hd' - Touch Screen GUI, high definition"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:51
+msgid "'qtplasmac' - Touch Screen GUI, for plasma tables"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:52
+msgid "'qttouchy' - Touch Screen GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:53
+msgid "'tklinuxcnc' - Keyboard and Mouse GUI (no longer maintained)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:54
+msgid "'touchy' - Touch Screen GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:55
+msgid "'woodpecker' - Touch Screen GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:59
+msgid ""
+"A GUI configuration directory may contain subdirectories with configurations "
+"that illustrate special situations or the embedding of other applications."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:62
+msgid ""
+"The 'by_interface' configurations are organized around common, supported "
+"interfaces like:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:64
+msgid "general mechatronics"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:65
+msgid "mesa"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:66
+msgid "parport"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:67
+msgid "pico"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:68
+msgid "pluto"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:69
+msgid "servotogo"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:70
+msgid "vigilant"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:71
+msgid "vitalsystems"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:74
+msgid ""
+"Related hardware may be required to use these configurations as starting "
+"points for a system."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:77
+msgid ""
+"The 'by_machine' configurations are organized around complete, known systems "
+"like:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:79
+msgid "boss"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:80
+msgid "cooltool"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:81
+msgid "scortbot erIII"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:82
+msgid "sherline"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:83
+msgid "smithy"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:84
+msgid "tormach"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:86
+msgid "A complete system may be required to use these configurations."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:88
+msgid "The 'apps items' are typically either:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:90
+msgid "utilities that don't require starting linuxcnc"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:91
+msgid "demonstrations of applications that can be used with linuxcnc"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:93
+msgid ""
+"info - creates a file with system information that may be useful for problem "
+"diagnosis."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:94
+msgid "gladevcp - Example GladeVCP applications."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:95
+msgid "halrun - Starts halrun in an <<faq:terminal,terminal>>."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:96
+msgid "latency - Applications to investigate latency"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:97
+msgid "latency-histogram-1 - histogram for single servo thread"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:98
+msgid "latency-histogram - histogram"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:99
+msgid "latency-test - standard test"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:100
+msgid "latency-plot - stripchart"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:101
+msgid "parport - Applications to test parport."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:102
+msgid "pyvcp - Example pyvcp applications."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:103
+msgid "xhc-hb04 - Applications to test an xhc-hb04 USB wireless MPG"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:107
+msgid ""
+"Under the Apps directory, only applications that are usefully modified by "
+"the user are offered for copying to the user's directory."
+msgstr ""
+
+#. .Configuration Selector
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/getting-started/running-linuxcnc.adoc:109
+#: src/getting-started/running-linuxcnc.adoc:110
+#: src/user/starting-linuxcnc.adoc:70
+#, no-wrap
+msgid "LinuxCNC Configuration Selector"
+msgstr ""
+
+#. type: Target for macro image
+#: src/getting-started/running-linuxcnc.adoc:110
+#, no-wrap
+msgid "images/configuration-selector.png"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:114
+msgid ""
+"Click any of the listed configurations to display specific information about "
+"it.  Double-click a configuration or click OK to start the configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:117
+msgid ""
+"Select 'Create Desktop Shortcut' and then click 'OK' to add an icon on the "
+"Ubuntu desktop to directly launch this configuration without showing the "
+"Configuration Selector screen."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:121
+msgid ""
+"When you select a configuration from the Sample Configurations section, it "
+"will automatically place a copy of that config in the ~/linuxcnc/configs "
+"directory."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/running-linuxcnc.adoc:122
+#, no-wrap
+msgid "Next steps in configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:129
+msgid ""
+"After finding the sample configuration that uses the same interface hardware "
+"as your machine (or a simulator configuration), and saving a copy to your "
+"home directory, you can customize it according to the details of your "
+"machine.  Refer to the Integrator Manual for topics on configuration."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/running-linuxcnc.adoc:130
+#, no-wrap
+msgid "Simulator Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:135
+msgid ""
+"All configurations listed under Sample Configurations/sim are intended to "
+"run on any computer.  No specific hardware is required and real-time support "
+"is not needed."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:143
+msgid ""
+"These configurations are useful for studying individual capabilities or "
+"options.  The sim configurations are organized according to the graphical "
+"user interface used in the demonstration.  The directory for axis contains "
+"the most choices and subdirectories because it is the most tested GUI.  The "
+"capabilities demonstrated with any specific GUI may be available in other "
+"GUIs as well."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/running-linuxcnc.adoc:144
+#, no-wrap
+msgid "Configuration Resources"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:151
+msgid ""
+"The Configuration Selector copies all files needed for a configuration to a "
+"new subdirectory of ~/linuxcnc/configs (equivalently: "
+"/home/username/linuxcnc/configs).  Each created directory will include at "
+"least one INI file (iniflename.ini)  that is used to describe a specific "
+"configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:160
+msgid ""
+"File resources within the copied directory will typically include one or "
+"more INI file (filename.ini) for related configurations and a tool table "
+"file (toolfilename.tbl).  Additionally, resources may include HAL files "
+"(filename.hal, filename.tcl), a README file for describing the directory, "
+"and configuration specific information in a text file named after a specific "
+"configuration (inifilename.txt).  That latter two files are displayed when "
+"using the Configuration Selector."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:169
+msgid ""
+"The supplied sample configurations may specify the parameter HALFILE "
+"(filename.hal) in the configuration INI file that are not present in the "
+"copied directory because they are found in the system HAL file library.  "
+"These files can be copied to the user configuration directory and altered as "
+"required by the user for modification or test.  Since the user configuration "
+"directory is searched first when finding HAL files, local modifications will "
+"then prevail."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/running-linuxcnc.adoc:175
+msgid ""
+"The Configuration selector makes a symbolic link in the user configuration "
+"directory (named hallib) that points to the system HAL file library.  This "
+"link simplifies copying a library file.  For example, to copy the library "
+"core_sim.hal file in order to make local modifications:"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/running-linuxcnc.adoc:179
+#, no-wrap
+msgid ""
+"cd ~/linuxcnc/configs/name_of_configuration\n"
+"cp hallib/core_sim.hal core_sim.hal\n"
+msgstr ""
+
+#. type: Title =
+#: src/getting-started/system-requirements.adoc:5
+#, no-wrap
+msgid "System Requirements(((System Requirements)))"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/system-requirements.adoc:7
+#, no-wrap
+msgid "Minimum Requirements"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:19
+msgid ""
+"The minimum system to run LinuxCNC and Debian / Ubuntu may vary depending on "
+"the exact usage. Stepper systems in general require faster threads to "
+"generate step pulses than servo systems. You can use the Live CD to test the "
+"software before committing to a permanent installation on a computer.  Keep "
+"in mind that the Latency Test numbers are more important than the processor "
+"speed for software step generation. More information on the Latency Test is "
+"<<sec:latency-test,here>>.  In addition LinuxCNC needs to be run on an "
+"operating system that uses a specially modified kernel, see "
+"<<sec:kernel_and_version_requirements,Kernel and Version Requirements>>."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:22
+msgid ""
+"Additional information is on the LinuxCNC Wiki site: "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Hardware_Requirements[Hardware "
+"Requirements]"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:27
+msgid ""
+"LinuxCNC and Debian Linux should run reasonably well on a computer with the "
+"following minimum hardware specification. These numbers are not the absolute "
+"minimum but will give reasonable performance for most stepper systems."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:29
+msgid ""
+"700 MHz x86 processor (1.2 GHz x86 processor recommended) or Raspberry Pi 4 "
+"or better."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:30
+msgid "LinuxCNC 2.8 or later from the Live CD expects a 64-bit capable system."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:31
+msgid "512 MB of RAM, 4 GB with GUI to avoid surprises"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:32
+msgid "No hard disk for Live CD, 8 GB or more for permanent installation"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:34
+msgid ""
+"Graphics card capable of at least 1024x768 resolution, which is not using "
+"the NVidia or ATI fglrx proprietary drivers.  Modern onboard graphic "
+"chipsets seem to generally be OK."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:35
+msgid ""
+"Internet connection (not strictly needed, but very useful for updates and "
+"for communicating with the LinuxCNC community)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:40
+msgid ""
+"Minimum hardware requirements change as Linux distributions evolve so check "
+"the https://www.debian.org/releases/stable/amd64/ch02.en.html[Debian] web "
+"site for details on the Live CD you're using. Older hardware may benefit "
+"from selecting an older version of the Live CD when available."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:47
+msgid ""
+"If you plan not to rely on the distribution of readily executable programs "
+"(\"binaries\")  and/or aim at contributing to the source tree of LinuxCNC, "
+"then there is a good chance you want a second computer to perform the "
+"compilation. Even though LinuxCNC and your developments could likely be "
+"executed at the same time with respect to disk space, RAM and even CPU "
+"speed, a machine that is busy will have worse latencies, so you are unlikely "
+"to compile your source tree and produce chips at the same time."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/system-requirements.adoc:49
+#, no-wrap
+msgid "Kernel and Version requirements"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:56
+msgid ""
+"LinuxCNC requires a kernel modified for realtime use to control real machine "
+"hardware.  It can, however run on a standard kernel in simulation mode for "
+"purposes such as checking G-code, testing config files and learning the "
+"system.  To work with these kernel versions there are two versions of "
+"LinuxCNC distributed.  The package names are \"linuxcnc\" and "
+"\"linuxcnc-uspace\"."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:58
+msgid "The realtime kernel options are preempt-rt, RTAI and Xenomai."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:60
+msgid "You can discover the kernel version of your system with the command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/system-requirements.adoc:63
+#, no-wrap
+msgid "uname -a\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:68
+#: src/getting-started/updating-linuxcnc.adoc:67
+msgid ""
+"If you see (as above) `-rt-` in the kernel name then you are running the "
+"preempt-rt kernel and should install the \"uspace\" version of LinuxCNC.  "
+"You should also install uspace for \"sim\" configs on non-realtime kernels."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:71
+msgid ""
+"If you see `-rtai-` in the kernel name then you are running RTAI "
+"realtime. See below for the LinuxCNC version to install."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/system-requirements.adoc:72
+#, no-wrap
+msgid "Preempt-RT with 'linuxcnc-uspace' package"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:83
+msgid ""
+"Preempt-RT is the newest of the realtime systems, and is also the version "
+"that is closest to a mainline kernel. Preempt-RT kernels are available as "
+"precompiled packages from the main repositories. The search term "
+"\"PREEMPT_RT\" will find them, and one can be downloaded and installed just "
+"like any other package.  Preempt-RT will generally have the best driver "
+"support and is the only option for systems using the Mesa ethernet-connected "
+"hardware driver cards. In general preempt-rt has the worst latency of the "
+"available systems, but there are exceptions."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/system-requirements.adoc:84
+#, no-wrap
+msgid "RTAI with 'linuxcnc' package"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:92
+msgid ""
+"RTAI has been the mainstay of LinuxCNC distributions for many years. It will "
+"generally give the best realtime performance in terms of low latency, but "
+"might have poorer peripheral support and not as many screen resolutions. An "
+"RTAI kernel is available from the LinuxCNC package repository. If you "
+"installed from the Live/Install image then switching kernel and LinuxCNC "
+"flavour is described in [Installing-RTAI]."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/system-requirements.adoc:93
+#, no-wrap
+msgid "Xenomai with 'linuxcnc-uspace' package"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:97
+msgid ""
+"Xenomai is also supported, but you will have to find or build the kernel and "
+"compile LinuxCNC from source to utilise it."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/system-requirements.adoc:98
+#, no-wrap
+msgid "RTAI with 'linuxcnc-uspace' package"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:102
+msgid ""
+"It is also possible to run LinuxCNC with RTAI in user-space mode.  As with "
+"Xenomai you will need to compile from source to do this."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/system-requirements.adoc:103
+#, no-wrap
+msgid "Problematic Hardware"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/system-requirements.adoc:105
+#, no-wrap
+msgid "Laptops"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:109
+msgid ""
+"Laptops are not generally suited to real time software step generation.  "
+"Again a Latency Test run for an extended time will give you the info you "
+"need to determine suitability."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/system-requirements.adoc:110
+#, no-wrap
+msgid "Video Cards"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/system-requirements.adoc:116
+msgid ""
+"If your installation pops up with 800 x 600 screen resolution then most "
+"likely Debian does not recognize your video card or monitor. This can "
+"sometimes be worked-around by installing drivers or creating / editing "
+"Xorg.conf files."
+msgstr ""
+
+#. type: Title =
+#: src/getting-started/hardware-interface.adoc:5
+#, no-wrap
+msgid "Hardware Interface(((Hardware Interface)))"
+msgstr ""
+
+#. type: Title =
+#: src/getting-started/hardware-interface.adoc:7
+#, no-wrap
+msgid "Hardware to run the LinuxCNC software"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:9
+msgid ""
+"A computer is required to run LinuxCNC itself. See "
+"<<cha:system-requirements,Computer System Requirements>>"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:11
+msgid "The most common is to use a x86 computer (standard Intel / AMD computer)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:13
+msgid "ARM computers such as the Raspberry Pi or Orange Pi can be used"
+msgstr ""
+
+#. type: Title =
+#: src/getting-started/hardware-interface.adoc:14
+#, no-wrap
+msgid "Hardware Interface to CNC machine"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:16
+msgid ""
+"An interface is necessary to transmit (and convert) signals and information "
+"between LinuxCNC (the software on the computer) and CNC hardware (such as "
+"stepper / servo drivers, limit switches, inputs and outputs etc.). There are "
+"multiple different ways to interface."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:18
+msgid "Interfaces include:"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/hardware-interface.adoc:20
+#: src/getting-started/hardware-interface.adoc:59
+#, no-wrap
+msgid "Ethernet"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/hardware-interface.adoc:21
+#: src/getting-started/hardware-interface.adoc:113
+#, no-wrap
+msgid "EtherCAT"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/hardware-interface.adoc:22
+#: src/getting-started/hardware-interface.adoc:122
+#, no-wrap
+msgid "PCI / PCIe"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:23
+msgid "SPI (where the computer has a native SPI interface, such as Raspberry Pi)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:24
+msgid "USB (_not_ realtime interface)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:26
+msgid ""
+"A mix of different interfaces can be used. For example, a combination of "
+"ethercat for servo drives, and parallel port for additional General Purpose "
+"Inputs / Outputs (GPIO)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:28
+msgid ""
+"Some of these solutions are usable for all aspects of hardware interfacing, "
+"and some have specific roles (e.g. non-realtime GPIO for an operator "
+"interface with switches)."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:30
+msgid ""
+"Hardware interface options change over time. This list is not a 100% "
+"complete list of all hardware interfaces that can be used with LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:33
+msgid "Using onboard motherboard parallel port, or a PCI/PCIe parallel port card."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/hardware-interface.adoc:34
+#, no-wrap
+msgid "Parallel Port Software Interface"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:36
+msgid ""
+"Realtime (time critical) tasks such as step generation are done in software "
+"on the LinuxCNC host - this means the parallel port interface is much more "
+"sensitive to the LinuxCNC computer's latency."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:38
+msgid "__Advantages:__"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:39
+msgid "Low cost"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:40
+msgid "Simple configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:42
+msgid "__Disadvantages:__"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:43
+msgid "Sensitive to the LinuxCNC computer's latency"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:44
+msgid "Limited inputs/outputs"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:45
+msgid ""
+"Some PCI/PCIe parallel port cards do not work well or do not properly "
+"support the EPP mode (EPP mode is required for parallel port interface to "
+"Mesa / PICO cards)."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/hardware-interface.adoc:47
+#, no-wrap
+msgid "Parallel Port FPGA Communication"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:49
+msgid ""
+"Realtime (time critical) tasks such as step generation are done in hardware "
+"(not on the computer)"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:50
+#, no-wrap
+msgid "Mesa via Parallel Port"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:52
+msgid ""
+"Mesa use Field-programmable gate array (FPGA) interfaced via parallel port - "
+"e.g. 7i43"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:54
+#: src/getting-started/hardware-interface.adoc:66
+#: src/getting-started/hardware-interface.adoc:129
+#: src/getting-started/hardware-interface.adoc:148
+#, no-wrap
+msgid "Website: https://mesanet.com/    Store: https://store.mesanet.com/\n"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:55
+#, no-wrap
+msgid "Pico Systems via Parallel Port"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:57
+msgid "https://pico-systems.com/univstep.html"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:60
+#, no-wrap
+msgid "Mesa Ethernet"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:62
+msgid ""
+"Mesa cards with a Field-programmable gate array (FPGA), interfaced to "
+"LinuxCNC computer via Ethernet. Time critical (realtime) tasks are performed "
+"on the FPGA card."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:64
+msgid ""
+"Multiple ethernet interface FPGA cards are available, with many expansion "
+"cards"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:67
+#, no-wrap
+msgid "Remora Ethernet"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:69
+msgid ""
+"Realtime requirements are offloaded onto a controller board. Multiple "
+"different controller boards are supported - see "
+"https://remora-docs.readthedocs.io[Remora docs]."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:71
+msgid ""
+"Note that some of these controller boards (e.g. NVEM, EC300, EC500) are "
+"designed / sold for use with Mach3. Use with LinuxCNC requires flashing new "
+"firmware, which has been developed by the LinuxCNC community. The "
+"manufacturer does not support LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:73
+msgid "Expatria Technologies PicoBOB-DLX was designed for LinuxCNC Remora."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:75
+msgid "Remora docs: https://remora-docs.readthedocs.io"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:79
+msgid "As of March 2024: ``` STM32 based controller boards"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:81
+#, no-wrap
+msgid ""
+"    NVEM - an STM32F207 based board with Ethernet PHY chip, originally "
+"intended for Mach3. [No longer in production, Legacy Support - no new "
+"features]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:83
+#, no-wrap
+msgid ""
+"    EC500 - an STM32F407 based board with Ethernet PHY chip, originally "
+"intended for Mach3. [No longer in production, Legacy Support - no new "
+"features]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:85
+#, no-wrap
+msgid ""
+"    Expatria Technologies Flexi-HAL with uFlexiNET Ethernet adapter - an "
+"STM32F446 based board with W5500 Ethernet SPI adapter designed for Remora\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:87
+msgid "iMX RT1052 based controller boards"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:89
+#, no-wrap
+msgid ""
+"    NVEM, EC300 & EC500 - iMXRT1052 based controller boards with Ethernet "
+"PHY chip, originally intended for Mach3. [In active development]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:91
+msgid "RP2040 based controller boards"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:93
+#, no-wrap
+msgid ""
+"    WIZnet W5500-EVB-Pico - Raspberry Pi RP2040 based development board with "
+"on-board W5500 Ethernet SPI adapter\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:96
+#, no-wrap
+msgid ""
+"    Expatria Technologies PicoBOB-DLX - Raspberry Pi RP2040 based board with "
+"on-board W5500 Ethernet SPI adapter designed for Remora\n"
+"```\n"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:97
+#, no-wrap
+msgid "Litex-CNC"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:99
+msgid ""
+"This project aims to make a generic CNC firmware and driver for FPGA cards "
+"which are supported by LiteX. Configuration of the board and driver is done "
+"using json-files. The supported boards are the Colorlight boards 5A-75B and "
+"5A-75E, as these are fully supported with the open source toolchain."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:101
+msgid ""
+"Colorlight 5A-75B and 5A-75E cards are designed as a LED receiver card - it "
+"outputs to LED matrix panels. These cards have outputs only - hardware "
+"modification is required to enable use for inputs. Soldering "
+"required. Output buffers can be replaced with an input buffer."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:103
+msgid "https://litex-cnc.readthedocs.io"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:105
+#: src/getting-started/hardware-interface.adoc:137
+#, no-wrap
+msgid "LinuxCNC-RIO"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:107
+#: src/getting-started/hardware-interface.adoc:139
+msgid "RealtimeIO for LinuxCNC based on an FPGA"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:109
+msgid "Ethernet interface can be used with a Ethernet to SPI interface."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:111
+#: src/getting-started/hardware-interface.adoc:141
+msgid "https://github.com/multigcs/LinuxCNC-RIO"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:115
+msgid ""
+"Beckhoff EtherCAT(TM) and compatible systems can be made to work with "
+"LinuxCNC using the open source etherlab software."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:119
+msgid ""
+"EtherCAT is the open real-time Ethernet network originally developed by "
+"Beckhoff.  The EtherCAT master (LinuxCNC computer) uses a standard ethernet "
+"(network) interface - no special hardware is needed on the master. The "
+"slaves use special hardware.  There are many EtherCAT slave devices "
+"available including servo drives, stepper drives, input, output interfaces, "
+"VFDs, and others."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:121
+msgid "https://github.com/linuxcnc-ethercat/linuxcnc-ethercat"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:125
+msgid ""
+"Mesa PCI / PCIe cards with a Field-programmable gate array (FPGA). Time "
+"critical (realtime) tasks are performed on the FPGA card."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:127
+msgid "Multiple daughter / expansion cards are available"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/hardware-interface.adoc:130
+#, no-wrap
+msgid "SPI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:132
+msgid ""
+"SPI = Serial Peripheral Interface. SPI interfaces can be found on single "
+"board computers like Raspberry Pi, or Orange Pi. SPI interface is _not_ "
+"generally present on standard computers (AMD/Intel)."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:134
+#, no-wrap
+msgid "Remora SPI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:136
+msgid ""
+"Realtime requirements are offloaded onto a controller "
+"board. https://remora-docs.readthedocs.io"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:144
+msgid ""
+"Mesa cards with a Field-programmable gate array (FPGA), interfaced to "
+"LinuxCNC computer via SPI. Time critical (realtime) tasks are performed on "
+"the FPGA card."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:146
+msgid "Example: 7C80 for Raspberry Pi"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/hardware-interface.adoc:150
+#, no-wrap
+msgid "USB"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:152
+msgid ""
+"USB devices cannot be used to control motors or perform other __\"real "
+"time\"__ tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:154
+msgid "USB to Parallel port converters are ___NOT___ usable / suitable for CNC use."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:155
+#, no-wrap
+msgid "LinuxCNC_ArduinoConnector"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:158
+msgid ""
+"This Project enables you to connect an Arduino to LinuxCNC and provides as "
+"many I/Os as you could ever wish for. This Software is used as I/O Expansion "
+"for LinuxCNC.  It is NOT intended for timing and security relevant I/Os. Do "
+"not use it for Emergency Stops or Endstop switches!"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:160
+msgid "Site: https://github.com/AlexmagToast/LinuxCNC_ArduinoConnector"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/hardware-interface.adoc:161
+#, no-wrap
+msgid "USB to RS485 / Modbus"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/hardware-interface.adoc:164
+msgid ""
+"USB to serial (RS485 / Modbus) adaptors can be used for control of "
+"__non-realtime__ hardware such as variable frequency drives (VFD) for "
+"spindle control. Not suitable for time critical tasks."
+msgstr ""
+
+#. type: Title =
+#: src/getting-started/updating-linuxcnc.adoc:5
+#, no-wrap
+msgid "Updating LinuxCNC(((Updating LinuxCNC)))"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:19
+msgid ""
+"Updating LinuxCNC to a new minor release (i.e. to a new version in the same "
+"stable series, for example from 2.9.1 to 2.9.2) is an automatic process if "
+"your PC is connected to the internet. You will see an update prompt after a "
+"minor release along with other software updates. If you don't have an "
+"internet connection to your PC see "
+"<<getting-started:update-no-network,Updating without Network>>."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/updating-linuxcnc.adoc:20
+#, no-wrap
+msgid "Upgrade to the new version"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:24
+msgid ""
+"This section describes how to upgrade LinuxCNC from version 2.8.x to a 2.9.y "
+"version.  It assumes that you have an existing 2.8 install that you want to "
+"update."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:28
+msgid ""
+"To upgrade LinuxCNC from a version older than 2.8, you have to first "
+"https://linuxcnc.org/docs/2.8/html/getting-started/updating-linuxcnc.html[upgrade "
+"your old install to 2.8], then follow these instructions to upgrade to the "
+"new version."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:32
+msgid ""
+"If you do not have an old version of LinuxCNC to upgrade, then you're best "
+"off making a fresh install of the new version as described in the section "
+"<<cha:getting-linuxcnc,Getting LinuxCNC>>."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:40
+msgid ""
+"Furthermore, if you are running Ubuntu Precise or Debian Wheezy it is well "
+"worth considering making a backup of the \"linuxcnc\" directory on removable "
+"media and performing a <<cha:getting-linuxcnc,clean install of a newer OS "
+"and LinuxCNC version>> as these releases were EOL in 2017 and 2018 "
+"respectively.  If you are running on Ubuntu Lucid then you will have to do "
+"this, as Lucid is no longer supported by LinuxCNC (it was EOL in 2013)."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:44
+msgid ""
+"To upgrade major versions like 2.8 to 2.9 when you have a network connection "
+"at the machine you need to disable the old linuxcnc.org apt sources in the "
+"file /etc/apt/sources.list and add a new linuxcnc.org apt source for 2.9, "
+"then upgrade LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:47
+msgid ""
+"The details will depend on which platform you're running on.  Open a "
+"<<faq:terminal,terminal>> then type `lsb_release -ic` to find this "
+"information out:"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/updating-linuxcnc.adoc:52
+#, no-wrap
+msgid ""
+"lsb_release -ic\n"
+"Distributor ID: Debian\n"
+"Codename:       Buster\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:56
+msgid ""
+"You should be running on Debian Buster, Bullseye or Bookworm or Ubuntu 20.04 "
+"\"Focal Fossa\" or newer.  LinuxCNC 2.9.y will not run on older "
+"distributions than these."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:58
+msgid "You will also need to check which realtime kernel is being used:"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/updating-linuxcnc.adoc:62
+#, no-wrap
+msgid ""
+"uname -r\n"
+"6.1.0-10-rt-amd64\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:71
+msgid ""
+"If you see `-rtai-` in the kernel name then you are running RTAI realtime.  "
+"See below for the LinuxCNC version to install.  RTAI packages are available "
+"for Bookworm and Buster but not currently for Bullseye."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/updating-linuxcnc.adoc:73
+#, no-wrap
+msgid "Apt Sources Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:77
+msgid ""
+"Open the `Software Sources` window.  The process for doing this differs "
+"slightly on the three supported platforms:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:78
+msgid "Debian:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:79
+msgid ""
+"Click on `Applications Menu`, then `System`, then `Synaptic Package "
+"Manager`."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:80
+msgid ""
+"In Synaptic, click on the `Settings` menu, then click `Repositories` to open "
+"the `Software Sources` window."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:81
+msgid "Ubuntu Precise:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:82
+#: src/getting-started/updating-linuxcnc.adoc:134
+msgid "Click on the `Dash Home` icon in the top left."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:83
+msgid ""
+"In the `Search` field, type \"software\", then click on the `Ubuntu Software "
+"Center` icon."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:85
+msgid ""
+"In the Ubuntu Software Center window, click on the `Edit` menu, then click "
+"on `Software Sources...` to open the `Software Sources` window."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:86
+msgid "Ubuntu Lucid:"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:87
+msgid ""
+"Click the `System` menu, then `Administration`, then `Synaptic Package "
+"Manager`."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:88
+msgid ""
+"In Synaptic, click on the `Settings` menu, then click on `Repositories` to "
+"open the `Software Sources` window."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:89
+msgid "In the `Software Sources` window, select the `Other Software` tab."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:90
+msgid ""
+"Delete or un-check all the old linuxcnc.org entries (leave all "
+"non-linuxcnc.org lines as they are)."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:91
+msgid ""
+"Click the `Add` button and add a new apt line. The line will be slightly "
+"different on the different platforms:"
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/updating-linuxcnc.adoc:92
+#, no-wrap
+msgid ""
+"Tabular overview on variants of the Operating System and the corresponding "
+"configuration of the repository. The configuration can be performed in the "
+"GUI of the package manager or in the file /etc/apt/sources.list."
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:95
+#, no-wrap
+msgid "OS / Realtime Version"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:96
+#, no-wrap
+msgid "Repository"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:96
+#, no-wrap
+msgid "Debian Buster - preempt"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:97
+#, no-wrap
+msgid "deb https://linuxcnc.org buster base 2.9-uspace"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:97
+#, no-wrap
+msgid "Debian Buster - RTAI"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:98
+#, no-wrap
+msgid "deb https://linuxcnc.org buster base 2.9-rt"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:98
+#, no-wrap
+msgid "Debian Bullseye - preempt"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:99
+#, no-wrap
+msgid "deb https://linuxcnc.org bullseye base 2.9-uspace"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:99
+#, no-wrap
+msgid "Debian Bookworm - preempt"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:100
+#, no-wrap
+msgid "deb https://linuxcnc.org bookworm base 2.9-uspace"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:100
+#, no-wrap
+msgid "Debian Bookworm - RTAI"
+msgstr ""
+
+#. type: Table
+#: src/getting-started/updating-linuxcnc.adoc:101
+#, no-wrap
+msgid "deb https://linuxcnc.org bookworm base 2.9-rt"
+msgstr ""
+
+#. type: Block title
+#: src/getting-started/updating-linuxcnc.adoc:103
+#, no-wrap
+msgid ""
+"Figure with a screenshot of the repository configuration of the synaptic "
+"package manager."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/getting-started/updating-linuxcnc.adoc:104
+#, no-wrap
+msgid "Setting apt sources"
+msgstr ""
+
+#. type: Target for macro image
+#: src/getting-started/updating-linuxcnc.adoc:104
+#, no-wrap
+msgid "images/upgrading-to-2.9.png"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:109
+msgid ""
+"Click `Add Source`, then `Close` in the Software Sources window.  If it pops "
+"up a window informing you that the information about available software is "
+"out-of-date, click the `Reload` button."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/updating-linuxcnc.adoc:110
+#, no-wrap
+msgid "Upgrading to the new version"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:114
+msgid ""
+"Now your computer knows where to get the new version of the software, next "
+"we need to install it."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:116
+msgid "The process again differs depending on your platform."
+msgstr ""
+
+#. type: Title ====
+#: src/getting-started/updating-linuxcnc.adoc:117
+#, no-wrap
+msgid "Debian Buster, Bullseye and Bookworm"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:120
+msgid "Debian uses the Synaptic Package Manager."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:122
+msgid ""
+"Open Synaptic using the instructions in <<_setting_apt_sources,Setting apt "
+"sources>> above."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:123
+msgid "Click the `Reload` button."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:124
+msgid "Use the Search function to search for `linuxcnc`."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:125
+msgid ""
+"The package is called \"linuxcnc\" for RTAI kernels and \"linuxcnc-uspace\" "
+"for preempt-rt."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:128
+msgid ""
+"Click the check box to mark the new linuxcnc and linuxcnc-doc-* packages for "
+"upgrade.  The package manager may select a number of additional packages to "
+"be installed, to satisfy dependencies that the new linuxcnc package has."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:130
+msgid ""
+"Click the `Apply` button, and let your computer install the new package.  "
+"The old linuxcnc package will be automatically upgraded to the new one."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:135
+msgid ""
+"In the `Search` field, type \"update\", then click on the `Update Manager` "
+"icon."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:136
+msgid "Click the `Check` button to fetch the list of packages available."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:137
+msgid ""
+"Click the `Install Updates` button to install the new versions of all "
+"packages."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/updating-linuxcnc.adoc:139
+#, no-wrap
+msgid "Updating without Network"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:143
+msgid ""
+"To update without a network connection you need to download the .deb then "
+"install it with dpkg.  The .debs can be found in https://linuxcnc.org/dists/ "
+"."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:146
+msgid ""
+"You have to drill down from the above link to find the correct deb for your "
+"installation.  Open a <<faq:terminal,terminal>> and type in 'lsb_release "
+"-ic' to find the release name of your OS."
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/updating-linuxcnc.adoc:151
+#, no-wrap
+msgid ""
+"> lsb_release -ic\n"
+"Distributor ID: Debian\n"
+"Codename:       bullseye\n"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:155
+msgid ""
+"Pick the OS from the list then pick the major version you want like 2.9-rt "
+"for RTAI or 2.9-rtpreempt or 2.9-uspace for preempt-rt."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:158
+msgid ""
+"Next pick the type of computer you have: binary-amd64 for any 64-bit x86, "
+"binary-i386 for 32 bit, binary-armhf (32bit) or binary-arm64 (64bit) for "
+"Raspberry Pi."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:165
+msgid ""
+"Next pick the version you want from the bottom of the list like "
+"'linuxcnc-uspace_2.9.2_amd64.deb' (choose the latest by date).  Download the "
+"deb and copy it to your home directory. You can rename the file to something "
+"a bit shorter with the file manager like 'linuxcnc_2.9.2.deb' then open a "
+"terminal and install it with the package manager with this command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/getting-started/updating-linuxcnc.adoc:168
+#, no-wrap
+msgid "sudo dpkg -i linuxcnc_2.9.2.deb\n"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/updating-linuxcnc.adoc:171
+#, no-wrap
+msgid "Updating Configuration Files for 2.9"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/updating-linuxcnc.adoc:173
+#, no-wrap
+msgid "Stricter handling of pluggable interpreters"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:177
+msgid ""
+"If you just run regular G-code and you don't know what a pluggable "
+"interpreter is, then this section does not affect you."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:180
+msgid ""
+"A seldom-used feature of LinuxCNC is support for pluggable interpreters, "
+"controlled by the undocumented `[TASK]INTERPRETER` INI setting."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:184
+msgid ""
+"Versions of LinuxCNC before 2.9.0 used to handle an incorrect "
+"`[TASK]INTERPRETER` setting by automatically falling back to using the "
+"default G-code interpreter."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:189
+msgid ""
+"Since 2.9.0, an incorrect `[TASK]INTERPRETER` value will cause LinuxCNC to "
+"refuse to start up.  Fix this condition by deleting the `[TASK]INTERPRETER` "
+"setting from your INI file, so that LinuxCNC will use the default G-code "
+"interpreter."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/updating-linuxcnc.adoc:191
+#, no-wrap
+msgid "Canterp"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:195
+msgid ""
+"If you just run regular G-code and you don't use the `canterp` pluggable "
+"interpreter, then this section does not affect you."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:200
+msgid ""
+"In the extremely unlikely event that you are using `canterp`, know that the "
+"module has moved from `/usr/lib/libcanterp.so` to "
+"`/usr/lib/linuxcnc/canterp.so`, and the `[TASK]INTERPRETER` setting "
+"correspondingly needs to change from `libcanterp.so` to `canterp.so`."
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/updating-linuxcnc.adoc:203
+#, no-wrap
+msgid "Updating Configuration Files (for 2.9.y)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:206
+msgid ""
+"No changes should be necessary to configuration files when moving from 2.8.x "
+"to 2.9.y."
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/updating-linuxcnc.adoc:207
+#, no-wrap
+msgid "Spindle limits in the INI"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:210
+msgid "It is now possible to add settings to the [SPINDLE] section of the INI file"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:212
+msgid "MAX_FORWARD_VELOCITY = 20000 The maximum spindle speed (in RPM)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:214
+msgid "MIN_FORWARD_VELOCITY = 3000 The minimum spindle speed (in RPM)"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:217
+msgid ""
+"MAX_REVERSE_VELOCITY = 20000 This setting will default to "
+"MAX_FORWARD_VELOCITY if omitted."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:221
+msgid ""
+"MIN_REVERSE_VELOCITY = 3000` This setting is equivalent to "
+"MIN_FORWARD_VELOCITY but for reverse spindle rotation.  It will default to "
+"the MIN_FORWARD_VELOCITY if omitted."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:226
+msgid ""
+"INCREMENT = 200 Sets the step size for spindle speed increment / decrement "
+"commands.  This can have a different value for each spindle.  This setting "
+"is effective with AXIS and Touchy but note that some control screens may "
+"handle things differently."
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:228
+msgid "HOME_SEARCH_VELOCITY = 100 - Accepted but currently does nothing"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:230
+msgid "HOME_SEQUENCE = 0 - Accepted but currently does nothing"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/updating-linuxcnc.adoc:231
+#, no-wrap
+msgid "New HAL components"
+msgstr ""
+
+#. type: Title ===
+#: src/getting-started/updating-linuxcnc.adoc:233
+#, no-wrap
+msgid "Non-Realtime"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:241
+msgid ""
+"mdro mqtt-publisher pi500_vfd pmx485-test qtplasmac-materials sim-torch "
+"svd-ps_vfd"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:256
+msgid ""
+"anglejog div2 enum filter_kalman flipflop hal_parport homecomp limit_axis "
+"mesa_uart millturn scaled_s32_sums tof ton"
+msgstr ""
+
+#. type: Title ==
+#: src/getting-started/updating-linuxcnc.adoc:257
+#, no-wrap
+msgid "New Drivers"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:262
+msgid ""
+"A framework for controlling ModBus devices using the serial ports on many "
+"Mesa cards has been introduced.  "
+"http://linuxcnc.org/docs/2.9/html/drivers/mesa_modbus.html"
+msgstr ""
+
+#. type: Plain text
+#: src/getting-started/updating-linuxcnc.adoc:265
+msgid ""
+"A new GPIO driver for any GPIO which is supported by the gpiod library is "
+"now included: http://linuxcnc.org/docs/2.9/html/drivers/hal_gpio.html"
+msgstr ""
+
+#. type: Title =
+#: src/gui/axis.adoc:5
+#, no-wrap
+msgid "AXIS GUI(((AXIS GUI)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:18
+msgid ""
+"AXIS is a graphical front-end for LinuxCNC which features a live preview and "
+"backplot. It is written in Python and uses Tk and OpenGL to display its user "
+"interface."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:20
+#, no-wrap
+msgid "The AXIS Window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:21
+#, no-wrap
+msgid "AXIS main window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:21
+#, no-wrap
+msgid "images/axis.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:23 src/gui/mdro.adoc:28 src/gui/tklinuxcnc.adoc:26
+#, no-wrap
+msgid "Getting Started"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:28
+msgid ""
+"If your configuration is not currently set up to use AXIS, you can change it "
+"by editing the .ini file (INI file). In the section `[DISPLAY]` change the "
+"`[DISPLAY]` line to read `DISPLAY = axis`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:30
+msgid ""
+"The sample configuration 'sim/axis.ini' is already configured to use AXIS as "
+"its front-end."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:33
+msgid ""
+"When AXIS starts, a window like the one in the figure <<fig:axis-window>> "
+"above opens."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:40
+msgid ""
+"For more information on INI file settings that can change how AXIS works see "
+"the <<sub:ini:sec:display,Display Section>> and the "
+"<<sub:ini:sec:axis-letter,Axis Section>> of the INI Configuration Chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:45
+#, no-wrap
+msgid ""
+"'CYCLE_TIME' - Adjust the response rate of the GUI in milliseconds. Typical "
+"100, useable range 50 - 200\n"
+"(will accept time in seconds (.05 -.2) for legacy reasons - milliseconds "
+"preferred to match other screens)."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:50
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"CYCLE_TIME = 100\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:57
+msgid ""
+"'PREVIEW_TIMEOUT' - Set timeout in seconds for loading G-code preview.  If "
+"parsing the G-code lasts longer than this, a notice is shown and only the "
+"initial part of the program is drawn in the graphical display. Specifying 0 "
+"or leaving the setting out results in no timeout."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:62
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"PREVIEW_TIMEOUT = 5\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:64
+#, no-wrap
+msgid "A Typical Session"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:67
+msgid "Launch LinuxCNC and select a configuration file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:68
+msgid "Release the E-STOP button (F1) and turn the Machine Power on (F2)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:69
+msgid "Home all axes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:70
+msgid "Load the G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:71
+msgid "Use the preview plot to verify that the program is correct."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:72
+msgid "Load the material."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:74
+msgid ""
+"Set the proper offset for each axis by jogging and using the `Touch Off` "
+"button as needed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:75 src/gui/tklinuxcnc.adoc:56
+msgid "Run the program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:77
+msgid ""
+"To machine the same file again, return to step 6.  To machine a different "
+"file, return to step 4."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:78
+msgid "When the job is complete, exit AXIS."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:85
+msgid ""
+"To run the same program again depends on your setup and requirements.  You "
+"might need to load more material and set offsets or move over and set an "
+"offset then run the program again. If your material is fixtured then you "
+"might need to only run the program again. See the "
+"<<sub:axis-machine-menu,Machine Menu>> for more information on the run "
+"command."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:86
+#, no-wrap
+msgid "AXIS Window"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:89
+msgid "The AXIS window contains the following elements:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:91
+msgid "A display area that shows one of the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:95
+msgid ""
+"A preview of the loaded file (in this case, 'axis.ngc'), as well as the "
+"current location of the CNC machine's 'controlled point'. Later, this area "
+"will display the path the CNC machine has moved through, called the "
+"'backplot'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:96
+msgid "A large readout showing the current position and all offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:97
+msgid "A menu bar and toolbar that allow you to perform various actions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:100
+msgid ""
+"'Manual Control Tab' - which allows you to make the machine move, turn the "
+"spindle on or off, and turn the coolant on or off if included in the INI "
+"file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:103
+msgid ""
+"'MDI Tab' - where G-code programs can be entered manually, one line at a "
+"time. This also shows the 'Active G-codes' which shows which modal G-codes "
+"are in effect."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:107
+msgid ""
+"'Feed Override' - which allows you to scale the speed of programmed "
+"motions.  The default maximum is 120% and can be set to a different value in "
+"the INI file. See the <<sub:ini:sec:display,Display Section>> of the INI "
+"file for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:108
+msgid "'Spindle Override' - which allows you to scale the spindle speed up or down."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:110
+msgid ""
+"'Jog Speed' - which allows you to set the jog speed within the limits set in "
+"the INI file.  See the <<sub:ini:sec:display,Display Section>> of the INI "
+"file for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:112
+msgid ""
+"'Max Velocity' - which allows you to restrict the maximum velocity of all "
+"programmed motions (except spindle synchronized motion)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:113
+msgid "A text display area that shows the loaded G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:117
+msgid ""
+"A status bar which shows the state of the machine. In this screen shot, the "
+"machine is turned on, does not have a tool inserted, and the displayed "
+"position is 'Relative' (showing all offsets), and 'Actual' (showing feedback "
+"position)."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:118
+#, no-wrap
+msgid "Menu Items"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:123
+msgid ""
+"Some menu items might be grayed out depending on how you have your INI file "
+"configured. For more information on configuration see the "
+"<<cha:ini-configuration,INI Chapter>>."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/axis.adoc:124
+#, no-wrap
+msgid "File Menu"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:130
+msgid ""
+"'Open...' - Opens a standard dialog box to open a G-code file to load in "
+"AXIS. If you have configured LinuxCNC to use a filter program you can also "
+"open it up. See the <<sub:ini:sec:filter,FILTER Section>> of the INI "
+"configuration for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:131
+msgid "'Recent Files' - Displays a list of recently opened files."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:134
+msgid ""
+"'Edit...' - Open the current G-code file for editing if you have an editor "
+"configured in your INI file. See the <<sub:ini:sec:display,DISPLAY Section>> "
+"for more information on specifying an editor to use."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:138
+msgid ""
+"'Reload' - Reload the current G-code file. If you edited it you must reload "
+"it for the changes to take affect. If you stop a file and want to start from "
+"the beginning then reload the file. The toolbar reload is the same as the "
+"menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:139
+msgid "'Save G-code as...' - Save the current file with a new name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:142
+msgid ""
+"'Properties' - The sum of the rapid and feed moves. Does not factor in "
+"acceleration, blending or path mode so time reported will never be less than "
+"the actual run time."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:144
+msgid ""
+"'Edit tool table...' - Same as Edit if you have defined an editor you can "
+"open the tool table and edit it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:145
+msgid "'Reload tool table' - After editing the tool table you must reload it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:147
+msgid ""
+"'Ladder editor' - If you have loaded ClassicLadder you can edit it from "
+"here. See the <<cha:classicladder,ClassicLadder chapter>> for more "
+"information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:148
+msgid "'Quit' - Terminates the current LinuxCNC session."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/axis.adoc:150
+#, no-wrap
+msgid "Machine Menu"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:153
+msgid "'Toggle Emergency Stop F1' - Change the state of the Emergency Stop."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:154
+msgid ""
+"'Toggle Machine Power F2' - Change the state of the Machine Power if the "
+"Emergency Stop is not on."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:155
+msgid "'Run Program' - Run the currently loaded program from the beginning."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:158
+msgid ""
+"'Run From Selected Line' - Select the line you want to start from first.  "
+"Use with caution as this will move the tool to the expected position before "
+"the line first then it will execute the rest of the code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:161
+msgid ""
+"Do not use 'Run From Selected Line' if your G-code program contains "
+"subroutines."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:163
+msgid "'Step' - Single step through a program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:164
+msgid "'Pause' - Pause a program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:165
+msgid "'Resume' - Resume running from a pause."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:166
+msgid ""
+"'Stop' - Stop a running program. When run is selected after a stop the "
+"program will start from the beginning."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:167
+msgid ""
+"'Stop at M1' - If an M1 is reached, and this is checked, program execution "
+"will stop on the M1 line. Press Resume to continue."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:168
+msgid ""
+"'Skip lines with \"/\"' - If a line begins with '/' and this is checked, the "
+"line will be skipped."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:169
+msgid "'Clear MDI history' - Clears the MDI history window."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:170
+msgid "'Copy from MDI history' - Copies the MDI history to the clipboard"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:171
+msgid "'Paste to MDI history' - Paste from the clipboard to the MDI history window"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:175
+msgid ""
+"'Calibration' - Starts the Calibration assistant (emccalib.tcl).  "
+"Calibration reads the HAL file and for every 'setp' that uses a variable "
+"from the INI file that is in an [AXIS_L],[JOINT_N],[SPINDLE_S], or [TUNE] "
+"section it creates an entry that can be edited and tested."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:177
+msgid ""
+"'Show HAL Configuration' - Opens the HAL Configuration window where you can "
+"monitor HAL Components, Pins, Parameters, Signals, Functions, and Threads."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:178
+msgid ""
+"'HAL Meter' - Opens a window where you can monitor a single HAL Pin, Signal, "
+"or Parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:179
+msgid ""
+"'HAL Scope' - Opens a virtual oscilloscope that allows plotting HAL values "
+"vs. time."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:180
+msgid "'Show LinuxCNC Status' - Opens a window showing LinuxCNC's status."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:181
+msgid ""
+"'Set Debug Level' - Opens a window where debug levels can be viewed and some "
+"can be set."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:182
+msgid "'Homing' - Home one or all axes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:183
+msgid "'Unhoming' - Unhome one or all axes."
+msgstr ""
+
+#. [[sub:axis:tool-touch-off]]
+#. type: Plain text
+#: src/gui/axis.adoc:184
+msgid ""
+"'Zero Coordinate System' - Set all offsets to zero in the coordinate system "
+"chosen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:186
+msgid "Tool Touch Off(((AXIS, Tool Touch Off)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:191
+msgid ""
+"'Tool touch off to workpiece' - When performing Touch Off, the value entered "
+"is relative to the current workpiece ('G5x') coordinate system, as modified "
+"by the axis offset ('G92').  When the Touch Off is complete, the Relative "
+"coordinate for the chosen axis will become the value entered.  See "
+"<<gcode:g10-l10,G10 L10>> in the G-code chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:197
+msgid ""
+"'Tool touch off to fixture' - When performing Touch Off, the value entered "
+"is relative to the ninth ('G59.3') coordinate system, with the axis offset "
+"('G92') ignored.  This is useful when there is a tool touch-off fixture at a "
+"fixed location on the machine, with the ninth ('G59.3') coordinate system "
+"set such that the tip of a zero-length tool is at the fixture's origin when "
+"the Relative coordinates are 0.  See <<gcode:g10-l11,G10 L11>> in the G-code "
+"chapter."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/axis.adoc:198
+#, no-wrap
+msgid "View Menu"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:202
+msgid ""
+"'Top View' - The Top View (or Z view) displays the G-code looking along the "
+"Z axis from positive to negative. This view is best for looking at X & Y."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:206
+msgid ""
+"'Rotated Top View' - The Rotated Top View (or rotated Z view) also displays "
+"the G-code looking along the Z axis from positive to negative. But sometimes "
+"it's convenient to display the X & Y axes rotated 90 degrees to fit the "
+"display better. This view is also best for looking at X & Y."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:208
+msgid ""
+"'Side View' - The Side View (or X view) displays the G-code looking along "
+"the X axis from positive to negative. This view is best for looking at Y & "
+"Z."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:210
+msgid ""
+"'Front View' - The Front View (or Y view) displays the G-code looking along "
+"the Y axis from negative to positive. This view is best for looking at X & "
+"Z."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:217
+msgid ""
+"'Perspective View' - The Perspective View (or P view) displays the G-code "
+"looking at the part from an adjustable point of view, defaulting to X+, Y-, "
+"Z+. The position is adjustable using the mouse and the drag/rotate "
+"selector.  This view is a compromise view, and while it does do a good job "
+"of trying to show three (to nine!) axes on a two-dimensional display, there "
+"will often be some feature that is hard to see, requiring a change in "
+"viewpoint. This view is best when you would like to see all three (to nine) "
+"axes at once."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:218
+#, no-wrap
+msgid "Point of View"
+msgstr ""
+
+#. type: delimited block *
+#: src/gui/axis.adoc:225
+msgid ""
+"The AXIS display pick menu 'View' refers to 'Top', 'Front', and 'Side' "
+"views.  These terms are correct if the CNC machine has its Z axis vertical, "
+"with positive Z up. This is true for vertical mills, which is probably the "
+"most popular application, and also true for almost all EDM machines, and "
+"even vertical turret lathes, where the part is turning below the tool."
+msgstr ""
+
+#. type: delimited block *
+#: src/gui/axis.adoc:231
+msgid ""
+"The terms 'Top', 'Front', and 'Side' might be confusing in other CNC "
+"machines, such as a standard lathe, where the Z axis is horizontal, or a "
+"horizontal mill, again where the Z axis is horizontal, or even an inverted "
+"vertical turret lathe, where the part is turning above the tool, and the Z "
+"axis positive direction is down!"
+msgstr ""
+
+#. type: delimited block *
+#: src/gui/axis.adoc:234
+msgid ""
+"Just remember that positive Z axis is (almost) always away from the part.  "
+"So be familiar with your machine's design and interpret the display as "
+"needed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:237
+msgid "'Display Inches' - Set the AXIS display scaling for inches."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:238
+msgid "'Display MM' - Set the AXIS display scaling for millimeters."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:239
+msgid ""
+"'Show Program' - The preview display of the loaded G-code program can be "
+"entirely disabled if desired."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:242
+msgid ""
+"'Show Program Rapids' - The preview display of the loaded G-code program "
+"will always show the feed rate moves (G1,G2,G3) in white.  But the display "
+"of rapid moves (G0) in cyan can be disabled if desired."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:244
+msgid ""
+"'Alpha-blend Program' - This option makes the preview of complex programs "
+"easier to see, but may cause the preview to display more slowly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:245
+msgid ""
+"'Show Live Plot' - The highlighting of the feedrate paths (G1,G2,G3) as the "
+"tool moves can be disabled if desired."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:246
+msgid ""
+"'Show Tool' - The display of the tool cone/cylinder can be disabled if "
+"desired."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:247
+msgid ""
+"'Show Extents' - The display of the extents (maximum travel in each axis "
+"direction) of the loaded G-code program can be disabled if desired."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:250
+msgid ""
+"'Show Offsets' - The selected fixture offset (G54-G59.3) origin location can "
+"be shown as a set of three orthogonal lines, one each of red, blue, and "
+"green.  This offset origin (or fixture zero) display can be disabled if "
+"desired."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:255
+msgid ""
+"'Show Machine Limits' - The machine's maximum travel limits for each axis, "
+"as set in the INI file, are shown as a rectangular box drawn in red dashed "
+"lines. This is useful when loading a new G-code program, or when checking "
+"for how much fixture offset would be needed to bring the G-code program "
+"within the travel limits of your machine. It can be shut off if not needed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:257
+msgid ""
+"'Show Velocity' - A display of velocity is sometimes useful to see how close "
+"your machine is running to its design velocities. It can be disabled if "
+"desired."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:261
+msgid ""
+"'Show Distance to Go' - Distance to go is a very handy item to know when "
+"running an unknown G-code program for the first time. In combination with "
+"the rapid override and feedrate override controls, unwanted tool and machine "
+"damage can be avoided.  Once the G-code program has been debugged and is "
+"running smoothly, the Distance to Go display can be disabled if desired."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:263
+msgid ""
+"'Coordinates in large font...' - The coordinates of the axes and the speed "
+"in advance, will display in large font in the toolpath view."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:266
+msgid ""
+"'Clear Live Plot' - As the tool travels in the AXIS display, the G-code path "
+"is highlighted.  To repeat the program, or to better see an area of "
+"interest, the previously highlighted paths can be cleared."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:268
+msgid ""
+"'Show Commanded Position' - This is the position that LinuxCNC will try to "
+"go to. Once motion has stopped, this is the position LinuxCNC will try to "
+"hold."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:272
+msgid ""
+"'Show Actual Position' - Actual Position is the measured position as read "
+"back from the system's encoders or simulated by step generators. This may "
+"differ slightly from the Commanded Position for many reasons including PID "
+"tuning, physical constraints, or position quantization."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:273
+msgid ""
+"'Show Machine Position' - This is the position in unoffset coordinates, as "
+"established by Homing."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:274
+msgid ""
+"'Show Relative Position' - This is the Machine Position modified by 'G5x', "
+"'G92', and 'G43' offsets."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/axis.adoc:275
+#, no-wrap
+msgid "Help Menu"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:278
+msgid "'About AXIS' - We all know what this is."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:279
+msgid "'Quick Reference' - Shows the keyboard shortcut keys."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:280
+#, no-wrap
+msgid "Toolbar buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:283
+msgid ""
+"From left to right in the AXIS display, the toolbar buttons (keyboard "
+"shortcuts shown [in brackets]) are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:285
+msgid ""
+"image:images/tool_estop.png[\"Toggle Emergency Stop\"] Toggle Emergency Stop "
+"[F1] (also called E-Stop)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:286
+msgid ""
+"image:images/tool_power.png[\"Toggle Machine Power\"] Toggle Machine Power "
+"[F2]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:287
+msgid "image:images/tool_open.png[\"Open G Code file\"] Open G Code file [O]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:288
+msgid ""
+"image:images/tool_reload.png[\"Reload current file\"] Reload current file "
+"[Ctrl-R]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:289
+msgid ""
+"image:images/tool_run.png[\"Begin executing the current file\"] Begin "
+"executing the current file [R]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:290
+msgid "image:images/tool_step.png[\"Execute next line\"] Execute next line [T]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:291
+msgid ""
+"image:images/tool_pause.png[\"Pause Execution - Resume Execution\"] Pause "
+"Execution [P] Resume Execution [S]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:292
+msgid ""
+"image:images/tool_stop.png[\"Stop Program Execution\"] Stop Program "
+"Execution [ESC]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:293
+msgid ""
+"image:images/tool_blockdelete.png[\"Toggle Skip lines\"] Toggle Skip lines "
+"with \"/\" [Alt-M-/]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:294
+msgid ""
+"image:images/tool_optpause.png[\"Toggle Optional Pause\"] Toggle Optional "
+"Pause [Alt-M-1]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:295
+msgid "image:images/tool_zoomin.png[\"Zoom In\"] Zoom In"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:296
+msgid "image:images/tool_zoomout.png[\"Zoom Out\"] Zoom Out"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:297
+msgid "image:images/tool_axis_z.png[\"Top view\"] Top view"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:298
+msgid "image:images/tool_axis_z2.png[\"Rotated Top view\"] Rotated Top view"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:299
+msgid "image:images/tool_axis_x.png[\"Side view\"] Side view"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:300
+msgid "image:images/tool_axis_y.png[\"Front view\"] Front view"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:301
+msgid "image:images/tool_axis_p.png[\"Perspective view\"] Perspective view"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:302
+msgid ""
+"image:images/tool_rotate.png[\"Toggle between Drag and Rotate Mode\"] Toggle "
+"between Drag and Rotate Mode [D]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:303
+msgid ""
+"image:images/tool_clear.png[\"Clear live backplot\"] Clear live backplot "
+"[Ctrl-K]"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:304
+#, no-wrap
+msgid "Graphical Display Area"
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:306
+#, no-wrap
+msgid "Coordinate Display"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:310
+msgid ""
+"In the upper-left corner of the program display is the coordinate position "
+"display for each axis. To the right of the number an origin symbol "
+"image:images/axis-homed.png[\"origin symbol is shown if the axis has been "
+"homed\"] is shown if the axis has been homed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:313
+msgid ""
+"A limit symbol image:images/axis-limit.png[\"limit symbol\"] is shown on the "
+"right side of the coordinate position number if the axis is on one of its "
+"limit switches."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:321
+msgid ""
+"To properly interpret the coordinate position numbers, refer to the "
+"'Position:' indicator in the status bar. If the position is 'Machine "
+"Actual', then the displayed number is in the machine coordinate system. If "
+"it is 'Relative Actual', then the displayed number is in the offset "
+"coordinate system. When the coordinates displayed are relative and an offset "
+"has been set, the display will include a cyan "
+"<<sec:machine-coordinate-system,'machine origin'>> "
+"image:images/axis-machineorigin.png[\"cyan machine origin\"] marker."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:329
+msgid ""
+"If the position is 'Commanded', then the exact coordinate given in a G-code "
+"command is displayed. If it is 'Actual', then it is the position the machine "
+"has actually moved to. These values can be different from commanded position "
+"due to following error, dead band, encoder resolution, or step size. For "
+"instance, if you command a movement to X 0.0033 on your mill, but one step "
+"of your stepper motor or one encoder count is 0.00125, then the 'Commanded' "
+"position might be 0.0033, but the 'Actual' position will be 0.0025 (2 steps) "
+"or 0.00375 (3 steps)."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:330
+#, no-wrap
+msgid "Preview Plot"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:339
+msgid ""
+"When a file is loaded, a preview of it is shown in the display area.  Fast "
+"moves (such as those produced by the 'G0' command) are shown as cyan "
+"lines. Moves at a feed rate (such as those produced by the 'G1' command) are "
+"shown as solid white lines. Dwells (such as those produced by the 'G4' "
+"command)  are shown as small pink 'X' marks."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:346
+msgid ""
+"G0 (Rapid) moves prior to a feed move will not show on the preview plot.  "
+"Rapid moves after a T<n> (Tool Change) will not show on the preview until "
+"after the first feed move.  To turn either of these features off program a "
+"G1 without any moves prior to the G0 moves."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:347
+#, no-wrap
+msgid "Program Extents"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:351
+msgid ""
+"The 'extents' of the program in each axis are shown.  At the ends, the least "
+"and greatest coordinate values are indicated.  In the middle, the difference "
+"between the coordinates is shown."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:361
+msgid ""
+"When some coordinates exceed the 'soft limits' in the INI file, the relevant "
+"dimension is shown in a different color and enclosed by a box.  In figure "
+"below the maximum soft limit is exceeded on the X axis as indicated by the "
+"box surrounding the coordinate value.  The minimum X travel of the program "
+"is -1.95, the maximum X travel is 1.88, and the program requires 3.83 inches "
+"of X travel.  To move the program so it's within the machine's travel in "
+"this case, jog to the left and Touch Off X again."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:363
+#, no-wrap
+msgid "Soft Limits(((Soft Limits)))"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:364 src/motion/external-offsets.adoc:109
+#, no-wrap
+msgid "Soft Limits"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:364
+#, no-wrap
+msgid "images/axis-outofrange.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:366
+#, no-wrap
+msgid "Tool Cone"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:370
+msgid ""
+"When no tool is loaded, the location of the tip of the tool is indicated by "
+"the 'tool cone'.  The 'tool cone' does not provide guidance on the form, "
+"length, or radius of the tool."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:374
+msgid ""
+"When a tool is loaded (for instance, with the MDI command 'T1 M6' ), the "
+"cone changes to a cylinder which shows the diameter of the tool given in the "
+"tool table file."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:375 src/gui/tklinuxcnc.adoc:127
+#, no-wrap
+msgid "Backplot"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:381
+msgid ""
+"When the machine moves, it leaves a trail called the backplot.  The color of "
+"the line indicates the type of motion: Yellow for jogs, faint green for "
+"rapid movements, red for straight moves at a feed rate, and magenta for "
+"circular moves at a feed rate."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:382
+#, no-wrap
+msgid "Grid"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:389
+msgid ""
+"AXIS can optionally display a grid when in orthogonal views.  Enable or "
+"disable the grid using the 'Grid' menu under 'View'.  When enabled, the grid "
+"is shown in the top and rotated top views; when coordinate system is not "
+"rotated, the grid is shown in the front and side views as well.  The presets "
+"in the 'Grid' menu are controlled by the INI file item `[DISPLAY]GRIDS`.  If "
+"unspecified, the default is `10mm 20mm 50mm 100mm 1in 2in 5in 10in`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:391
+msgid "Specifying a very small grid may decrease performance."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:392
+#, no-wrap
+msgid "Interacting"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:395
+msgid ""
+"By left-clicking on a portion of the preview plot, the line will be "
+"highlighted in both the graphical and text displays.  By left-clicking on an "
+"empty area, the highlighting will be removed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:398
+msgid ""
+"By dragging with the left mouse button pressed, the preview plot will be "
+"shifted (panned)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:406
+msgid ""
+"By dragging with shift and the left mouse button pressed, or by dragging "
+"with the mouse wheel pressed, the preview plot will be rotated.  When a line "
+"is highlighted, the center of rotation is the center of the line.  "
+"Otherwise, the center of rotation is the center of the entire program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:410
+msgid ""
+"By rotating the mouse wheel, or by dragging with the right mouse button "
+"pressed, or by dragging with control and the left mouse button pressed, the "
+"preview plot will be zoomed in or out."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:413
+msgid ""
+"By clicking one of the 'Preset View' icons, or by pressing 'V', several "
+"preset views may be selected."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:414
+#, no-wrap
+msgid "Text Display Area"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:418
+msgid ""
+"By left-clicking a line of the program, the line will be highlighted in both "
+"the graphical and text displays."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:422
+msgid ""
+"When the program is running, the line currently being executed is "
+"highlighted in red. If no line has been selected by the user, the text "
+"display will automatically scroll to show the current line."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:423 src/gui/axis.adoc:424
+#, no-wrap
+msgid "Current and Selected Lines"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:424
+#, no-wrap
+msgid "images/axis-currentandselected.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:426 src/gui/tklinuxcnc.adoc:154
+#, no-wrap
+msgid "Manual Control"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:431
+msgid ""
+"While the machine is turned on but not running a program, the items in the "
+"'Manual Control' tab can be used to move the machine or control its spindle "
+"and coolant."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:434
+msgid ""
+"When the machine is not turned on, or when a program is running, the manual "
+"controls are unavailable."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:442
+msgid ""
+"Many of the items described below are not useful on all machines.  When AXIS "
+"detects that a particular pin is not connected in HAL, the corresponding "
+"item in the Manual Control tab is removed.  For instance, if the HAL pin "
+"'spindle.0.brake' is not connected, then the 'Brake' button will not appear "
+"on the screen.  If the environment variable 'AXIS_NO_AUTOCONFIGURE' is set, "
+"this behavior is disabled and all the items will appear."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:443
+#, no-wrap
+msgid "The Axis group"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:453
+msgid ""
+"'AXIS' allows you to manually move the machine.  This action is known as "
+"'jogging'.  First, select the axis to be moved by clicking it.  Then, click "
+"and hold the '+' or '-' button depending on the desired direction of "
+"motion.  The first four axes can also be moved by the arrow keys (X and Y), "
+"PAGE UP and PAGE DOWN keys (Z), and the [ and ] keys (A)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:460
+msgid ""
+"If 'Continuous' is selected, the motion will continue as long as the button "
+"or key is pressed.  If another value is selected, the machine will move "
+"exactly the displayed distance each time the button is clicked or the key is "
+"pressed.  By default, the available values are '0.1000, 0.0100, 0.0010, "
+"0.0001'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:463
+msgid ""
+"See the <<sub:ini:sec:display,DISPLAY Section>> for more information on "
+"setting the increments."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:464
+#, no-wrap
+msgid "Homing (Identity Kinematics)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:470
+msgid ""
+"The INI file setting [KINS]JOINTS defines the total number of joints for the "
+"system.  A joint may be configured with a home switch or for 'immediate' "
+"homing.  Joints may specify a home sequence that organizes the order for "
+"homing groups of joints."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:477
+msgid ""
+"If *all* joints are configured for homing and have valid home sequences, the "
+"homing button will show 'Home All'. Pressing the 'Home All' button (or the "
+"Ctrl-HOME key) will initiate homing for all joints using their defined home "
+"sequences. Pressing the HOME key will home the joint corresponding to the "
+"currently selected axis even if no homing sequence is defined."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:482
+msgid ""
+"If not all axes have valid home sequences, the homing button will show 'Home "
+"Axis' and will home the joint for the currently selected axis only.  Each "
+"axis must be selected and homed separately."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:486
+msgid ""
+"The dropdown menu Machine/Homing provides an alternate method to home "
+"axes. The dropdown menu Machine/Unhoming provides means to unhome axes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:490
+msgid ""
+"If your machine does not have home switches defined in the configuration, "
+"the 'Home' button will set the current position of the selected axis as the "
+"absolute position 0 for that axis and will set the 'is-homed' bit for that "
+"axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:492 src/gui/axis.adoc:501
+msgid ""
+"See the <<cha:homing-configuration,Homing Configuration Chapter>> for more "
+"information."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:493
+#, no-wrap
+msgid "Homing (Non-Identity Kinematics)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:499
+msgid ""
+"Operation is similar to that for Identity Kinematics but, prior to homing, "
+"the selection radio buttons select joints by number. The homing button will "
+"show 'Home All' if all joints are configured for homing and have valid home "
+"sequences.  Otherwise, the homing button will show 'Home Joint'."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:503
+#, no-wrap
+msgid "Touch Off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:509
+msgid ""
+"By pressing 'Touch Off' or the END key, the 'G5x offset' for the current "
+"axis is changed so that the current axis value will be the specified "
+"value. Expressions may be entered using the rules for rs274ngc programs, "
+"except that variables may not be referred to. The resulting value is shown "
+"as a number."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:510 src/gui/axis.adoc:511
+#, no-wrap
+msgid "Touch Off Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:511
+#, no-wrap
+msgid "images/touchoff.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:514
+msgid "See also the Machine menu options: 'Touch part' and 'Touch part holder'."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:515 src/lathe/lathe-user.adoc:87
+#, no-wrap
+msgid "Tool Touch Off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:519
+msgid ""
+"By pressing the 'Tool Touch Off' button the tool length and offsets of the "
+"currently loaded tool will be changed so that the current tool tip position "
+"matches the entered coordinate."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:520 src/gui/axis.adoc:521
+#, no-wrap
+msgid "Tool Touch Off Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:521
+#, no-wrap
+msgid "images/tooltouchoff.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:525
+msgid ""
+"See also the 'Tool touch off to workpiece' and 'Tool touch off to fixture' "
+"options in the Machine menu."
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:526 src/plasma/qtplasmac.adoc:1168
+#, no-wrap
+msgid "Override Limits"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:534
+msgid ""
+"By pressing Override Limits, the machine will temporarily be allowed to jog "
+"off of a physical limit switch. This check box is only available when a "
+"limit switch is tripped.  The override is reset after one jog.  If the axis "
+"is configured with separate positive and negative limit switches, LinuxCNC "
+"will allow the jog only in the correct direction.  _Override Limits will not "
+"allow a jog past a soft limit.  The only way to disable a soft limit on an "
+"axis is to Unhome it._"
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:535
+#, no-wrap
+msgid "The Spindle group"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:545
+msgid ""
+"The buttons on the first row select the direction for the spindle to rotate: "
+"Counterclockwise, Stopped, Clockwise. Counterclockwise will only show up if "
+"the pin 'spindle.0.reverse' is in the HAL file (it can be 'net trick-axis "
+"spindle.0.reverse' ). The buttons on the next row increase or decrease the "
+"rotation speed. The checkbox on the third row allows the spindle brake to be "
+"engaged or released. Depending on your machine configuration, not all the "
+"items in this group may appear. Pressing the spindle start button sets the "
+"'S' speed to 1."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:546
+#, no-wrap
+msgid "The Coolant group"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:549
+msgid ""
+"The two buttons allow the 'Mist' and 'Flood' coolants to be turned on and "
+"off.  Depending on your machine configuration, not all the items in this "
+"group may appear."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:555
+msgid ""
+"MDI allows G-code commands to be entered manually.  When the machine is not "
+"turned on, or when a program is running, the MDI controls are unavailable."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:556
+#, no-wrap
+msgid "The MDI tab"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:557
+#, no-wrap
+msgid "MDI tab"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:557
+#, no-wrap
+msgid "images/axis-mdi.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:560
+msgid ""
+"'History' - This shows MDI commands that have been typed earlier in this "
+"session."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:562
+msgid ""
+"'MDI Command' - This allows you to enter a G-code command to be "
+"executed. Execute the command by pressing Enter or by clicking 'Go'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:566
+msgid ""
+"'Active G-codes' - This shows the 'modal codes' that are active in the "
+"interpreter. For instance, 'G54' indicates that the 'G54 offset' is applied "
+"to all coordinates that are entered. When in Auto the Active G-codes "
+"represent the codes after any read ahead by the interpreter."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:567 src/gui/halui.adoc:114 src/gui/tklinuxcnc.adoc:223
+#: src/man/man1/halui.1.adoc:378
+#, no-wrap
+msgid "Feed Override"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:572
+msgid ""
+"By moving this slider, the programmed feed rate can be modified. For "
+"instance, if a program requests 'F60' and the slider is set to 120%, then "
+"the resulting feed rate will be 72."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:579
+msgid ""
+"By moving this slider, the programmed spindle speed can be modified. For "
+"instance, if a program requests S8000 and the slider is set to 80%, then the "
+"resulting spindle speed will be 6400. This item only appears when the HAL "
+"pin 'spindle.0.speed-out' is connected."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:580 src/gui/tklinuxcnc.adoc:216
+#, no-wrap
+msgid "Jog Speed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:588
+msgid ""
+"By moving this slider, the speed of jogs can be modified. For instance, if "
+"the slider is set to 1 in/min, then a .01 inch jog will complete in about .6 "
+"seconds, or 1/100 of a minute. Near the left side (slow jogs) the values are "
+"spaced closely together, while near the right side (fast jogs) they are "
+"spaced much further apart, allowing a wide range of jog speeds with fine "
+"control when it is most important."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:591
+msgid ""
+"On machines with a rotary axis, a second jog speed slider is shown.  This "
+"slider sets the jog rate for the rotary axes (A, B and C)."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:592 src/gui/halui.adoc:150
+#, no-wrap
+msgid "Max Velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:597
+msgid ""
+"By moving this slider, the maximum velocity can be set. This caps the "
+"maximum velocity for all programmed moves except spindle-synchronized moves."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:598 src/gui/tklinuxcnc.adoc:242
+#, no-wrap
+msgid "Keyboard Controls"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:604
+msgid ""
+"Almost all actions in AXIS can be accomplished with the keyboard. A full "
+"list of keyboard shortcuts can be found in the AXIS Quick Reference, which "
+"can be displayed by choosing Help > Quick Reference.  Many of the shortcuts "
+"are unavailable when in MDI mode."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:605
+#, no-wrap
+msgid "Feed Override Keys"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:609
+msgid ""
+"For details on the Spanish keyboard layout please inspect the translated "
+"documentation."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:616
+msgid ""
+"The Feed Override keys behave differently when in Manual Mode.  The keys "
+"'12345678 will select an axis if it is programmed. If you have 3 axis then ' "
+"will select axis 0, 1 will select axis 1, and 2 will select axis 2. The "
+"remainder of the number keys will still set the Feed Override. When running "
+"a program '1234567890 will set the Feed Override to 0% - 100%."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:618
+msgid ""
+"The most frequently used keyboard shortcuts are shown in the following "
+"table:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:620
+#, no-wrap
+msgid "Most Common Keyboard Shortcuts(((AXIS,Keyboard Shortcuts)))"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:623 src/gui/tklinuxcnc.adoc:254
+#, no-wrap
+msgid "Keystroke"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:623 src/gui/tklinuxcnc.adoc:255
+#, no-wrap
+msgid "Action Taken"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:624 src/gui/tklinuxcnc.adoc:255
+#: src/plasma/qtplasmac.adoc:2520
+#, no-wrap
+msgid "F1"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:624 src/gui/tklinuxcnc.adoc:256
+#, no-wrap
+msgid "Toggle Emergency Stop"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:625 src/gui/tklinuxcnc.adoc:256
+#: src/plasma/qtplasmac.adoc:2521
+#, no-wrap
+msgid "F2"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:625 src/gui/tklinuxcnc.adoc:257
+#, no-wrap
+msgid "Turn machine on/off"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:626 src/gui/tklinuxcnc.adoc:257
+#, no-wrap
+msgid "`, 1 .. 9, 0"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:626 src/gui/tklinuxcnc.adoc:258
+#, no-wrap
+msgid "Set feed override from 0% to 100%"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:627
+#, no-wrap
+msgid "Varies"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:627 src/gui/tklinuxcnc.adoc:258
+#, no-wrap
+msgid "X, `"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:627 src/gui/tklinuxcnc.adoc:259
+#, no-wrap
+msgid "Activate first axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:628 src/gui/axis.adoc:629 src/gui/axis.adoc:630
+#: src/gui/axis.adoc:631 src/gui/axis.adoc:632 src/gui/axis.adoc:633
+#: src/gui/axis.adoc:634 src/gui/axis.adoc:635 src/gui/axis.adoc:636
+#: src/gui/axis.adoc:637 src/gui/axis.adoc:638 src/gui/axis.adoc:639
+#: src/gui/axis.adoc:640 src/gui/axis.adoc:641 src/gui/axis.adoc:642
+#: src/gui/axis.adoc:648 src/gui/axis.adoc:649 src/gui/axis.adoc:650
+#, no-wrap
+msgid "Manual"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:628 src/gui/tklinuxcnc.adoc:259
+#, no-wrap
+msgid "Y, 1"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:628 src/gui/tklinuxcnc.adoc:260
+#, no-wrap
+msgid "Activate second axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:629 src/gui/tklinuxcnc.adoc:260
+#, no-wrap
+msgid "Z, 2"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:629 src/gui/tklinuxcnc.adoc:261
+#, no-wrap
+msgid "Activate third axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:630 src/gui/tklinuxcnc.adoc:261
+#, no-wrap
+msgid "A, 3"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:630 src/gui/tklinuxcnc.adoc:262
+#, no-wrap
+msgid "Activate fourth axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:631
+#, no-wrap
+msgid "Select jog increment"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:632
+#, no-wrap
+msgid "Continuous jog"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:633
+#, no-wrap
+msgid "Control-Home"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:633
+#, no-wrap
+msgid "Perform homing sequence"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:634
+#, no-wrap
+msgid "End"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:634
+#, no-wrap
+msgid "Touch off: Set G5x offset for active axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:635 src/gui/tklinuxcnc.adoc:263
+#, no-wrap
+msgid "Left, Right"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:635 src/gui/tklinuxcnc.adoc:264
+#, no-wrap
+msgid "Jog first axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:636 src/gui/tklinuxcnc.adoc:264
+#, no-wrap
+msgid "Up, Down"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:636 src/gui/tklinuxcnc.adoc:265
+#, no-wrap
+msgid "Jog second axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:637 src/gui/tklinuxcnc.adoc:265
+#, no-wrap
+msgid "Pg Up, Pg Dn"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:637 src/gui/tklinuxcnc.adoc:266
+#, no-wrap
+msgid "Jog third axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:638 src/gui/tklinuxcnc.adoc:266
+#, no-wrap
+msgid "[, ]"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:638 src/gui/tklinuxcnc.adoc:267
+#, no-wrap
+msgid "Jog fourth axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:639
+#, no-wrap
+msgid "Open File"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:640
+#, no-wrap
+msgid "Control-R"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:640
+#, no-wrap
+msgid "Reload File"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:641
+#, no-wrap
+msgid "Run file"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:642
+#, no-wrap
+msgid "Pause execution"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:643 src/gui/axis.adoc:644 src/gui/axis.adoc:645
+#: src/ladder/classic-ladder.adoc:95
+#, no-wrap
+msgid "Auto"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:643
+#, no-wrap
+msgid "Resume Execution"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:644 src/gui/tklinuxcnc.adoc:267
+#: src/plasma/qtplasmac.adoc:2519
+#, no-wrap
+msgid "ESC"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:644 src/gui/tklinuxcnc.adoc:268
+#, no-wrap
+msgid "Stop execution"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:645
+#, no-wrap
+msgid "Control-K"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:645
+#, no-wrap
+msgid "Clear backplot"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:646 src/gui/axis.adoc:647
+#, no-wrap
+msgid "Auto/Manual"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:646
+#, no-wrap
+msgid "Cycle among preset views"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:647
+#, no-wrap
+msgid "Shift-Left,Right"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:647
+#, no-wrap
+msgid "Rapid X Axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:648
+#, no-wrap
+msgid "Shift-Up,Down"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:648
+#, no-wrap
+msgid "Rapid Y Axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:649
+#, no-wrap
+msgid "Shift-PgUp, PgDn"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:649
+#, no-wrap
+msgid "Rapid Z Axis"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:650
+#, no-wrap
+msgid "@"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:650
+#, no-wrap
+msgid "Toggle Actual/Commanded"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:651 src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "#"
+msgstr ""
+
+#. type: Table
+#: src/gui/axis.adoc:651
+#, no-wrap
+msgid "Toggle Relative/Machine"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:654
+#, no-wrap
+msgid "Show LinuxCNC Status (`linuxcnctop`)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:659
+msgid ""
+"AXIS includes a program called 'linuxcnctop' which shows some of the details "
+"of LinuxCNC's state. You can run this program by invoking Machine > Show "
+"LinuxCNC Status"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:660 src/gui/axis.adoc:661
+#, no-wrap
+msgid "LinuxCNC Status Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:661
+#, no-wrap
+msgid "images/axis-emc-status.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:666
+msgid ""
+"The name of each item is shown in the left column. The current value is "
+"shown in the right column. If the value has recently changed, it is shown on "
+"a red background."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:667
+#, no-wrap
+msgid "MDI interface"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:672
+msgid ""
+"AXIS includes a program called `mdi` which allows text-mode entry of MDI "
+"commands to a running LinuxCNC session. You can run this program by opening "
+"a terminal and typing:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:675
+#, no-wrap
+msgid "mdi\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:680
+msgid ""
+"Once it is running, it displays the prompt 'MDI>'. When a blank line is "
+"entered, the machine's current position is shown.  When a command is "
+"entered, it is sent to LinuxCNC to be executed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:682
+msgid "This is a sample session of mdi:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:692
+#, no-wrap
+msgid ""
+"$ mdi\n"
+"MDI>\n"
+"(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)\n"
+"MDI> G1 F5 X1\n"
+"MDI>\n"
+"(0.5928500000000374, 0.0, 0.0, 0.0, 0.0, 0.0)\n"
+"MDI>\n"
+"(1.0000000000000639, 0.0, 0.0, 0.0, 0.0, 0.0)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:694
+#, no-wrap
+msgid "axis-remote"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:701
+msgid ""
+"AXIS includes a program called 'axis-remote' which can send certain commands "
+"to a running AXIS. The available commands are shown by running 'axis-remote "
+"--help' and include checking whether AXIS is running ('--ping'), loading a "
+"file by name, reloading the currently loaded file ('--reload'), and making "
+"AXIS exit ('--quit')."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:703
+#, no-wrap
+msgid "Manual Tool Change(((AXIS:Manual Tool Change)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:709
+msgid ""
+"LinuxCNC includes a non-realtime HAL component called "
+"'hal_manualtoolchange', which shows a window prompt telling you what tool is "
+"expected when a 'M6' command is issued. After the OK button is pressed, "
+"execution of the program will continue."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:713
+msgid ""
+"The hal_manualtoolchange component includes a HAL pin for a button that can "
+"be connected to a physical button to complete the tool change and remove the "
+"window prompt (hal_manualtoolchange.change_button)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:716
+msgid ""
+"The HAL configuration file 'lib/hallib/axis_manualtoolchange.hal' shows the "
+"HAL commands necessary to use this component."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:720 src/man/man1/hal_manualtoolchange.1.adoc:34
+msgid ""
+"hal_manualtoolchange can be used even when AXIS is not used as the GUI.  "
+"This component is most useful if you have presettable tools and you use the "
+"tool table."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:727
+msgid ""
+"Important Note: Rapids will not show on the preview after a T<n> is issued "
+"until the next feed move after the M6.  This can be very confusing to most "
+"users.  To turn this feature off for the current tool change program a G1 "
+"with no move after the T<n>."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:729
+#, no-wrap
+msgid "Manual Toolchange Window(((AXIS:Manual Toolchange Window)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:730
+#, no-wrap
+msgid "Manual Toolchange Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:730
+#, no-wrap
+msgid "images/manual-tool-change.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:733
+#, no-wrap
+msgid "Python modules(((AXIS:Python Modules)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:738
+msgid ""
+"AXIS includes several Python modules which may be useful to others. For more "
+"information on one of these modules, use 'pydoc <module name>' or read the "
+"source code. These modules include:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:740
+msgid "'emc' provides access to the LinuxCNC command, status, and error channels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:741
+msgid "'gcode' provides access to the rs274ngc interpreter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:742
+msgid "'rs274' provides additional tools for working with rs274ngc files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:743
+msgid "'hal' allows the creation of non-realtime HAL components written in Python"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:744
+msgid "'_togl' provides an OpenGL widget that can be used in Tkinter applications"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:749
+msgid ""
+"To use these modules in your own scripts, you must ensure that the directory "
+"where they reside is on Python's module path. When running an installed "
+"version of LinuxCNC, this should happen automatically. When running "
+"'in-place', this can be done by using 'scripts/rip-environment'."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:751
+#, no-wrap
+msgid "Using AXIS in Lathe Mode(((AXIS:Lathe Mode)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:760
+msgid ""
+"By including the line 'LATHE = 1' in the [DISPLAY] section of the INI file, "
+"AXIS selects lathe mode. The 'Y' axis is not shown in coordinate readouts, "
+"the view is changed to show the Z axis extending to the right and the X axis "
+"extending towards the bottom of the screen, and several controls (such as "
+"those for preset views) are removed.  The coordinate readouts for X are "
+"replaced with diameter and radius."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:761 src/gui/axis.adoc:762
+#, no-wrap
+msgid "AXIS Lathe Mode"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:762
+#, no-wrap
+msgid "images/axis-lathe.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:765
+msgid "Pressing 'V' zooms out to show the entire file, if one is loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:767
+msgid "When in lathe mode, the shape of the loaded tool (if any) is shown."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:768 src/gui/axis.adoc:769
+#, no-wrap
+msgid "Lathe Tool Shape"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:769
+#, no-wrap
+msgid "images/axis-lathe-tool.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:774
+msgid ""
+"To change the display to a back tool lathe you need to have both 'LATHE = 1' "
+"and 'BACK_TOOL_LATHE = 1' in the [DISPLAY] section. This will invert the "
+"view and put the tool on the back side of the Z axis."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:775 src/gui/axis.adoc:776
+#, no-wrap
+msgid "Lathe Back Tool Shape"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:776
+#, no-wrap
+msgid "images/axis-back-tool-lathe.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:778
+#, no-wrap
+msgid "Using AXIS in Foam Cutting mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:786
+msgid ""
+"By including the line 'FOAM = 1' in the [DISPLAY] section of the INI file, "
+"AXIS selects foam-cutting mode.  In the program preview, XY motions are "
+"displayed in one plane, and UV motions in another.  In the live plot, lines "
+"are drawn between corresponding points on the XY plane and the UV plane.  "
+"The special comments (XY_Z_POS) and (UV_Z_POS)  set the Z coordinates of "
+"these planes, which default to 0 and 1.5 machine units."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:787 src/gui/axis.adoc:788
+#, no-wrap
+msgid "Foam Cutting Mode"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:788
+#, no-wrap
+msgid "images/axis-foam.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:790
+#, no-wrap
+msgid "Advanced Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:800
+msgid ""
+"When AXIS is started it creates the HAL pins for the GUI then it executes "
+"the HAL file named in the INI file: '[HAL]POSTGUI_HALFILE=<filename>'.  "
+"Typically '<filename>' would be the configs base name + '_postgui' + '.hal' "
+"eg. 'lathe_postgui.hal', but can be any legal filename.  These commands are "
+"executed after the screen is built, guaranteeing the widget's HAL pins are "
+"available.  You can have multiple line of 'POSTGUI_HALFILE=<filename>' in "
+"the INI.  Each will be run one after the other in the order they appear."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:803
+msgid ""
+"For more information on the INI file settings that can change the way AXIS "
+"works, see the <<sub:ini:sec:display,Display Section>> of the INI "
+"configuration chapter."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:804
+#, no-wrap
+msgid "Program Filters"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:810
+msgid ""
+"AXIS has the ability to send loaded files through a 'filter program'.  This "
+"filter can do any desired task: Something as simple as making sure the file "
+"ends with 'M2', or something as complicated as generating G-code from an "
+"image."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:819 src/gui/filter-programs.adoc:30
+msgid ""
+"The '[FILTER]' section of the INI file controls how filters work.  First, "
+"for each type of file, write a 'PROGRAM_EXTENSION' line.  Then, specify the "
+"program to execute for each type of file.  This program is given the name of "
+"the input file as its first argument, and must write rs274ngc code to "
+"standard output. This output is what will be displayed in the text area, "
+"previewed in the display area, and executed by LinuxCNC when 'Run'. The "
+"following lines add support for the 'image-to-gcode' converter included with "
+"LinuxCNC:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:826 src/gui/filter-programs.adoc:37
+#, no-wrap
+msgid ""
+"[FILTER]\n"
+"PROGRAM_EXTENSION = .png,.gif Greyscale Depth Image\n"
+"png = image-to-gcode\n"
+"gif = image-to-gcode\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:834 src/gui/filter-programs.adoc:45
+#, no-wrap
+msgid ""
+"PROGRAM_EXTENSION = .py Python Script\n"
+"py = python\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:840 src/gui/filter-programs.adoc:51
+msgid ""
+"In this way, any Python script can be opened, and its output is treated as "
+"G-code. One such example script is available at "
+"'nc_files/holecircle.py'. This script creates G-code for drilling a series "
+"of holes along the circumference of a circle."
+msgstr ""
+
+#. type: Named 'alt' AttributeList argument for macro 'image'
+#: src/gui/axis.adoc:841 src/gui/axis.adoc:842 src/gui/filter-programs.adoc:52
+#: src/gui/filter-programs.adoc:53
+#, no-wrap
+msgid "Circular Holes"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/axis.adoc:842 src/gui/filter-programs.adoc:53
+#, no-wrap
+msgid "images/holes.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:846
+msgid ""
+"If the environment variable AXIS_PROGRESS_BAR is set, then lines written to "
+"stderr of the form"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:850
+#, no-wrap
+msgid "FILTER_PROGRESS=%d\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:854
+msgid ""
+"will set the AXIS progress bar to the given percentage. This feature should "
+"be used by any filter that runs for a long time."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:855
+#, no-wrap
+msgid "The X Resource Database"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:864
+msgid ""
+"The colors of most elements of the AXIS user interface can be customized "
+"through the X Resource Database. The sample file 'axis_light_background' "
+"changes the colors of the backplot window to a 'dark lines on white "
+"background' scheme, and also serves as a reference for the configurable "
+"items in the display area.  The sample file 'axis_big_dro' changes the "
+"position readout to a larger size font.  To use these files:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:867
+#, no-wrap
+msgid "xrdb -merge /usr/share/doc/emc2/axis_light_background\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:869
+#, no-wrap
+msgid "xrdb -merge /usr/share/doc/emc2/axis_big_dro\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:873
+msgid ""
+"For information about the other items which can be configured in Tk "
+"applications, see the Tk man pages."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:878
+msgid ""
+"Because modern desktop environments automatically make some settings in the "
+"X Resource Database that adversely affect AXIS, by default these settings "
+"are ignored. To make the X Resource Database items override AXIS defaults, "
+"include the following line in your X Resources:"
+msgstr ""
+
+#.  These asterisks are not for bold,
+#. type: delimited block -
+#: src/gui/axis.adoc:882
+#, no-wrap
+msgid "*AXIS*optionLevel: widgetDefault\n"
+msgstr ""
+
+#.  in this case, we want the asterisks to actually appear.
+#. type: Plain text
+#: src/gui/axis.adoc:888
+msgid ""
+"this causes the built-in options to be created at the option level "
+"'widgetDefault', so that X Resources (which are level 'userDefault')  can "
+"override them."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:890
+#, no-wrap
+msgid "Jogwheel(((AXIS:Jogwheel)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:897
+msgid ""
+"To improve the interaction of AXIS with a physical jogwheel, the current "
+"active axis selected in the GUI is also reported on a 'HAL pin' with a name "
+"like 'axisui.jog.x'.  Except for a short time after the current axis has "
+"changed, only one of these pins at a time is 'TRUE', the others remain "
+"'FALSE'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:901
+msgid ""
+"After AXIS has created these 'HAL pins', it runs the HAL file declared with: "
+"[HAL]POSTGUI_HALFILE. What differs from [HAL]HALFILE, which can only be used "
+"once."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:903
+#, no-wrap
+msgid "~/.axisrc(((AXIS:.axisrc)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:909
+msgid ""
+"If it exists, the contents of `~/.axisrc` are executed as Python source code "
+"just before the AXIS GUI is displayed. The details of what may be written in "
+"the `~/.axisrc` are subject to change during the development cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:911
+msgid "The following adds Control-Q as a keyboard shortcut for Quit."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:913
+#, no-wrap
+msgid "Example of .axisrc file"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:917
+#, no-wrap
+msgid ""
+"root_window.bind(\"<Control-q>\", \"destroy .\")\n"
+"help2.append((\"Control-Q\", \"Quit\"))\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:920
+msgid "The following stops the \"Do you really want to quit\" dialog."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:923
+#, no-wrap
+msgid ""
+"root_window.tk.call(\"wm\",\"protocol\",\".\",\"WM_DELETE_WINDOW\",\"destroy "
+".\")\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:925
+#, no-wrap
+msgid "USER_COMMAND_FILE"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:931
+msgid ""
+"A configuration-specific Python file may be specified with an INI file "
+"setting '[DISPLAY]USER_COMMAND_FILE=filename.py'.  Like a `~/.axisrc` file, "
+"this file is sourced just before the AXIS GUI is displayed.  This file is "
+"specific to an INI file configuration not the user's home directory."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:932
+#, no-wrap
+msgid "user_live_update()"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:941
+msgid ""
+"The AXIS GUI includes a no-op (placeholder) function named "
+"'user_live_update()' that is executed at the conclusion of the update()  "
+"function of its LivePlotter class.  This function may be implemented within "
+"a `~/.axisrc` Python script or a '[DISPLAY]USER_COMMAND_FILE' Python script "
+"to make custom, periodic actions.  The details of what may be accomplished "
+"in this function are dependent on the AXIS GUI implementation and subject to "
+"change during the development cycle."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:942
+#, no-wrap
+msgid "user_hal_pins()"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:953
+#, no-wrap
+msgid ""
+"The AXIS GUI includes a no-op (placeholder) function named "
+"'user_hal_pins()'.\n"
+"It is executed just after the .axisrc file is called and just before any "
+"GladeVCP panels / embedded tabs are initialized.\n"
+"This function may be implemented within a `~/.axisrc` Python script or a "
+"'[DISPLAY]USER_COMMAND_FILE' Python script to make custom HAL pins that use "
+"the 'axisui.' prefix.\n"
+"Use 'comp' as the HAL component instance reference.\n"
+"HAL comp.ready() is called just after this function returns."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:954
+#, no-wrap
+msgid "External Editor"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:961
+msgid ""
+"The menu options File > Edit... and File > Edit Tool Table... become "
+"available after defining the editor in the INI section [DISPLAY].  Useful "
+"values include EDITOR=gedit and EDITOR=gnome-terminal -e vim.  For more "
+"information, see the <<sub:ini:sec:display,Display Section>> of the INI "
+"Configuration Chapter."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:962
+#, no-wrap
+msgid "Virtual Control Panel(((AXIS: Virtual Control Panel)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:969
+msgid ""
+"AXIS can display a custom virtual control panel in either the right side "
+"column or the bottom row.  Additionally one or more panels may be displayed "
+"as embedded tabs.  You can program buttons, indicators, data displays and "
+"more. For more information, see the <<cha:pyvcp,PyVCP>> and the "
+"<<cha:glade-vcp,GladeVCP>> chapters."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:971
+#, no-wrap
+msgid "Preview Control(((AXIS: Preview Control)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:980
+msgid ""
+"Special comments can be inserted into the G-code file to control how the "
+"preview of AXIS behaves. In the case where you want to limit the drawing of "
+"the preview use these special comments. Anything between the (AXIS,hide) and "
+"(AXIS,show) will not be drawn during the preview. The (AXIS,hide) and "
+"(AXIS,show) must be used in pairs with the (AXIS,hide)  being "
+"first. Anything after a (AXIS,stop) will not be drawn during the preview."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:984
+msgid ""
+"These comments are useful to unclutter the preview display (for instance "
+"while debugging a larger G-code file, one can disable the preview on certain "
+"parts that are already working OK)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:986
+msgid "(AXIS,hide) Stops the preview (must be first)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:987
+msgid "(AXIS,show) Resumes the preview (must follow a hide)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:988
+msgid "(AXIS,stop) Stops the preview from here to the end of the file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:989
+msgid "(AXIS,notify,the_text) Displays the_text as an info display"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:991
+msgid ""
+"This display can be useful in the AXIS preview when (debug,message) comments "
+"are not displayed."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:993
+#, no-wrap
+msgid "Axisui(((AXIS: axisui pins)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:999
+msgid ""
+"To improve the interaction of AXIS with physical jog wheels, the axis "
+"currently selected in the GUI is also reported on a pin with a name like "
+"'axisui.jog.x'. One of these pins is 'TRUE' at one time, and the rest are "
+"'FALSE'. These are meant to control motion's jog-enable pins."
+msgstr ""
+
+#. type: Block title
+#: src/gui/axis.adoc:1000
+#, no-wrap
+msgid "Axisui Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1002
+msgid ""
+"AXIS has HAL pins to indicate which jog radio button is selected in the "
+"'Manual Control' tab."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1014
+#, no-wrap
+msgid ""
+"Type Dir  Name\n"
+"bit  OUT  axisui.jog.x\n"
+"bit  OUT  axisui.jog.y\n"
+"bit  OUT  axisui.jog.z\n"
+"bit  OUT  axisui.jog.a\n"
+"bit  OUT  axisui.jog.b\n"
+"bit  OUT  axisui.jog.c\n"
+"bit  OUT  axisui.jog.u\n"
+"bit  OUT  axisui.jog.v\n"
+"bit  OUT  axisui.jog.w\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1017
+msgid ""
+"AXIS has a HAL pin to indicate the jog increment selected on the 'Manual "
+"Tab'."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1021
+#, no-wrap
+msgid ""
+"Type  Dir Name\n"
+"float OUT axisui.jog.increment\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1025
+msgid ""
+"AXIS has a HAL output pin that indicates when an abort has occurred. The "
+"'axisui.abort' pin will be 'TRUE' and come back to 'FALSE' after 0.3ms."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1029
+#, no-wrap
+msgid ""
+"Type  Dir    Name\n"
+"bit   OUT    axisui.abort\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1034
+msgid ""
+"AXIS has a HAL output pin that indicates when an error has occurred. The "
+"'axisui.error' pin will remain 'TRUE' until all error notifications have "
+"been dismissed."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1038
+#, no-wrap
+msgid ""
+"Type  Dir    Name\n"
+"bit   OUT    axisui.error\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1042
+msgid ""
+"AXIS has HAL input pins to clear the pop up notifications for errors and "
+"information."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1048
+#, no-wrap
+msgid ""
+"Type  Dir    Name\n"
+"bit   IN     axisui.notifications-clear\n"
+"bit   IN     axisui.notifications-clear-error\n"
+"bit   IN     axisui.notifications-clear-info\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1051
+msgid "AXIS has a HAL input pin that disables/enables the 'Pause/Resume' function."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1055
+#, no-wrap
+msgid ""
+"Type  Dir    Name\n"
+"bit   IN     axisui.resume-inhibit\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/axis.adoc:1057
+#, no-wrap
+msgid "AXIS Customization Hints"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1064
+#, no-wrap
+msgid ""
+"AXIS is a fairly large and difficult-to-penetrate code base, this is helpful "
+"To keep the code stable but makes it difficult to customize.\n"
+"Here we will show code snippets to modify behaviours or visuals of the "
+"screen. Keep in mind the internal code of AXIS can change from time to "
+"time.\n"
+"these snippets are not guaranteed to continue to work - they may need "
+"adjustment."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1065
+#, no-wrap
+msgid "The update function"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1069
+msgid ""
+"There is a function in AXIS named user_live_update that is called every time "
+"AXIS updates itself. You can use this to update your own functions."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1075
+#, no-wrap
+msgid ""
+"# continuous update function\n"
+"def user_live_update():\n"
+"    print('i am printed every update...')\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1077
+#, no-wrap
+msgid "Disable the Close Dialog"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1083
+#, no-wrap
+msgid ""
+"# disable the do you want to close dialog\n"
+"root_window.tk.call(\"wm\",\"protocol\",\".\",\"WM_DELETE_WINDOW\",\"destroy "
+".\")\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1085
+#, no-wrap
+msgid "Change the Text Font"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1090
+#, no-wrap
+msgid "# change the font\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1094
+#, no-wrap
+msgid ""
+"font = 'sans 11'\n"
+"fname,fsize = font.split()\n"
+"root_window.tk.call('font','configure','TkDefaultFont','-family',fname,'-size',fsize)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1096
+#, no-wrap
+msgid "# redo the text in tabs so they resize for the new default font\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1101
+#, no-wrap
+msgid ""
+"root_window.tk.call('.pane.top.tabs','itemconfigure','manual','-text',' "
+"Manual - F3 ')\n"
+"root_window.tk.call('.pane.top.tabs','itemconfigure','mdi','-text',' MDI - "
+"F5 ')\n"
+"root_window.tk.call('.pane.top.right','itemconfigure','preview','-text',' "
+"Preview ')\n"
+"root_window.tk.call('.pane.top.right','itemconfigure','numbers','-text',' "
+"DRO ')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1104
+#, no-wrap
+msgid "# G-code font is independent\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1108
+#, no-wrap
+msgid ""
+"root_window.tk.call('.pane.bottom.t.text','configure','-foreground','blue')\n"
+"#root_window.tk.call('.pane.bottom.t.text','configure','-foreground','blue','-font',font)\n"
+"#root_window.tk.call('.pane.bottom.t.text','configure','-foreground','blue','-font',font,'-height','12')\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1110
+#, no-wrap
+msgid "Modify Rapid Rate with Keyboard Shortcuts"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1116
+#, no-wrap
+msgid ""
+"# use control + ` or 1-0 as keyboard shortcuts for rapidrate and keep ` or "
+"1-0 for feedrate\n"
+"# also adds text to quick reference in help\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1118
+#, no-wrap
+msgid ""
+"help1.insert(10,(\"Control+ `,1..9,0\", _(\"Set Rapid Override from 0% to "
+"100%\")),)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1141
+#, no-wrap
+msgid ""
+"root_window.bind('<Control-Key-quoteleft>',lambda event: set_rapidrate(0))\n"
+"root_window.bind('<Control-Key-1>',lambda event: set_rapidrate(10))\n"
+"root_window.bind('<Control-Key-2>',lambda event: set_rapidrate(20))\n"
+"root_window.bind('<Control-Key-3>',lambda event: set_rapidrate(30))\n"
+"root_window.bind('<Control-Key-4>',lambda event: set_rapidrate(40))\n"
+"root_window.bind('<Control-Key-5>',lambda event: set_rapidrate(50))\n"
+"root_window.bind('<Control-Key-6>',lambda event: set_rapidrate(60))\n"
+"root_window.bind('<Control-Key-7>',lambda event: set_rapidrate(70))\n"
+"root_window.bind('<Control-Key-8>',lambda event: set_rapidrate(80))\n"
+"root_window.bind('<Control-Key-9>',lambda event: set_rapidrate(90))\n"
+"root_window.bind('<Control-Key-0>',lambda event: set_rapidrate(100))\n"
+"root_window.bind('<Key-quoteleft>',lambda event: set_feedrate(0))\n"
+"root_window.bind('<Key-1>',lambda event: set_feedrate(10))\n"
+"root_window.bind('<Key-2>',lambda event: set_feedrate(20))\n"
+"root_window.bind('<Key-3>',lambda event: set_feedrate(30))\n"
+"root_window.bind('<Key-4>',lambda event: set_feedrate(40))\n"
+"root_window.bind('<Key-5>',lambda event: set_feedrate(50))\n"
+"root_window.bind('<Key-6>',lambda event: set_feedrate(60))\n"
+"root_window.bind('<Key-7>',lambda event: set_feedrate(70))\n"
+"root_window.bind('<Key-8>',lambda event: set_feedrate(80))\n"
+"root_window.bind('<Key-9>',lambda event: set_feedrate(90))\n"
+"root_window.bind('<Key-0>',lambda event: set_feedrate(100))\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1143
+#, no-wrap
+msgid "Read the INI file"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1150
+#, no-wrap
+msgid ""
+"# read an INI file item\n"
+"machine = inifile.find('EMC','MACHINE')\n"
+"print('machine name =',machine)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1152
+#, no-wrap
+msgid "Read LinuxCNC Status"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1159
+#, no-wrap
+msgid ""
+"# LinuxCNC status can be read from s.\n"
+"print(s.actual_position)\n"
+"print(s.paused)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1161
+#, no-wrap
+msgid "Change the current view"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1168
+#, no-wrap
+msgid ""
+"# set the view of the preview\n"
+"# valid views are view_x view_y view_y2 view_z view_z2 view_p\n"
+"commands.set_view_z()\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1170
+#, no-wrap
+msgid "Creating new AXISUI HAL Pins"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1177
+#, no-wrap
+msgid ""
+"def user_hal_pins():\n"
+"    comp.newpin('my-new-in-pin', hal.HAL_BIT, hal.HAL_IN)\n"
+"    comp.ready()\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1179
+#, no-wrap
+msgid "Creating new HAL Component and Pins"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1184
+#, no-wrap
+msgid "# create a component\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1189
+#, no-wrap
+msgid ""
+"mycomp = hal.component('my_component')\n"
+"mycomp.newpin('idle-led',hal.HAL_BIT,hal.HAL_IN)\n"
+"mycomp.newpin('pause-led',hal.HAL_BIT,hal.HAL_IN)\n"
+"mycomp.ready()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1191
+#, no-wrap
+msgid "# connect pins\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1195
+#, no-wrap
+msgid ""
+"hal.new_sig('idle-led',hal.HAL_BIT)\n"
+"hal.connect('halui.program.is-idle','idle-led')\n"
+"hal.connect('my_component.idle-led','idle-led')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1197
+#, no-wrap
+msgid "# set a pin\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1199
+#, no-wrap
+msgid "hal.set_p('my_component.pause-led','1')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1201
+#, no-wrap
+msgid "# get a pin 2,8+ branch\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1204
+#, no-wrap
+msgid ""
+"value = hal.get_value('halui.program.is-idle')\n"
+"print('value is a',type(value),'value of',value)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1206
+#, no-wrap
+msgid "Switch Tabs with HAL Pins"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1212
+#, no-wrap
+msgid ""
+"# HAL pins from a GladeVCP panel will not be ready when user_live_update is "
+"run\n"
+"# to read them you need to put them in a try/except block\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1217
+#, no-wrap
+msgid ""
+"# the following example assumes 5 HAL buttons in a GladeVCP panel used to "
+"switch\n"
+"# the tabs in the AXIS screen.\n"
+"# button names are 'manual-tab', 'mdi-tab', 'preview-tab', 'dro-tab', "
+"'user0-tab'\n"
+"# the user_0 tab if it exists would be the first GladeVCP embedded tab\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1219
+#, no-wrap
+msgid "# for LinuxCNC 2.8+ branch\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1234
+#, no-wrap
+msgid ""
+"def user_live_update():\n"
+"    try:\n"
+"        if hal.get_value('gladevcp.manual-tab'):\n"
+"            root_window.tk.call('.pane.top.tabs','raise','manual')\n"
+"        elif hal.get_value('gladevcp.mdi-tab'):\n"
+"            root_window.tk.call('.pane.top.tabs','raise','mdi')\n"
+"        elif hal.get_value('gladevcp.preview-tab'):\n"
+"            root_window.tk.call('.pane.top.right','raise','preview')\n"
+"        elif hal.get_value('gladevcp.numbers-tab'):\n"
+"            root_window.tk.call('.pane.top.right','raise','numbers')\n"
+"        elif hal.get_value('gladevcp.user0-tab'):\n"
+"            root_window.tk.call('.pane.top.right','raise','user_0')\n"
+"    except:\n"
+"        pass\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1236
+#, no-wrap
+msgid "Add a GOTO Home button"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1247
+#, no-wrap
+msgid ""
+"def goto_home(axis):\n"
+"    if s.interp_state == linuxcnc.INTERP_IDLE:\n"
+"        home = inifile.find('JOINT_' + str(inifile.find('TRAJ', "
+"'COORDINATES').upper().index(axis)), 'HOME')\n"
+"        mode = s.task_mode\n"
+"        if s.task_mode != linuxcnc.MODE_MDI:\n"
+"            c.mode(linuxcnc.MODE_MDI)\n"
+"        c.mdi('G53 G0 ' + axis + home)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1250
+#, no-wrap
+msgid ""
+"# make a button to home y axis\n"
+"root_window.tk.call('button','.pane.top.tabs.fmanual.homey','-text','Home "
+"Y','-command','goto_home Y','-height','2')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1253
+#, no-wrap
+msgid ""
+"# place the button\n"
+"root_window.tk.call('grid','.pane.top.tabs.fmanual.homey','-column','1','-row','7','-columnspan','2','-padx','4','-sticky','w')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1257
+#, no-wrap
+msgid ""
+"# any function called from Tcl needs to be added to TclCommands\n"
+"TclCommands.goto_home = goto_home\n"
+"commands = TclCommands(root_window)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1259
+#, no-wrap
+msgid "Add Button to manual frame"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1264
+#, no-wrap
+msgid "# make a new button and put it in the manual frame\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1267
+#, no-wrap
+msgid ""
+"root_window.tk.call('button','.pane.top.tabs.fmanual.mybutton','-text','My "
+"Button','-command','mybutton_clicked','-height','2')\n"
+"root_window.tk.call('grid','.pane.top.tabs.fmanual.mybutton','-column','1','-row','6','-columnspan','2','-padx','4','-sticky','w')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1272
+#, no-wrap
+msgid ""
+"# the above send the \"mybutton_clicked\" command when clicked\n"
+"# other options are to bind a press or release (or both) commands to the "
+"button\n"
+"# these can be in addition to or instead of the clicked command\n"
+"# if instead of then delete '-command','mybutton_clicked', from the first "
+"line\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1274
+#, no-wrap
+msgid "# Button-1 = left mouse button, 2 = right or 3 = middle\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1277
+#, no-wrap
+msgid ""
+"root_window.tk.call('bind','.pane.top.tabs.fmanual.mybutton','<Button-1>','mybutton_pressed')\n"
+"root_window.tk.call('bind','.pane.top.tabs.fmanual.mybutton','<ButtonRelease-1>','mybutton_released')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1279
+#, no-wrap
+msgid "# functions called from the buttons\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1286
+#, no-wrap
+msgid ""
+"def mybutton_clicked():\n"
+"    print('mybutton was clicked')\n"
+"def mybutton_pressed():\n"
+"    print('mybutton was pressed')\n"
+"def mybutton_released():\n"
+"    print('mybutton was released')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1288
+#, no-wrap
+msgid "# any function called from Tcl needs to be added to TclCommands\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1293
+#, no-wrap
+msgid ""
+"TclCommands.mybutton_clicked = mybutton_clicked\n"
+"TclCommands.mybutton_pressed = mybutton_pressed\n"
+"TclCommands.mybutton_released = mybutton_released\n"
+"commands = TclCommands(root_window)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1295
+#, no-wrap
+msgid "Reading Internal Variables"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1300
+#, no-wrap
+msgid "# the following variables may be read from the vars instance\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1303
+#, no-wrap
+msgid ""
+"print(vars.machine.get())\n"
+"print(vars.emcini.get())\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1365
+#, no-wrap
+msgid ""
+"    active_codes            = StringVar\n"
+"    block_delete            = BooleanVar\n"
+"    brake                   = BooleanVar\n"
+"    coord_type              = IntVar\n"
+"    display_type            = IntVar\n"
+"    dro_large_font          = IntVar\n"
+"    emcini                  = StringVar\n"
+"    exec_state              = IntVar\n"
+"    feedrate                = IntVar\n"
+"    flood                   = BooleanVar\n"
+"    grid_size               = DoubleVar\n"
+"    has_editor              = IntVar\n"
+"    has_ladder              = IntVar\n"
+"    highlight_line          = IntVar\n"
+"    interp_pause            = IntVar\n"
+"    interp_state            = IntVar\n"
+"    ja_rbutton              = StringVar\n"
+"    jog_aspeed              = DoubleVar\n"
+"    jog_speed               = DoubleVar\n"
+"    kinematics_type         = IntVar\n"
+"    linuxcnctop_command     = StringVar\n"
+"    machine                 = StringVar\n"
+"    max_aspeed              = DoubleVar\n"
+"    max_maxvel              = DoubleVar\n"
+"    max_queued_mdi_commands = IntVar\n"
+"    max_speed               = DoubleVar\n"
+"    maxvel_speed            = DoubleVar\n"
+"    mdi_command             = StringVar\n"
+"    metric                  = IntVar\n"
+"    mist                    = BooleanVar\n"
+"    motion_mode             = IntVar\n"
+"    on_any_limit            = BooleanVar\n"
+"    optional_stop           = BooleanVar\n"
+"    override_limits         = BooleanVar\n"
+"    program_alpha           = IntVar\n"
+"    queued_mdi_commands     = IntVar\n"
+"    rapidrate               = IntVar\n"
+"    rotate_mode             = BooleanVar\n"
+"    running_line            = IntVar\n"
+"    show_distance_to_go     = IntVar\n"
+"    show_extents            = IntVar\n"
+"    show_live_plot          = IntVar\n"
+"    show_machine_limits     = IntVar\n"
+"    show_machine_speed      = IntVar\n"
+"    show_program            = IntVar\n"
+"    show_pyvcppanel         = IntVar\n"
+"    show_rapids             = IntVar\n"
+"    show_tool               = IntVar\n"
+"    show_offsets            = IntVar\n"
+"    spindledir              = IntVar\n"
+"    spindlerate             = IntVar\n"
+"    task_mode               = IntVar\n"
+"    task_paused             = IntVar\n"
+"    task_state              = IntVar\n"
+"    taskfile                = StringVar\n"
+"    teleop_mode             = IntVar\n"
+"    tool                    = StringVar\n"
+"    touch_off_system        = StringVar\n"
+"    trajcoordinates         = StringVar\n"
+"    tto_g11                 = BooleanVar\n"
+"    view_type               = IntVar\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1367
+#, no-wrap
+msgid "Hide Widgets"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1374
+#, no-wrap
+msgid ""
+"# hide a widget\n"
+"# use 'grid' or 'pack' depending on how it was originally placed\n"
+"root_window.tk.call('grid','forget','.pane.top.tabs.fmanual.jogf.zerohome.tooltouch')\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1376
+#, no-wrap
+msgid "Change a label"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1382
+#, no-wrap
+msgid ""
+"# change label of a widget\n"
+"root_window.tk.call('setup_widget_accel','.pane.top.tabs.fmanual.mist','Downdraft')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1385
+#, no-wrap
+msgid ""
+"# make sure it appears (only needed in this case if the mist button was "
+"hidden)\n"
+"root_window.tk.call('grid','.pane.top.tabs.fmanual.mist','-column','1','-row','5','-columnspan','2','-padx','4','-sticky','w')\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1387
+#, no-wrap
+msgid "Redirect an existing command"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1394
+#, no-wrap
+msgid ""
+"# hijack an existing command\n"
+"# originally the mist button calls the mist function\n"
+"root_window.tk.call('.pane.top.tabs.fmanual.mist','configure','-command','hijacked_command')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1398
+#, no-wrap
+msgid ""
+"# The new function\n"
+"def hijacked_command():\n"
+"    print('hijacked mist command')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1402
+#, no-wrap
+msgid ""
+"# add the function to TclCommands\n"
+"TclCommands.hijacked_command = hijacked_command\n"
+"commands = TclCommands(root_window)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1404
+#, no-wrap
+msgid "Change the DRO color"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1410
+#, no-wrap
+msgid ""
+"# change dro screen\n"
+"root_window.tk.call('.pane.top.right.fnumbers.text','configure','-foreground','green','-background','black')\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1412
+#, no-wrap
+msgid "Change the Toolbar Buttons"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1417
+#, no-wrap
+msgid "# change the toolbar buttons\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1421
+#, no-wrap
+msgid ""
+"buW = '3'\n"
+"buH = '2'\n"
+"boW = '3'\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1441
+#, no-wrap
+msgid ""
+"root_window.tk.call('.toolbar.machine_estop','configure','-image','','-text','ESTOP','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.machine_power','configure','-image','','-text','POWER','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.file_open','configure','-image','','-text','OPEN','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.reload','configure','-image','','-text','RELOAD','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.program_run','configure','-image','','-text','RUN','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.program_step','configure','-image','','-text','STEP','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.program_pause','configure','-image','','-text','PAUSE','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.program_stop','configure','-image','','-text','STOP','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.program_blockdelete','configure','-image','','-text','Skip "
+"/','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.program_optpause','configure','-image','','-text','M1','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.view_zoomin','configure','-image','','-text','Zoom+','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.view_zoomout','configure','-image','','-text','Zoom-','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.view_z','configure','-image','','-text','Top "
+"X','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.view_z2','configure','-image','','-text','Top "
+"Y','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.view_x','configure','-image','','-text','Right','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.view_y','configure','-image','','-text','Front','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.view_p','configure','-image','','-text','3D','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.rotate','configure','-image','','-text','Rotate','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+"root_window.tk.call('.toolbar.clear_plot','configure','-image','','-text','Clear','-width',buW,'-height',buH,'-borderwidth',boW)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/axis.adoc:1443
+#, no-wrap
+msgid "Change Plotter Colors"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/axis.adoc:1447
+msgid "In RGBA format, in this order: jog, rapid, feed, arc, toolchange, probe"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/axis.adoc:1460
+#, no-wrap
+msgid ""
+"# change plotter colors\n"
+"try:\n"
+"    live_plotter.logger.set_colors((255,0,0,255),\n"
+"                                    (0,255,0,255),\n"
+"                                    (0,0,255,255),\n"
+"                                    (255,255,0,255),\n"
+"                                    (255,255,255,255),\n"
+"                                    (0,255,255,255))\n"
+"except Exception as e:\n"
+"    print(e)\n"
+msgstr ""
+
+#. type: Title =
+#: src/gui/filter-programs.adoc:4
+#, no-wrap
+msgid "Filter Programs"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/filter-programs.adoc:19
+msgid ""
+"Most of LinuxCNC's screens have the ability to send loaded files through a "
+"'filter program' or use the filter program to make G-code.  Such a filter "
+"can do any desired task: Something as simple as making sure the file ends "
+"with 'M2', or something as complicated as generating G-code from an image."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/filter-programs.adoc:20
+#, no-wrap
+msgid "Setting up the INI for Program Filters"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/filter-programs.adoc:56
+msgid "If the filter program sends lines to stderr of the form:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:60
+#, no-wrap
+msgid "FILTER_PROGRESS=10\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/filter-programs.adoc:64
+msgid ""
+"It will set the screens progress bar to the given (10 in this case) "
+"percentage.  This feature should be used by any filter that runs for a long "
+"time."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/filter-programs.adoc:65
+#, no-wrap
+msgid "Making Python Based Filter Programs"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/filter-programs.adoc:72
+msgid ""
+"Here is a very basic example of the filtering mechanics: When run through a "
+"Linucnc screen that offers program filtering, it will produce and write a "
+"line of G-code every 100th of a second to standard output.  It also sends a "
+"progress message out to the Unix standard error stream.  If there was an "
+"error it would post an error message and exit with an exitcode of 1."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:77
+#, no-wrap
+msgid ""
+"import time\n"
+"import sys\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:82
+#, no-wrap
+msgid ""
+"for i in range(0,100):\n"
+"    try:\n"
+"        # simulate calculation time\n"
+"        time.sleep(.1)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:85
+#, no-wrap
+msgid ""
+"        # output a line of G-code\n"
+"        print('G0 X1', file=sys.stdout)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:92
+#, no-wrap
+msgid ""
+"        # update progress\n"
+"        print('FILTER_PROGRESS={}'.format(i), file=sys.stderr)\n"
+"    except:\n"
+"        # This causes an error message\n"
+"        print('Error; But this was only a test', file=sys.stderr)\n"
+"        raise SystemExit(1)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/filter-programs.adoc:99
+msgid ""
+"Here is a similar program but it actually could filter.  It puts up a PyQt5 "
+"dialog with a cancel button.  Then it reads the program line by line and "
+"passes it to standard output.  As it goes along, it updates any process "
+"listening to standard error output."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:107
+#, no-wrap
+msgid ""
+"import sys\n"
+"import os\n"
+"import time\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:111
+#, no-wrap
+msgid ""
+"from PyQt5.QtWidgets import (QApplication, QDialog, QDialogButtonBox,\n"
+"                            QVBoxLayout,QDialogButtonBox)\n"
+"from PyQt5.QtCore import QTimer, Qt\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:113
+#, no-wrap
+msgid "class CustomDialog(QDialog):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:118
+#, no-wrap
+msgid ""
+"    def __init__(self, path):\n"
+"        super(CustomDialog, self).__init__(None)\n"
+"        self.setWindowFlags(self.windowFlags() | Qt.WindowStaysOnTopHint)\n"
+"        self.setWindowTitle(\"Filter-with-GUI Test\")\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:120
+#, no-wrap
+msgid "        QBtn = QDialogButtonBox.Cancel\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:123
+#, no-wrap
+msgid ""
+"        self.buttonBox = QDialogButtonBox(QBtn)\n"
+"        self.buttonBox.rejected.connect(self.reject)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:127
+#, no-wrap
+msgid ""
+"        self.layout = QVBoxLayout()\n"
+"        self.layout.addWidget(self.buttonBox)\n"
+"        self.setLayout(self.layout)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:130
+#, no-wrap
+msgid ""
+"        self.line = 0\n"
+"        self._percentDone = 0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:134
+#, no-wrap
+msgid ""
+"        if not os.path.exists(path):\n"
+"            print(\"Path: '{}' doesn't exist:\".format(path), "
+"file=sys.stderr)\n"
+"            raise SystemExit(1)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:137
+#, no-wrap
+msgid ""
+"        self.infile = open(path, \"r\")\n"
+"        self.temp = self.infile.readlines()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:140
+#, no-wrap
+msgid ""
+"        # calculate percent update interval\n"
+"        self.bump = 100/float(len(self.temp))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:144
+#, no-wrap
+msgid ""
+"        self._timer = QTimer()\n"
+"        self._timer.timeout.connect(self.process)\n"
+"        self._timer.start(100)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:149
+#, no-wrap
+msgid ""
+"    def reject(self):\n"
+"        # This provides an error message\n"
+"        print('You asked to cancel before finished.', file=sys.stderr)\n"
+"        raise SystemExit(1)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:154
+#, no-wrap
+msgid ""
+"    def process(self):\n"
+"        try:\n"
+"            # get next line of code\n"
+"            codeLine = self.temp[self.line]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:156
+#, no-wrap
+msgid "            # process the line somehow\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:160
+#, no-wrap
+msgid ""
+"            # push out processed code\n"
+"            print(codeLine, file=sys.stdout)\n"
+"            self.line +=1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:164
+#, no-wrap
+msgid ""
+"            # update progress\n"
+"            self._percentDone += self.bump\n"
+"            print('FILTER_PROGRESS={}'.format(int(self._percentDone)), "
+"file=sys.stderr)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:170
+#, no-wrap
+msgid ""
+"            # if done end with no error/error message\n"
+"            if self._percentDone >= 99:\n"
+"                print('FILTER_PROGRESS=-1', file=sys.stderr)\n"
+"                self.infile.close()\n"
+"                raise SystemExit(0)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:176
+#, no-wrap
+msgid ""
+"        except Exception as e:\n"
+"            # This provides an error message\n"
+"            print(('Something bad happened:',e), file=sys.stderr)\n"
+"            # this signals the error message should be shown\n"
+"            raise SystemExit(1)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/filter-programs.adoc:186
+#, no-wrap
+msgid ""
+"if __name__ == \"__main__\":\n"
+"    if (len(sys.argv)>1):\n"
+"        path = sys.argv[1]\n"
+"    else:\n"
+"        path = None\n"
+"    app = QApplication(sys.argv)\n"
+"    w = CustomDialog(path=path)\n"
+"    w.show()\n"
+"    sys.exit( app.exec_() )\n"
+msgstr ""
+
+#. type: Title =
+#: src/gui/gladevcp.adoc:5
+#, no-wrap
+msgid ""
+"GladeVCP: Glade Virtual Control Panel(((GladeVCP: Glade Virtual Control "
+"Panel)))"
+msgstr ""
+
+#.  begin a listing of INI/HAL/NGC files like so:
+#. [source,{ini}]
+#. [source,{hal}]
+#. [source,{ngc}]
+#. type: Title ==
+#: src/gui/gladevcp.adoc:21
+#, no-wrap
+msgid "What is GladeVCP?"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:24
+msgid ""
+"GladeVCP is a LinuxCNC component which adds the ability to add a new user "
+"interface panel to LinuxCNC user interfaces like:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:28 src/gui/gscreen.adoc:5 src/user/user-intro.adoc:111
+#, no-wrap
+msgid "Gscreen"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:29 src/gui/gmoccapy.adoc:6
+#: src/user/user-intro.adoc:117
+#, no-wrap
+msgid "GMOCCAPY"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:32
+msgid ""
+"Unlike PyVCP, GladeVCP is not limited to displaying and setting HAL pins, as "
+"arbitrary actions can be executed in Python code - in fact, a complete "
+"LinuxCNC user interface could be built with GladeVCP and Python."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:36
+msgid ""
+"GladeVCP uses the https://glade.gnome.org/[Glade] WYSIWYG user interface "
+"editor, which makes it easy to create visually pleasing panels.  It relies "
+"on the https://pygobject.readthedocs.io/en/latest/[PyGObject] bindings to "
+"the rich https://docs.gtk.org/gtk3/[GTK3] widget set, and in fact all of "
+"these widgets may be used in a GladeVCP application - not just the "
+"specialized widgets for interacting with HAL and LinuxCNC, which are "
+"documented here."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:37
+#, no-wrap
+msgid "PyVCP versus GladeVCP at a glance"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:40
+msgid ""
+"Both support the creation of panels with 'HAL widgets' - user interface "
+"elements like LED's, buttons, sliders etc whose values are linked to a HAL "
+"pin, which in turn interfaces to the rest of LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:42
+#, no-wrap
+msgid "*PyVCP:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:44
+msgid "Widget set: uses TkInter widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:45
+msgid ""
+"User interface creation: \"edit XML file / run result / evaluate looks\" "
+"cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:46
+msgid "No support for embedding user-defined event handling."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:47
+msgid "No LinuxCNC interaction beyond HAL pin I/O supported."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:49
+#, no-wrap
+msgid "*GladeVCP:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:51
+msgid "Widget set: relies on the https://docs.gtk.org/gtk3/[GTK3] widget set."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:52
+msgid ""
+"User interface creation: uses the https://glade.gnome.org/[Glade] WYSIWYG "
+"user interface editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:53
+msgid ""
+"Any HAL pin change may be directed to call back into a user-defined Python "
+"event handler."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:54
+msgid ""
+"Any GTK signal (key/button press, window, I/O, timer, network events) may be "
+"associated with user-defined handlers in Python."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:55
+msgid ""
+"Direct LinuxCNC interaction: arbitrary command execution, like initiating "
+"MDI commands to call a G-code subroutine, plus support for status change "
+"operations through Action Widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:56
+msgid "Several independent GladeVCP panels may be run in different tabs."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:57
+msgid ""
+"Separation of user interface appearance and functionality: change appearance "
+"without touching any code."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:58
+#, no-wrap
+msgid "A Quick Tour with the Example Panel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:61
+msgid "GladeVCP panel windows may be run in three different setups:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:63
+msgid ""
+"always visible integrated into AXIS at the right side, exactly like PyVCP "
+"panels,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:64
+msgid ""
+"as a tab in AXIS,Touchy, Gscreen, or GMOCCAPY; in AXIS this would create a "
+"third tab besides the Preview and DRO tabs which must be raised explicitly,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:65
+msgid ""
+"as a standalone toplevel window, which can be iconifyed/deiconified "
+"independent of the main window."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:66 src/gui/gscreen.adoc:133
+#, no-wrap
+msgid "Installed LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:68
+msgid ""
+"If you're using an installed version of LinuxCNC the examples shown below "
+"are in the <<cha:starting-linuxcnc,configuration picker>> in the 'Sample "
+"Configurations > apps > GladeVCP' branch."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:69
+#, no-wrap
+msgid "Git Checkout"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:72
+msgid ""
+"The following instructions only apply if you're using a git checkout.  Open "
+"a terminal and change to the directory created by git then issue the "
+"commands as shown."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:76
+msgid ""
+"For the following commands to work on your git checkout you must first run "
+"'make' then run 'sudo make setuid' then run '. ./scripts/rip-environment'.  "
+"More information about a git checkout is on the LinuxCNC wiki page."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:78
+msgid "Run the sample GladeVCP panel integrated into AXIS like PyVCP as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:82
+#, no-wrap
+msgid ""
+"$ cd configs/sim/axis/gladevcp\n"
+"$ linuxcnc gladevcp_panel.ini\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:84
+#, no-wrap
+msgid "images/example-panel-small.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:87
+msgid "Run the same panel, but as a tab inside AXIS:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:91
+#, no-wrap
+msgid ""
+"$ cd configs/sim/axis/gladevcp\n"
+"$ linuxcnc gladevcp_tab.ini\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:93
+#, no-wrap
+msgid "images/example-tabbed-small.png"
+msgstr ""
+
+#
+#
+#
+#
+#
+#. To run this panel as a standalone toplevel window besides AXIS, just start AXIS in the background and start GladeVCP as follows:
+#. FIXME: I'm not sure how this is supposed to work with axis in one directory and GladeVCP in a different directory.
+#. FIXME: there is a conflict for motion.N.spindle-speed-out since it is used by both
+#.    axis.ini: sim_spindle_encoder.hal
+#.    and
+#.    manual-example.ui: manual-example.hal
+#. commit cd36e2 Jan 5 2012 added sim_spindle_encoder.hal to axis.ini
+#. probably after creation of manual-example.ui
+#. ----
+#. $ cd configs/sim/axis
+#. $ linuxcnc axis.ini &
+#. $ cd gladevcp
+#. $ gladevcp -c gladevcp -u ./hitcounter.py -H ./manual-example.hal ./manual-example.ui
+#. ----
+#. image::images/example-float-small.png[]
+#. type: Plain text
+#: src/gui/gladevcp.adoc:119
+msgid "To run this panel inside 'Touchy':"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:123
+#, no-wrap
+msgid ""
+"$ cd configs/sim/touchy/gladevcp\n"
+"$ linuxcnc gladevcp_touchy.ini\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:125
+#, no-wrap
+msgid "images/touchy-tab-33.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:130
+msgid ""
+"Functionally these setups are identical - they only differ in screen real "
+"estate requirements and visibility.  Since it is possible to run several "
+"GladeVCP components in parallel (with different HAL component names), mixed "
+"setups are possible as well - for instance a panel on the right hand side, "
+"and one or more tabs for less-frequently used parts of the interface."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:131
+#, no-wrap
+msgid "Exploring the example panel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:136
+msgid ""
+"While running configs/sim/axis/gladevcp_panel.ini or "
+"configs/sim/axis/gladevcp_tab.ini, explore 'Show HAL Configuration' - you "
+"will find the `gladevcp` HAL component and may observe their pin values "
+"while interacting with the widgets in the panel.  The HAL setup can be found "
+"in 'configs/axis/gladevcp/manual-example.hal'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:141
+msgid ""
+"The example panel has two frames at the bottom.  The panel is configured so "
+"that resetting ESTOP activates the Settings frame and turning the machine on "
+"enables the Commands frame at the bottom.  The HAL widgets in the Settings "
+"frame are linked to LEDs and labels in the 'Status' frame, and to the "
+"current and prepared tool number - play with them to see the effect.  "
+"Executing the 'T<toolnumber>' and 'M6' commands in the MDI window will "
+"change the current and prepared tool number fields."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:145
+msgid ""
+"The buttons in the 'Commands' frame are 'MDI Action widgets' - pressing them "
+"will execute an MDI command in the interpreter.  The third button 'Execute "
+"Oword subroutine' is an advanced example - it takes several HAL pin values "
+"from the 'Settings' frame, and passes them as parameters to the Oword "
+"subroutine.  The actual parameters received by the routine are displayed by "
+"'(DEBUG, )' commands - see '../../nc_files/oword.ngc' for the subroutine "
+"body."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:149
+msgid ""
+"To see how the panel is integrated into AXIS, see the '[DISPLAY]GLADEVCP' "
+"statement in configs/sim/axis/gladevcp/gladevcp_panel.ini, the "
+"'[DISPLAY]EMBED*' statement in configs/sim/axis/gladevcp/gladevcp_tab.ini "
+"and '[HAL]POSTGUI_HALFILE' statements in both "
+"configs/sim/axis/gladevcp/gladevcp_tab.ini and "
+"configs/sim/axis/gladevcp/gladevcp_panel.ini."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:150
+#, no-wrap
+msgid "Exploring the User Interface description"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:154
+msgid ""
+"The user interface is created with the Glade UI editor - to explore it, you "
+"need to have <<gladevcp:prerequisites,Glade installed>>.  To edit the user "
+"interface, run the command"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:157
+#, no-wrap
+msgid "$ glade configs/axis/gladevcp/manual-example.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:160
+msgid "The required glade program may be named glade-gtk2 on more recent systems."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:164
+msgid ""
+"The center window shows the appearance of the UI.  All user interface "
+"objects and support objects are found in the right top window, where you can "
+"select a specific widget (or by clicking on it in the center window).  The "
+"properties of the selected widget are displayed, and can be changed, in the "
+"right bottom window."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:167
+msgid ""
+"To see how MDI commands are passed from the MDI Action widgets, explore the "
+"widgets listed under 'Actions' in the top right window, and in the right "
+"bottom window, under the 'General' tab, the 'MDI command' property."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:168
+#, no-wrap
+msgid "Exploring the Python callback"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:171
+msgid "See how a Python callback is integrated into the example:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:173
+msgid "In Glade, see the +hits+ label widget (a plain GTK+ widget)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:174
+msgid ""
+"In the +button1+ widget, look at the 'Signals' tab, and find the signal "
+"'pressed' associated with the handler 'on_button_press'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:175
+msgid ""
+"In hitcounter.py, see the method 'on_button_press' and see how it sets the "
+"label property in the 'hits' object."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:177
+msgid ""
+"The is just touching upon the concept - the callback mechanism will be "
+"handled in more detail in the <<gladevcp:programming,GladeVCP Programming>> "
+"section."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:178
+#, no-wrap
+msgid "Creating and Integrating a Glade user interface"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:181
+#, no-wrap
+msgid "Prerequisite: Glade installation"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:185
+msgid ""
+"To view or modify Glade UI files, you need Glade 3.38.2 or later installed - "
+"it is not needed just to run a GladeVCP panel.  If the 'glade' command is "
+"missing, install it with the command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:188
+#, no-wrap
+msgid "$ sudo apt install glade\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:191
+msgid "Then verify installed version, which must be equal or superior to 3.6.7:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:194
+#, no-wrap
+msgid "$ glade --version\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:199
+msgid ""
+"Glade contains an internal Python interpreter, and only Python 3 is "
+"supported.  This is true for Debian Bullseye, Ubuntu 21 and Mint 21 or "
+"later.  Older versions will not work, you will get a Python error."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:200
+#, no-wrap
+msgid "Running Glade to create a new user interface"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:205
+msgid ""
+"This section just outlines the initial LinuxCNC-specific steps.  For more "
+"information and a tutorial on Glade, see http://glade.gnome.org.  Some Glade "
+"tips & tricks may also be found on https://www.youtube.com[youtube]."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:207
+msgid ""
+"Either modify an existing UI component by running +glade <file>.ui+ or start "
+"a new one by just running the +glade+ command from the shell."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:210
+msgid ""
+"If LinuxCNC was not installed from a package, the LinuxCNC shell environment "
+"needs to be set up with `source <linuxcncdir>/scripts/rip-environment`, "
+"otherwise Glade won't find the LinuxCNC-specific widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:211
+msgid ""
+"When asked for unsaved preferences, just accept the defaults and hit "
+"'Close'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:213
+msgid ""
+"From 'Toplevels' (toolbar), pick 'GtkWindow' (first entry) as top level "
+"window.  Set 'window1' as ID in the right pane under the tab 'General'. This "
+"naming is important because GladeVCP relies on it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:214
+msgid ""
+"From the button with the three dots you can find the LinuxCNC specific "
+"widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:215
+msgid ""
+"Add a container like a HAL_Box or a HAL_Table from 'HAL Python' to the "
+"frame."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:216
+msgid "Pick and place some elements like LED, button, etc. within a container."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:218
+msgid "This will look like this:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:219
+#, no-wrap
+msgid "images/glade-manual-small.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:225
+msgid ""
+"Glade tends to write a lot of messages to the shell window, which mostly can "
+"be ignored.  Select 'File'→'Save as', give it a name like 'myui.ui' and make "
+"sure it is saved as 'GtkBuilder' file (radio button left bottom corner in "
+"Save dialog).  GladeVCP will also process the older 'libglade' format "
+"correctly but there is no point in using it.  The convention for GtkBuilder "
+"file extension is '.ui'."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:226
+#, no-wrap
+msgid "Testing a panel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:229
+msgid ""
+"You're now ready to give it a try (while LinuxCNC, e.g. AXIS is running) it "
+"with:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:232
+#, no-wrap
+msgid "gladevcp myui.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:236
+msgid ""
+"GladeVCP creates a HAL component named like the basename of the UI file - "
+"'myui' in this case - unless overridden by the `-c <component name>` "
+"option.  If running AXIS, just try 'Show HAL configuration' and inspect its "
+"pins."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:240
+msgid ""
+"You might wonder why widgets contained a 'HAL_Hbox' or 'HAL_Table' appear "
+"greyed out (inactive).  HAL containers have an associated HAL pin which is "
+"off by default, which causes all contained widgets to render inactive.  A "
+"common use case would be to associate these container HAL pins with "
+"`halui.machine.is-on` or one of the `halui.mode` signals, to assure some "
+"widgets appear active only in a certain state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:242
+msgid ""
+"To just activate a container, execute the HAL command `setp "
+"gladevcp.<container-name> 1`."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:243
+#, no-wrap
+msgid "Preparing the HAL command file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:247
+msgid ""
+"The suggested way of linking HAL pins in a GladeVCP panel is to collect them "
+"in a separate file with extension '.hal'.  This file is passed via the "
+"+POSTGUI_HALFILE=+ option in the +HAL+ section of your INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:249
+msgid ""
+"Do not add the GladeVCP HAL command file to the AXIS +[HAL]HALFILE=+ ini "
+"section, this will not have the desired effect - see the following sections."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:250
+#, no-wrap
+msgid "Integrating into AXIS, like PyVCP"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:253
+msgid ""
+"Place the GladeVCP panel in the righthand side panel by specifying the "
+"following in the INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:259
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"# add GladeVCP panel where PyVCP used to live:\n"
+"GLADEVCP= -u ./hitcounter.py ./manual-example.ui\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:263
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"# HAL commands for GladeVCP components in a tab must be executed via "
+"POSTGUI_HALFILE\n"
+"POSTGUI_HALFILE =  ./manual-example.hal\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:267 src/gui/gladevcp.adoc:321
+#: src/gui/gladevcp.adoc:349
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"# gladevcp Demo specific Oword subs live here\n"
+"SUBROUTINE_PATH = ../../nc_files/gladevcp_lib\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:270
+msgid ""
+"The default HAL component name of a GladeVCP application started with the "
+"GLADEVCP option is: `gladevcp`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:272
+msgid ""
+"The command line actually run by AXIS in the above configuration is as "
+"follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:275
+#, no-wrap
+msgid ""
+"halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -x {XID} -u ./hitcounter.py "
+"./manual-example.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:278
+msgid ""
+"You may add arbitrary `gladevcp` options here, as long as they dont collide "
+"with the above command line options."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:280
+msgid ""
+"It is possible to create a custom HAL component name by adding the +-c+ "
+"option:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:286
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"# add GladeVCP panel where PyVCP used to live:\n"
+"GLADEVCP= -c example -u ./hitcounter.py ./manual-example.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:289
+msgid "The command line actually run by AXIS for the above is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:292
+#, no-wrap
+msgid ""
+"halcmd loadusr -Wn example gladevcp -c example -x {XID} -u ./hitcounter.py "
+"./manual-example.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:297 src/gui/gladevcp.adoc:354
+msgid ""
+"The file specifiers like ./hitcounter.py, ./manual-example.ui, etc. indicate "
+"that the files are located in the same directory as the INI file.  You might "
+"have to copy them to you directory (alternatively, specify a correct "
+"absolute or relative path to the file(s))."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:301
+msgid ""
+"The +[RS274NGC]SUBROUTINE_PATH=+ option is only set so the example panel "
+"will find the Oword subroutine (oword.ngc) for the MDI Command widget.  It "
+"might not be needed in your setup. The relative path specifier "
+"../../nc_files/gladevcp_lib is constructed to work with directories copied "
+"by the configuration picker and when using a run-in-place setup."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:303
+#, no-wrap
+msgid "Embedding as a Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:306
+msgid ""
+"To do so, edit your INI file and add to the DISPLAY and HAL sections of INI "
+"file as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:313
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"# add GladeVCP panel as a tab next to Preview/DRO:\n"
+"EMBED_TAB_NAME=GladeVCP demo\n"
+"EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -x {XID} "
+"-u ./gladevcp/hitcounter.py ./gladevcp/manual-example.ui\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:317
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"# HAL commands for GladeVCP components in a tab must be executed via "
+"POSTGUI_HALFILE\n"
+"POSTGUI_HALFILE =  ./gladevcp/manual-example.hal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:326
+msgid ""
+"Note the `halcmd loadusr` way of starting the tab command - this assures "
+"that 'POSTGUI_HALFILE' will only be run after the HAL component is ready.  "
+"In rare cases you might run a command here which uses a tab but does not "
+"have an associated HAL component.  Such a command can be started without "
+"'halcmd loadusr', and this signifies to AXIS that it does not have to wait "
+"for a HAL component since there is none."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:328
+msgid ""
+"When changing the component name in the above example, note that the names "
+"used in `-Wn <component>` and `-c <component>` must be identical."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:331
+msgid ""
+"Try it out by running AXIS - there should be a new tab called 'GladeVCP "
+"demo' near the DRO tab.  Select that tab, you should see the example panel "
+"nicely fit within AXIS."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:334
+msgid ""
+"Make sure the UI file is the last option passed to GladeVCP in both the "
+"`GLADEVCP=` and `EMBED_TAB_COMMAND=` statements."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:335
+#, no-wrap
+msgid "Integrating into Touchy"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:338
+msgid "To do add a GladeVCP tab to 'Touchy', edit your INI file as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:345
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"# add GladeVCP panel as a tab\n"
+"EMBED_TAB_NAME=GladeVCP demo\n"
+"EMBED_TAB_COMMAND=gladevcp -c gladevcp -x {XID} -u ./hitcounter.py -H "
+"./gladevcp-touchy.hal  ./manual-example.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:356
+msgid "Note the following differences to the AXIS tab setup:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:358
+msgid ""
+"The HAL command file is slightly modified since 'Touchy' does not use the "
+"'halui' components so its signals are not available and some shortcuts have "
+"been taken."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:359
+msgid ""
+"There is no 'POSTGUI_HALFILE=' INI option, but passing the HAL command file "
+"on the 'EMBED_TAB_COMMAND=' line is ok."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:360
+msgid "The 'halcmd loaduser -Wn ...' incantation is not needed."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:361
+#, no-wrap
+msgid "GladeVCP command line options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:364
+msgid "See also `man gladevcp`. These are the GladeVCP command line options:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:367
+#, no-wrap
+msgid "Usage: gladevcp [options] myfile.ui\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:369
+#, no-wrap
+msgid "Options:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:372
+#, no-wrap
+msgid ""
+"-h, --help::\n"
+"    Show this help message and exit.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:375
+#, no-wrap
+msgid ""
+"-c NAME::\n"
+"    Set component name to NAME. Default is base name of UI file.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:378
+#, no-wrap
+msgid ""
+"-d::\n"
+"    Enable debug output\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:382
+#, no-wrap
+msgid ""
+"-g GEOMETRY::\n"
+"    Set geometry WIDTHxHEIGHT+XOFFSET+YOFFSET. Values are in pixel units, "
+"XOFFSET/YOFFSET is referenced from top left of screen.\n"
+"    Use -g WIDTHxHEIGHT for just setting size or -g +XOFFSET+YOFFSET for "
+"just position\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:385
+#, no-wrap
+msgid ""
+"-H FILE::\n"
+"    Execute HAL statements from FILE with halcmd after the component is set "
+"up and ready\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:389
+#, no-wrap
+msgid ""
+"-m MAXIMUM::\n"
+"    Force panel window to maximize.\n"
+"    Together with the -g geometry option one can move the panel to a second "
+"monitor and force it to use all of the screen\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:392
+#, no-wrap
+msgid ""
+"-t THEME::\n"
+"    Set gtk theme. Default is system theme. Different panels can have "
+"different themes.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:395
+#, no-wrap
+msgid ""
+"-x XID::\n"
+"    Re-parent GladeVCP into an existing window XID instead of creating a new "
+"top level window\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:398
+#, no-wrap
+msgid ""
+"-u FILE::\n"
+"    Use File's as additional user defined modules with handlers\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:401
+#, no-wrap
+msgid ""
+"-U USEROPT::\n"
+"    pass USEROPTs to Python modules\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:403
+#, no-wrap
+msgid "Understanding the GladeVCP startup process"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:407
+msgid ""
+"The integration steps outlined above look a bit tricky, and they are.  It "
+"does therefore help to understand the startup process of LinuxCNC and how "
+"this relates to GladeVCP."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:409
+msgid "The normal LinuxCNC startup process does the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:411
+msgid "The realtime environment is started."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:412
+msgid "All HAL components are loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:413
+msgid "The HAL components are linked together through the .hal cmd scripts."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:414
+msgid "`task`, `iocontrol` and eventually the user interface is started."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:415
+msgid ""
+"Pre-GladeVCP the assumption was: by the time the UI starts, all of HAL is "
+"loaded, plumbed and ready to go."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:417
+msgid "The introduction of GladeVCP brought the following issue:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:419
+msgid "GladeVCP panels need to be embedded in a master GUI window setup."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:420
+msgid ""
+"GladeVCP panels need to be embedded in a master GUI window setup, e.g., "
+"AXIS, or Touchy, Gscreen, or GMOCCAPY (embedded window or as an embedded "
+"tab)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:421
+msgid ""
+"This requires the master GUI to run before the GladeVCP window can be hooked "
+"into the master GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:422
+msgid "However, GladeVCP is also a HAL component, and creates HAL pins of its own."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:423
+msgid ""
+"As a consequence, all HAL plumbing involving GladeVCP HAL pins as source or "
+"destination must be run *after* the GUI has been set up."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:429
+msgid ""
+"This is the purpose of the `POSTGUI_HALFILE`. This INI option is inspected "
+"by the GUIs.  If a GUI detects this option, it runs the corresponding HAL "
+"file after any embedded GladeVCP panel is set up.  However, it does not "
+"check whether a GladeVCP panel is actually used, in which case the HAL cmd "
+"file is just run normally.  So if you do NOT start GladeVCP through "
+"`GLADEVCP` or `EMBED_TAB` etc, but later in a separate shell window or some "
+"other mechanism, a HAL command file in `POSTGUI_HALFILE` will be executed "
+"too early.  Assuming GladeVCP pins are referenced herein, this will fail "
+"with an error message indicating that the GladeVCP HAL component is not "
+"available."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:431
+msgid ""
+"So, in case you run GladeVCP from a separate shell window (i.e., not started "
+"by the GUI in an embedded fashion):"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:433
+msgid ""
+"You cannot rely on the `POSTGUI_HALFILE` INI option causing the HAL commands "
+"being run 'at the right point in time', so comment that out in the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:434
+msgid ""
+"Explicitly pass the HAL command file which refers to GladeVCP pins to "
+"GladeVCP with the `-H <halcmd file>` option (see previous section)."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:435
+#, no-wrap
+msgid "HAL Widget reference"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:441
+msgid ""
+"GladeVCP includes a collection of Gtk widgets with attached HAL pins called "
+"HAL Widgets, intended to control, display or otherwise interact with the "
+"LinuxCNC HAL layer.  They are intended to be used with the Glade user "
+"interface editor.  With proper installation, the HAL Widgets should show up "
+"in Glade's 'HAL Python' widget group.  Many HAL specific fields in the Glade "
+"'General' section have an associated mouse-over tool tip."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:448
+msgid ""
+"HAL signals come in two variants, bits and numbers.  Bits are off/on "
+"signals. Numbers can be \"float\", \"s32\" or \"u32\".  For more information "
+"on HAL data types see the <<sec:hal-data,HAL manual>>.  The GladeVCP widgets "
+"can either display the value of the signal with an indicator widget, or "
+"modify the signal value with a control widget.  Thus there are four classes "
+"of GladeVCP widgets that you can connect to a HAL signal.  Another class of "
+"helper widgets allow you to organize and label your panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:450
+msgid "Widgets for indicating \"bit\" signals: <<gladevcp:hal-led,HAL_LED>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:451
+msgid ""
+"Widgets for controlling \"bit\" signals: <<gladevcp:hal-buttons,HAL_Button "
+"HAL_RadioButton HAL_CheckButton>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:454
+msgid ""
+"Widgets for indicating \"number\" signals: <<gladevcp:hal-label,HAL_Label>>, "
+"<<gladevcp:hal-progressbar,HAL_ProgressBar>>, <<gladevcp:hal-bars,HAL_HBar "
+"and HAL_VBar>>, <<gladevcp:hal-meter,HAL_Meter>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:456
+msgid ""
+"Widgets for controlling \"number\" signals: "
+"<<gladevcp:hal-spinbutton,HAL_SpinButton>>, <<gladevcp:hal-scales,HAL_HScale "
+"and HAL_VScale>>, <<gladevcp:jogwheel,Jog Wheel>>, "
+"<<gladevcp:speedcontrol,Speed Control>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:457
+msgid ""
+"Sensitive control widgets: <<gladevcp:hal-table,State_Sensitive_Table "
+"HAL_Table and HAL_HBox>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:458
+msgid "Tool Path preview: <<gladevcp:hal-gremlin,HAL_Gremlin>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:460
+msgid ""
+"Widgets to show axis positions: <<gladevcp:dro_widget,DRO Widget>>, "
+"<<gladevcp:combi_dro,Combi DRO Widget>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:461
+msgid "Widgets for file handling: <<gladevcp:iconview,IconView File Selection>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:462
+msgid ""
+"Widgets for display/edit of all axes offsets: "
+"<<gladevcp:offsetpage,OffsetPage>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:463
+msgid ""
+"Widgets for display/edit of all tool offsets: <<gladevcp:tooledit,Tooloffset "
+"editor>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:464
+msgid ""
+"Widget for G-code display and edit: "
+"<<gladevcp:hal-sourceview,HAL_Sourceview>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:465
+msgid ""
+"Widget for MDI input and history display: <<gladevcp:mdi-history,MDI "
+"History>>"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:466
+#, no-wrap
+msgid "Widget and HAL pin naming"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:469
+msgid ""
+"Most HAL widgets have a single associated HAL pin with the same HAL name as "
+"the widget (glade: General→Name)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:471
+msgid "Exceptions to this rule currently are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:473
+msgid ""
+"'HAL_Spinbutton' and 'HAL_ComboBox', which have two pins: a +<widgetname>-f+ "
+"(float) and a +<widgetname>-s+ (s32) pin"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:474
+msgid ""
+"'HAL_ProgressBar', which has a +<widgetname>-value+ input pin, and a "
+"+<widgetname>-scale+ input pin."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:475
+#, no-wrap
+msgid "Python attributes and methods of HAL Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:480
+msgid ""
+"HAL widgets are instances of GtKWidgets and hence inherit the methods, "
+"properties and signals of the applicable GtkWidget class.  For instance, to "
+"figure out which GtkWidget-related methods, properties and signals a "
+"'HAL_Button' has, lookup the description of "
+"https://lazka.github.io/pgi-docs/#Gtk-3.0/classes/Button.html#Gtk.Button[GtkButton] "
+"in the https://lazka.github.io/pgi-docs/[PyGObject API Reference]."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:484
+msgid ""
+"An easy way to find out the inheritance relationship of a given HAL widget "
+"is as follows: Run glade, place the widget in a window, and select it; then "
+"choose the 'Signals' tab in the 'Properties' window.  For example, selecting "
+"a 'HAL_LED' widget, this will show that a 'HAL_LED' is derived from a "
+"'GtkWidget', which in turn is derived from a 'GtkObject', and eventually a "
+"'GObject'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:487
+msgid ""
+"Full class hierarchy can be seen by invoking the GtkInspector while in the "
+"Glade GUI by selecting a widget then pressing Control-Shift-I.  If the "
+"Inspector doesn't open then it can be enabled from a terminal by entering:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:489
+#, no-wrap
+msgid "gsettings set org.gtk.Settings.Debug enable-inspector-keybinding true\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:491
+msgid ""
+"The Inspector is also handy for testing css style changes \"on the fly\" as "
+"well as determining all the properties and signals available for a widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:493
+msgid "HAL Widgets also have a few HAL-specific Python attributes:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:494
+#, no-wrap
+msgid "hal_pin"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:496
+msgid ""
+"The underlying HAL pin Python object in case the widget has a single pin "
+"type"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:496
+#, no-wrap
+msgid "hal_pin_s, hal_pin_f"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:498
+msgid ""
+"The s32 and float pins of the 'HAL_Spinbutton' and 'HAL_ComboBox' widgets - "
+"note these widgets do not have a 'hal_pin' attribute!"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:498
+#, no-wrap
+msgid "hal_pin_scale"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:500
+msgid ""
+"The float input pin of 'HAL_ProgressBar' widget representing the maximum "
+"absolute value of input."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:502
+msgid ""
+"The are several HAL-specific methods of HAL Widgets, but the only relevant "
+"method is:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:503
+#, no-wrap
+msgid "<halpin>.get()"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:505
+msgid ""
+"Retrieve the value of the current HAL pin, where '<halpin>' is the "
+"applicable HAL pin name listed above."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:506
+#, no-wrap
+msgid "Setting pin and widget values"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:511
+msgid ""
+"As a general rule, if you need to set a HAL output widget's value from "
+"Python code, do so by calling the underlying Gtk 'setter' (e.g., "
+"+set_active()+, +set_value()+).  Do not try to set the associated pin's "
+"value by +halcomp[pinname] = value+ directly because the widget will not "
+"take notice of the change!"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:516
+msgid ""
+"It might be tempting to 'set HAL widget input pins' programmatically.  Note "
+"this defeats the purpose of an input pin in the first place - it should be "
+"linked to, and react to signals generated by other HAL components.  While "
+"there is currently no write protection on writing to input pins in HAL "
+"Python, this doesn't make sense.  You might use `setp _pinname_ _value_` in "
+"the associated HAL file for testing though."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:519
+msgid ""
+"It is perfectly OK to set an output HAL pin's value with +halcomp[pinname] = "
+"value+ provided this HAL pin is not associated with a widget, that is, has "
+"been created by the "
+"+hal_glib.GPin(halcomp.newpin(<name>,<type>,<direction>))+ method (see "
+"<<gladevcp:programming,GladeVCP Programming>> for an example)."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:521
+#, no-wrap
+msgid "The hal-pin-changed signal"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:527
+msgid ""
+"Event-driven programming means that the UI tells your code when \"something "
+"happens\" - through a callback, like when a button was pressed.  The output "
+"HAL widgets (those which display a HAL pin's value) like LED, Bar, VBar, "
+"Meter, etc., support the `hal-pin-changed` signal, which may cause a "
+"callback into your Python code when - well, a HAL pin changes its value.  "
+"This means there's no more need for permanent polling of HAL pin changes in "
+"your code, the widgets do that in the background and let you know."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:529
+msgid ""
+"Here is an example how to set a `hal-pin-changed` signal for a HAL_LED in "
+"the Glade UI editor:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:530
+#, no-wrap
+msgid "images/hal-pin-change-66.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:533
+msgid ""
+"The example in +configs/apps/gladevcp/complex+ shows how this is handled in "
+"Python."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gladevcp.adoc:535 src/gui/pyvcp.adoc:453 src/gui/qtdragon.adoc:419
+#: src/gui/qtvcp-widgets.adoc:3127 src/man/man1/xhc-whb04b-6.1.adoc:261
+#, no-wrap
+msgid "Buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:540
+msgid ""
+"This group of widgets are derived from various Gtk buttons and consists of "
+"HAL_Button, HAL_ToggleButton, HAL_RadioButton and CheckButton widgets.  All "
+"of them have a single output BIT pin named identical to the widget.  Buttons "
+"have no additional properties compared to their base Gtk classes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:542
+msgid ""
+"HAL_Button: instantaneous action, does not retain state. Important signal: "
+"`pressed`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:543
+msgid ""
+"HAL_ToggleButton, HAL_CheckButton: retains on/off state. Important signal: "
+"`toggled`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:544
+msgid ""
+"HAL_RadioButton: a one-of-many group. Important signal: `toggled` (per "
+"button)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:545
+msgid "Important common methods: `set_active()`, `get_active()`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:546
+msgid "Important properties: `label`, `image`"
+msgstr ""
+
+#. .Buttons
+#. type: Block title
+#: src/gui/gladevcp.adoc:548
+#, no-wrap
+msgid "Check button"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:549
+#, no-wrap
+msgid "images/checkbutton.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:551
+#, no-wrap
+msgid "Radio buttons"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:552
+#, no-wrap
+msgid "images/radiobutton.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:554
+#, no-wrap
+msgid "Toggle button"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:555
+#, no-wrap
+msgid "images/button.png"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:560
+msgid "Defining radio button groups in Glade:"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:562
+msgid "Decide on default active button."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:563
+msgid ""
+"In the other button's 'General→Group' select the default active button's "
+"name in the 'Choose a Radio Button in this project' dialog."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:566
+msgid ""
+"See +configs/apps/gladevcp/by-widget/+ for a GladeVCP applications and UI "
+"file for working with radio buttons."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:568
+#, no-wrap
+msgid "Scales"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:571
+msgid ""
+"HAL_HScale and HAL_VScale are derived from the GtkHScale and GtkVScale "
+"respectively."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:572 src/gui/gladevcp.adoc:617
+#: src/gui/gladevcp.adoc:1013
+#, no-wrap
+msgid "<widgetname>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:574 src/gui/gladevcp.adoc:590
+#: src/gui/gladevcp.adoc:621 src/gui/gladevcp.adoc:623
+msgid "out FLOAT pin"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:574 src/gui/gladevcp.adoc:590
+#: src/gui/gladevcp.adoc:729 src/gui/gladevcp.adoc:1050
+#, no-wrap
+msgid "<widgetname>-s"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:576 src/gui/gladevcp.adoc:592
+#: src/gui/gladevcp.adoc:619 src/gui/gladevcp.adoc:731
+msgid "out s32 pin"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:579
+msgid ""
+"To make a scale useful in Glade, add an 'Adjustment' (General → Adjustment → "
+"New or existing adjustment) and edit the adjustment object.  It defines the "
+"default/min/max/increment values. Also, set adjustment 'Page size' and 'Page "
+"increment' to zero to avoid warnings."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:580
+#, no-wrap
+msgid "Example HAL_HScale"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:581
+#, no-wrap
+msgid "images/hscale.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:584
+#, no-wrap
+msgid "SpinButton"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:587
+msgid "HAL SpinButton is derived from GtkSpinButton and holds two pins:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:588 src/gui/gladevcp.adoc:1048
+#, no-wrap
+msgid "<widgetname>-f"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:594
+msgid "To be useful, Spinbuttons need an adjustment value like scales, see above."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:595
+#, no-wrap
+msgid "Example SpinButton"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:596
+#, no-wrap
+msgid "images/spinbutton.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:599
+#, no-wrap
+msgid "Hal_Dial"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:605
+#, no-wrap
+msgid ""
+"The hal_dial widget simulates a jogwheel or adjustment dial.\n"
+"It can be operated with the mouse. You can just use the mouse wheel, while "
+"the mouse cursor is over the Hal_Dial widget, or you hold the left mouse "
+"button and move the cursor in circular direction to increase or degrease the "
+"counts.\n"
+"By double clicking the left or right button the scale factor can be "
+"increased or decreased."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:607
+#, no-wrap
+msgid "Counterclockwise   = reduce counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:608
+#, no-wrap
+msgid "Clockwise          = increase counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:609
+#, no-wrap
+msgid "Wheel up           = increase counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:610
+#, no-wrap
+msgid "Wheel down         = reduce counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:611
+#, no-wrap
+msgid "left Double Click  = x10 scale\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:612
+#, no-wrap
+msgid "Right Double Click = /10 scale\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:616
+msgid "`hal_dial` exports its count value as HAL pins:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:619
+#, no-wrap
+msgid "<widgetname>-scaled"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:621
+#, no-wrap
+msgid "<widgetname>-delta-scaled"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:624 src/gui/gladevcp.adoc:732
+#: src/gui/gladevcp.adoc:804 src/gui/gladevcp.adoc:955
+#: src/gui/gladevcp.adoc:1018 src/gui/gladevcp.adoc:1053
+#: src/gui/gladevcp.adoc:1082 src/gui/gladevcp.adoc:1145
+#: src/gui/gladevcp.adoc:1196 src/gui/gladevcp.adoc:1324
+#: src/gui/gladevcp.adoc:1349 src/gui/gladevcp.adoc:1478
+#: src/gui/gladevcp.adoc:1631 src/gui/gladevcp.adoc:1737
+#: src/gui/gladevcp.adoc:1779 src/gui/gladevcp.adoc:1851
+#: src/gui/gladevcp.adoc:1965 src/gui/qtvcp-libraries.adoc:979
+#: src/gui/qtvcp-libraries.adoc:1061 src/gui/qtvcp-widgets.adoc:363
+#: src/gui/qtvcp-widgets.adoc:1606 src/gui/qtvcp-widgets.adoc:1870
+#: src/gui/qtvcp-widgets.adoc:2126 src/gui/qtvcp-widgets.adoc:2213
+#: src/gui/qtvcp-widgets.adoc:2350 src/gui/qtvcp-widgets.adoc:2812
+#: src/gui/qtvcp-widgets.adoc:2900
+#, no-wrap
+msgid "Properties"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:627
+msgid "`hal_dial` has the following properties:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:628 src/gui/gladevcp.adoc:739
+#, no-wrap
+msgid "cpr"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:631
+#, no-wrap
+msgid ""
+"Sets the Counts per Revolution, allowed values are in the range from 25 to "
+"360\n"
+"default = 100"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:631 src/gui/gladevcp.adoc:742
+#, no-wrap
+msgid "show_counts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:634
+#, no-wrap
+msgid ""
+"Set this to False, if you want to hide the counts display in the middle of "
+"the widget.\n"
+"default = True"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:634 src/gui/gladevcp.adoc:744
+#: src/gui/gladevcp.adoc:1158
+#, no-wrap
+msgid "label"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:638
+#, no-wrap
+msgid ""
+"Set the content of the label which may be shown over the counts value.\n"
+"If the label given is longer than 15 Characters, it will be cut to 15 "
+"Characters.\n"
+"default = blank"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:638
+#, no-wrap
+msgid "center_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:641
+#, no-wrap
+msgid ""
+"This allows one to change the color of the wheel. It uses a GDK color "
+"string.\n"
+"default = #bdefbdefbdef (gray)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:641
+#, no-wrap
+msgid "count_type_shown"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:644
+#, no-wrap
+msgid ""
+"There are three counts available 0) Raw CPR counts 1) Scaled counts 2) Delta "
+"scaled counts.\n"
+"default = 1"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:645
+msgid ""
+"count is based on the CPR selected - it will count positive and negative. It "
+"is available as a s32 pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:647
+#, no-wrap
+msgid ""
+"Scaled-count is CPR count times the scale - it can be positive and "
+"negative.\n"
+"If you change the scale the output will immediately reflect the change. It "
+"is available as a FLOAT pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:650
+#, no-wrap
+msgid ""
+"Delta-scaled-count is cpr count CHANGE, times scale.\n"
+"If you change the scale, only the counts after that change will be scaled "
+"and then added to the current value.\n"
+"It is available as a FLOAT pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:650
+#, no-wrap
+msgid "scale_adjustable"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:654
+#, no-wrap
+msgid ""
+"Set this to False if you want to disallow scale changes by double clicking "
+"the widget.\n"
+"If this is false the scale factor will not show on the widget.\n"
+"default = True"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:654 src/gui/gladevcp.adoc:1022
+#, no-wrap
+msgid "scale"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:657
+#, no-wrap
+msgid ""
+"Set this to scale the counts.\n"
+"default = 1.0"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gladevcp.adoc:658 src/gui/gladevcp.adoc:749
+#: src/gui/gladevcp.adoc:861 src/gui/gladevcp.adoc:1271
+#: src/gui/gladevcp.adoc:1406 src/gui/gladevcp.adoc:1534
+#: src/gui/gladevcp.adoc:1659 src/gui/gladevcp.adoc:1746
+#: src/gui/gladevcp.adoc:1792 src/gui/gladevcp.adoc:1876
+#: src/gui/gladevcp.adoc:1930 src/gui/gladevcp.adoc:1977
+#, no-wrap
+msgid "Direct program control"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:661
+msgid "There are ways to directly control the widget using Python."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:663 src/gui/gladevcp.adoc:1751
+#: src/gui/gladevcp.adoc:1797 src/gui/gladevcp.adoc:1881
+#: src/gui/gladevcp.adoc:1980
+msgid "Using goobject to set the above listed properties:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:672
+#, no-wrap
+msgid ""
+"[widget name].set_property(\"cpr\",int(value))\n"
+"[widget name].set_property(\"show_counts, True)\n"
+"[widget "
+"name].set_property(\"center_color\",gtk.gdk.Color('#bdefbdefbdef'))\n"
+"[widget name].set_property('label', 'Test Dial 12345')\n"
+"[widget name].set_property('scale_adjustable', True)\n"
+"[widget name].set_property('scale', 10.5)\n"
+"[widget name].set_property('count_type_shown', 0)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:675 src/gui/gladevcp.adoc:1294
+#: src/gui/gladevcp.adoc:1758 src/gui/gladevcp.adoc:1805
+msgid "There are Python methods:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:678
+#, no-wrap
+msgid ""
+"`[widget name].get_value()`\n"
+"Will return the counts value as a s32 integer"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:680
+#, no-wrap
+msgid ""
+"`[widget name].get_scaled_value()`\n"
+"Will return the counts value as a float"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:682
+#, no-wrap
+msgid ""
+"`[widget name].get_delta_scaled_value()`\n"
+"Will return the counts value as a float"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:684 src/gui/gladevcp.adoc:767
+#, no-wrap
+msgid ""
+"`[widget name].set_label(\"string\")`\n"
+"Sets the label content with \"string\""
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:686
+msgid "There are two GObject signals emitted:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:689
+#, no-wrap
+msgid ""
+"`count_changed`\n"
+"Emitted when the widget's count changes eg. from being wheel scrolled."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:691
+#, no-wrap
+msgid ""
+"`scale_changed`\n"
+"Emitted when the widget's scale changes eg. from double clicking."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:693
+msgid "Connect to these like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:697
+#, no-wrap
+msgid ""
+"[widget name].connect('count_changed', [count function name])\n"
+"[widget name].connect('scale_changed', [scale function name])\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:700
+msgid "The callback functions would use this pattern:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:703
+#, no-wrap
+msgid "def [count function name](widget, count,scale,delta_scale):\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:706
+msgid ""
+"This will return: the widget, the current count, scale and delta scale of "
+"that widget."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:707
+#, no-wrap
+msgid "Example Hal_Dial"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:708
+#, no-wrap
+msgid "images/Hal_Dial.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:711
+#, no-wrap
+msgid "Jog Wheel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:716
+msgid ""
+"The `jogwheel` widget simulates a real jogwheel. It can be operated with the "
+"mouse.  You can just use the mouse wheel, while the mouse cursor is over the "
+"JogWheel widget, or you push the left mouse button and move the cursor in "
+"circular direction to increase or degrease the counts."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:718
+msgid "Counterclockwise = reduce counts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:719
+#, no-wrap
+msgid "Clockwise        = increase counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:720
+#, no-wrap
+msgid "Wheel up         = increase counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:721
+#, no-wrap
+msgid "Wheel down       = reduce counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:724
+msgid ""
+"As moving the mouse the drag and drop way may be faster than the widget can "
+"update itself, you may loose counts turning to fast.  It is recommended to "
+"use the mouse wheel, and only for very rough movements the drag and drop "
+"way."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:728
+msgid "`jogwheel` exports its count value as HAL pin:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:735
+msgid "`jogwheel` has the following properties:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:736 src/gui/gmoccapy.adoc:1194
+#: src/man/man3/hal_malloc.3hal.adoc:13 src/man/man3/rtapi_region.3.adoc:21
+#: src/man/man3/rtapi_shmem.3.adoc:25
+#, no-wrap
+msgid "size"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:739
+msgid ""
+"Sets the size in pixel of the widget, allowed values are in the range of 100 "
+"to 500 default = 200"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:742
+msgid ""
+"Sets the Counts per Revolution, allowed values are in the range from 25 to "
+"100 default = 40"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:744
+msgid ""
+"Set this to False, if you want to hide the counts display in the middle of "
+"the widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:748
+msgid ""
+"Set the content of the label which may be shown over the counts value.  The "
+"purpose is to give the user an idea about the usage of that jogwheel.  If "
+"the label given is longer than 12 Characters, it will be cut to 12 "
+"Characters."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:752 src/gui/gladevcp.adoc:864
+#: src/gui/gladevcp.adoc:1274 src/gui/gladevcp.adoc:1409
+#: src/gui/gladevcp.adoc:1749 src/gui/gladevcp.adoc:1795
+#: src/gui/gladevcp.adoc:1879
+msgid "There a couple ways to directly control the widget using Python."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:754 src/gui/gladevcp.adoc:866
+#: src/gui/gladevcp.adoc:1276 src/gui/gladevcp.adoc:1537
+#: src/gui/gladevcp.adoc:1662
+msgid "Using GObject to set the above listed properties:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:759
+#, no-wrap
+msgid ""
+"[widget name].set_property(\"size\",int(value))\n"
+"[widget name].set_property(\"cpr\",int(value))\n"
+"[widget name].set_property(\"show_counts, True)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:762
+msgid "There are two Python methods:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:765
+#, no-wrap
+msgid ""
+"`[widget name].get_value()`\n"
+"Will return the counts value as integer"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:768
+#, no-wrap
+msgid "Example JogWheel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:769
+#, no-wrap
+msgid "images/JogWheel.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:772
+#, no-wrap
+msgid "Speed Control"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:776
+msgid ""
+"`speedcontrol` is a widget specially made to control an adjustment with a "
+"touch screen.  It is a replacement to the normal scale widget which is "
+"difficult to slide on a touch screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:780
+msgid ""
+"The value is controlled with two button to increase or decrease the value.  "
+"The increment will change as long a button is pressed.  The value of each "
+"increment as well as the time between two changes can be set using the "
+"widget properties."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:784
+msgid "`speedcontrol` offers some HAL pin:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:785
+#, no-wrap
+msgid "<widgetname>-value"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:788
+#, no-wrap
+msgid ""
+"out float pin\n"
+"The shown value of the widget."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:788
+#, no-wrap
+msgid "<widgetname>-scaled-value"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:791
+#, no-wrap
+msgid ""
+"out float pin\n"
+"The shown value divided by the scale value, this is very useful, if the "
+"velocity is shown in units / min, but LinuxCNC expects it to be in units / "
+"second."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:791 src/gui/gladevcp.adoc:1015
+#, no-wrap
+msgid "<widgetname>-scale"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:795
+#, no-wrap
+msgid ""
+"in float pin\n"
+"The scale to apply.\n"
+"Default is 60."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:795
+#, no-wrap
+msgid "<widgetname>-increase"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:799
+#, no-wrap
+msgid ""
+"in bit pin\n"
+"As long as the pin is true, the value will increase.\n"
+"Very handy with connected momentary switch."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:799
+#, no-wrap
+msgid "<widgetname>-decrease"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:803
+#, no-wrap
+msgid ""
+"in bit pin\n"
+"As long as the pin is true, the value will decrease.\n"
+"Very handy with connected momentary switch."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:807
+msgid "`speedcontrol` has the following properties:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:808
+#, no-wrap
+msgid "height"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:813
+#, no-wrap
+msgid ""
+"Integer\n"
+"The height of the widget in pixel.\n"
+"Allowed values are 24 to 96.\n"
+"Default is 36."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:818
+#, no-wrap
+msgid ""
+"Float\n"
+"The start value to set.\n"
+"Allowed values are in the range from 0.001 to 99999.0.\n"
+"Default is 10.0."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:818
+#, no-wrap
+msgid "min"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:824
+#, no-wrap
+msgid ""
+"Float\n"
+"The min allowed value.\n"
+"Allowed values are 0.0 to 99999.0.\n"
+"Default is 0.0.\n"
+"If you change this value, the increment will be reset to default, so it "
+"might be necessary to set afterwards a new increment."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:824
+#, no-wrap
+msgid "max"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:830
+#, no-wrap
+msgid ""
+"Float\n"
+"The max allowed value.\n"
+"Allowed values are 0.001 to 99999.0.\n"
+"Default is 100.0.\n"
+"If you change this value, the increment will be reset to default, so it "
+"might be necessary to set afterwards a new increment."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:830
+#, no-wrap
+msgid "increment"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:835
+#, no-wrap
+msgid ""
+"Float\n"
+"Sets the applied increment per mouse click.\n"
+"Allowed values are 0.001 to 99999.0 and -1.\n"
+"Default is -1, resulting in 100 increments from min to max."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:835
+#, no-wrap
+msgid "inc_speed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:840
+#, no-wrap
+msgid ""
+"Integer\n"
+"Sets the timer delay for the increment speed holding pressed the buttons.\n"
+"Allowed values are 20 to 300.\n"
+"Default is 100."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:840
+#, no-wrap
+msgid "unit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:845
+#, no-wrap
+msgid ""
+"String\n"
+"Sets the unit to be shown in the bar after the value.\n"
+"Any string is allowed.\n"
+"Default is \"\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:845
+#, no-wrap
+msgid "color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:850
+#, no-wrap
+msgid ""
+"Color\n"
+"Sets the color of the bar.\n"
+"Any hex color is allowed.\n"
+"Default is \"#FF8116\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:850
+#, no-wrap
+msgid "template"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:855
+#, no-wrap
+msgid ""
+"String\n"
+"Text template to display the value. Python formatting is used.\n"
+"Any allowed format.\n"
+"Default is \"%.1f\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:855
+#, no-wrap
+msgid "do_hide_button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:860
+#, no-wrap
+msgid ""
+"Boolean\n"
+"Whether to show or hide the increment an decrement button.\n"
+"True or False.\n"
+"Default = False."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:872
+#, no-wrap
+msgid ""
+"[widget name].set_property(\"do_hide_button\",bool(value))\n"
+"[widget name].set_property(\"color\",\"#FF00FF\")\n"
+"[widget name].set_property(\"unit\", \"mm/min\")\n"
+"etc.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:875
+msgid "There are also Python methods to modify the widget:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:878
+#, no-wrap
+msgid "[widget name].set_adjustment(gtk-adjustment)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:882
+msgid ""
+"You can assign a existing adjustment to the control, that way it is easy to "
+"replace existing sliders without many code changes.  Be aware, that after "
+"changing the adjustment you may need to set a new increment, as it will be "
+"reset to its default (100 steps from MIN to MAX):"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:885
+#, no-wrap
+msgid ""
+"`[widget name].get_value()`\n"
+"Will return the counts value as float"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:887
+#, no-wrap
+msgid ""
+"`[widget name].set_value(float(value))`\n"
+"Sets the widget to the commanded value"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:889
+#, no-wrap
+msgid ""
+"`[widget name].set_digits(int(value))`\n"
+"Sets the digits of the value to be used"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:891
+#, no-wrap
+msgid ""
+"`[widget name].hide_button(bool(value))`\n"
+"Hide or show the button"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:892
+#, no-wrap
+msgid "Example Speedcontrol"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:893
+#, no-wrap
+msgid "images/SpeedControl.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:896 src/gui/pyvcp.adoc:329
+#, no-wrap
+msgid "Label"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:899
+msgid ""
+"`hal_label` is a simple widget based on GtkLabel which represents a HAL pin "
+"value in a user-defined format."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:900
+#, no-wrap
+msgid "label_pin_type"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:902
+msgid ""
+"The pin's HAL type (0:s32, 1:float, 2:u32), see also the tooltip on "
+"'General→HAL pin type' (note this is different from PyVCP which has three "
+"label widgets, one for each type)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:902 src/gui/gladevcp.adoc:1032
+#: src/gui/gladevcp.adoc:1101 src/gui/gladevcp.adoc:1155
+#, no-wrap
+msgid "text_template"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:906
+#, no-wrap
+msgid ""
+"Determines the text displayed - a Python format string to convert the pin "
+"value to text. Defaults to +%s+ (values are converted by the str() function) "
+"but may contain any legit as an argument to Pythons format() method.\n"
+"Example: +Distance: %.03f+ will display the text and the pin value with 3 "
+"fractional digits padded with zeros for a FLOAT pin."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:908 src/gui/pyvcp.adoc:874
+#, no-wrap
+msgid "Containers"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:911
+msgid "HAL_HideTable"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:912
+msgid "HAL_Table"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:913
+msgid "State_Sensitive_Table"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:914
+msgid "HAL_HBox (deprecated)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:917
+#, no-wrap
+msgid ""
+"These containers are meant to be used to insensitize (grey out) or hide "
+"their children.\n"
+"Insensitized children will not respond to input."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:918
+#, no-wrap
+msgid "*HAL_HideTable*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:919
+msgid ""
+"Has one HAL BIT input pin which controls if its child widgets are hidden or "
+"not."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:921 src/gui/gladevcp.adoc:929
+#, no-wrap
+msgid "*Pin:*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:922 src/gui/gladevcp.adoc:930
+#, no-wrap
+msgid "`<Panel_basename>.<widgetname>`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:924
+#, no-wrap
+msgid ""
+"in bit pin\n"
+"If the pin is low then child widgets are visible which is the default state."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:925
+#, no-wrap
+msgid "*HAL_Table* and *HAL_Hbox*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:927
+msgid ""
+"Have one HAL BIT input pin which controls if their child widgets are "
+"sensitive or not."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:932
+#, no-wrap
+msgid ""
+"in bit pin\n"
+"If the pin is low then child widgets are inactive which is the default "
+"state."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:933
+#, no-wrap
+msgid "*State_Sensitive_Table*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:939
+#, no-wrap
+msgid ""
+"Responds to the state to LinuxCNC's interpreter. +\n"
+"Optionally selectable to respond to 'must-be-all-homed', 'must-be-on' and "
+"'must-be-idle'. +\n"
+"You can combine them. It will always be insensitive at Estop. +\n"
+"(Has no pin).\n"
+" +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:943
+#, no-wrap
+msgid ""
+"**HAL_Hbox is deprecated - use HAL_Table.** +\n"
+"If current panels use it, it won't fail. You just won't find it in the GLADE "
+"editor anymore. +\n"
+"Future versions of GladeVCP may remove this widget completely and then you "
+"will need to update the panel.\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:947
+msgid ""
+"If you find some part of your GladeVCP application is 'grayed out' "
+"(insensitive), see whether a HAL_Table pin is unset or unconnected."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:954
+#, no-wrap
+msgid ""
+"The `hal_led` simulates a real indicator LED.\n"
+"It has a single input BIT pin which controls its state: ON or OFF."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:958
+msgid "LEDs have several properties which control their look and feel:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:959
+#, no-wrap
+msgid "on_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:963
+#, no-wrap
+msgid ""
+"String defining ON color of LED.\n"
+"May be any valid gdk.Color name.\n"
+"Not working on Ubuntu 8.04."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:963
+#, no-wrap
+msgid "off_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:967
+#, no-wrap
+msgid ""
+"String defining OFF color of LED.\n"
+"May be any valid gdk.Color name or special value `dark`. `dark` means that "
+"OFF color will be set to 0.4 value of ON color.\n"
+"Not working on Ubuntu 8.04."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:967
+#, no-wrap
+msgid "pick_color_on, pick_color_off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:970
+#, no-wrap
+msgid ""
+"Colors for ON and OFF states.\n"
+"These may be represented as `#RRRRGGGGBBBB` strings and are optional "
+"properties which have precedence over `on_color` and `off_color`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:970
+#, no-wrap
+msgid "led_size"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:972
+msgid "LED radius (for square - half of LED's side)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:972
+#, no-wrap
+msgid "led_shape"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:975
+#, no-wrap
+msgid ""
+"LED Shape.\n"
+"Valid values are 0 for round, 1 for oval and 2 for square shapes."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:975
+#, no-wrap
+msgid "led_blink_rate"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:978
+#, no-wrap
+msgid ""
+"If set and LED is ON then it is blinking.\n"
+"Blink period is equal to \"led_blink_rate\" specified in milliseconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:978
+#, no-wrap
+msgid "create_hal_pin"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:981
+#, no-wrap
+msgid ""
+"Select/deselect creation of a HAL pin to control the LED.\n"
+"With no HAL pin created LED can be controlled with a Python function."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:982 src/gui/gladevcp.adoc:1710
+#: src/gui/qtvcp-libraries.adoc:424 src/gui/qtvcp-widgets.adoc:2775
+#, no-wrap
+msgid "Signals"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:986
+msgid ""
+"As an input widget, LED also supports the +hal-pin-changed+ signal.  If you "
+"want to get a notification in your code when the LED's HAL pin was changed, "
+"then connect this signal to a handler, for example +on_led_pin_changed+ and "
+"provide the handler as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:991
+#, no-wrap
+msgid ""
+"def on_led_pin_changed(self,hal_led,data=None):\n"
+"    print(\"on_led_pin_changed() - HAL pin value:\",hal_led.hal_pin.get())\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:995
+msgid ""
+"This will be called at any edge of the signal and also during program start "
+"up to report the current value."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:996
+#, no-wrap
+msgid "Example LEDs"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:997
+#, no-wrap
+msgid "images/leds.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1000
+#, no-wrap
+msgid "ProgressBar"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:1006
+#, no-wrap
+msgid ""
+"This widget might go away.\n"
+"Use the HAL_HBar and HAL_VBar widgets instead."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1012
+msgid ""
+"The `HAL_ProgressBar` is derived from gtk.ProgressBar and has two float HAL "
+"input pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1015
+msgid "the current value to be displayed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1017
+msgid "the maximum absolute value of input"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1021
+msgid "`HAL_ProgressBar` has the following properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1026
+#, no-wrap
+msgid ""
+"Value scale.\n"
+"Sets the maximum absolute value of input. Same as setting the "
+"<widgetname>.scale pin.\n"
+"A float, range from -2^24 to +2^24."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1026
+#, no-wrap
+msgid "green_limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1028
+msgid "Green zone lower limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1028
+#, no-wrap
+msgid "yellow_limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1030
+msgid "Yellow zone lower limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1030
+#, no-wrap
+msgid "red_limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1032
+msgid "Red zone lower limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1035
+#, no-wrap
+msgid ""
+"Text template to display the current value of the +<widgetname>+ pin.\n"
+"Python formatting may be used for dict +{\"value\":value}+."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1036
+#, no-wrap
+msgid "Example HAL_ProgressBar"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1037
+#, no-wrap
+msgid "images/progressbar2.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1040
+#, no-wrap
+msgid "ComboBox"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1043
+msgid ""
+"`HAL_ComboBox` is derived from gtk.ComboBox. It enables choice of a value "
+"from a dropdown list."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1047
+msgid "`HAL_ComboBox` exports two HAL pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1050
+msgid "Current value, type FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1052
+msgid "Current value, type s32"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1056
+msgid "`HAL_ComboBox` has the following property which can be set in Glade:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1057
+#, no-wrap
+msgid "column"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1062
+#, no-wrap
+msgid ""
+"The column index.\n"
+"Type s32.\n"
+"Valid range from -1..100.\n"
+"Defaults value -1."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1065
+msgid ""
+"In default mode this widgets sets the pins to the index of the chosen list "
+"entry.  So if your widget has three labels, it may only assume values 0,1 "
+"and 2."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1068
+msgid ""
+"In column mode (column > -1), the value reported is chosen from the "
+"ListStore array as defined in Glade.  So typically your widget definition "
+"would have two columns in the ListStore, one with text displayed in the "
+"dropdown, and an int or float value to use for that choice."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1070
+msgid ""
+"There's an example in +configs/apps/by-widget/combobox.{py,ui}+ which uses "
+"column mode to pick a float value from the ListStore."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1072
+msgid ""
+"If you're confused like me about how to edit ComboBox ListStores and "
+"CellRenderer, see https://youtu.be/Z5_F-rW2cL8."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1074
+#, no-wrap
+msgid "Bars"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1077
+msgid ""
+"`HAL_Bar` and `HAL_VBar` widgets for horizontal and vertical bars "
+"representing float values."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1081
+msgid "`HAL_Bar` and `HAL_VBar` each have one input FLOAT HAL pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1085
+msgid "`HAL_Bar` and `HAL_VBar` both bars have the following properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1089
+#, no-wrap
+msgid ""
+"Swap min and max direction.\n"
+"An inverted HBar grows from right to left, an inverted VBar from top to "
+"bottom."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1089 src/gui/gladevcp.adoc:1149
+#, no-wrap
+msgid "min, max"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1092
+msgid ""
+"Minimum and maximum value of desired range.  It is not an error condition if "
+"the current value is outside this range."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1092
+#, no-wrap
+msgid "show limits"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1094
+msgid "Used to select/deselect the limits text on bar."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1094
+#, no-wrap
+msgid "zero"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1098
+#, no-wrap
+msgid ""
+"Zero point of range.\n"
+"If it is inside of min/max range then the bar will grow from that value and "
+"not from the left (or right) side of the widget.\n"
+"Useful to represent values that may be both positive or negative."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1098
+#, no-wrap
+msgid "force_width, force_height"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1101
+#, no-wrap
+msgid ""
+"Forced width or height of widget.\n"
+"If not set then size will be deduced from packing or from fixed widget size "
+"and bar will fill whole area."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1104
+#, no-wrap
+msgid ""
+"Like in Label, sets text format for min/max/current values.\n"
+"Can be used to turn off value display."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1108
+#, no-wrap
+msgid ""
+"Sets the bar display to the value entered.\n"
+"Used only for testing in GLADE editor.\n"
+"The value will be set from a HAL pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1108
+#, no-wrap
+msgid "target value"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1112
+#, no-wrap
+msgid ""
+"Sets the target line to the value entered.\n"
+"Used only for testing in GLADE editor.\n"
+"The value will can be set in a Python function."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1112
+#, no-wrap
+msgid "target_width"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1114
+msgid "Width of the line that marks the target value."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1114 src/gui/gladevcp.adoc:1162
+#, no-wrap
+msgid "bg_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1116
+msgid "Background (inactive) color of bar."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1116
+#, no-wrap
+msgid "target_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1118
+msgid "Color of the the target line."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1118 src/gui/gladevcp.adoc:1164
+#, no-wrap
+msgid "z0_color, z1_color, z2_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1122 src/gui/gladevcp.adoc:1168
+#, no-wrap
+msgid ""
+"Colors of different value zones.\n"
+"Defaults are `green`, `yellow` and `red`.\n"
+"For description of zones see `z*_border` properties."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1122 src/gui/gladevcp.adoc:1168
+#, no-wrap
+msgid "z0_border, z1_border"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1129
+#, no-wrap
+msgid ""
+"Define up bounds of color zones.\n"
+"By default only one zone is enabled. If you want more then one zone set "
+"`z0_border` and `z1_border` to desired values so zone 0 will fill from 0 to "
+"first border, zone 1 will fill from first to second border and zone 2 from "
+"last border to 1.\n"
+"Borders are set as fractions.\n"
+"Valid values range from 0 to 1."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1130
+#, no-wrap
+msgid "Horizontal bar"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1131
+#, no-wrap
+msgid "images/hal_hbar.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1133
+#, no-wrap
+msgid "Vertical bar"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1134
+#, no-wrap
+msgid "images/vscale.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1137 src/gui/pyvcp.adoc:659
+#, no-wrap
+msgid "Meter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1140
+msgid ""
+"`HAL_Meter` is a widget similar to PyVCP meter - it represents a float "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1144
+msgid "`HAL_Meter` has one input FLOAT HAL pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1148
+msgid "HAL Meter has the following properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1152
+#, no-wrap
+msgid ""
+"Minimum and maximum value of desired range.\n"
+"It is not an error condition if the current value is outside this range."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1152
+#, no-wrap
+msgid "force_size"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1155
+#, no-wrap
+msgid ""
+"Forced diameter of widget.\n"
+"If not set then size will be deduced from packing or from fixed widget size, "
+"and meter will fill all available space with respect to aspect ratio."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1158
+#, no-wrap
+msgid ""
+"Like in Label, sets text format for current value.\n"
+"Can be used to turn off value display."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1160
+msgid "Large label above center of meter."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1160
+#, no-wrap
+msgid "sublabel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1162
+msgid "Small label below center of meter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1164
+msgid "Background color of meter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1174
+#, no-wrap
+msgid ""
+"Define up bounds of color zones.\n"
+"By default only one zone is enabled. If you want more then one zone set "
+"`z0_border` and `z1_border` to desired values so zone 0 will fill from min "
+"to first border, zone 1 will fill from first to second border and zone 2 "
+"from last border to max.\n"
+"Borders are set as values in range min-max."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1175
+#, no-wrap
+msgid "Example HAL Meters"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1176
+#, no-wrap
+msgid "images/hal_meter.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1179
+#, no-wrap
+msgid "HAL_Graph"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1182
+msgid "This widget is for plotting values over time."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1184
+#, no-wrap
+msgid "Gremlin tool path preview for NGC files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1191
+msgid ""
+"Gremlin is a plot preview widget similar to the AXIS preview window.  It "
+"assumes a running LinuxCNC environment like AXIS or Touchy.  To connect to "
+"it, inspects the INI_FILE_NAME environment variable.  Gremlin displays the "
+"current NGC file - it does monitor for changes and reloads the ngc file if "
+"the file name in AXIS/Touchy changes.  If you run it in a GladeVCP "
+"application when LinuxCNC is not running, you might get a traceback because "
+"the Gremlin widget can't find LinuxCNC status, like the current file name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1195
+msgid "Gremlin does not export any HAL pins."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1199
+msgid "Gremlin has the following properties:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1200 src/gui/gladevcp.adoc:1254
+#, no-wrap
+msgid "enable_dro"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1203
+#, no-wrap
+msgid ""
+"This displays the dro on the graphics.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1203
+#, no-wrap
+msgid "show_velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1206
+#, no-wrap
+msgid ""
+"This displays the tool speed.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1206
+#, no-wrap
+msgid "use_commanded"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1209
+#, no-wrap
+msgid ""
+"This selects the DRO to use: commanded or actual values.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1209 src/gui/gladevcp.adoc:1490
+#, no-wrap
+msgid "metric_units"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1212
+#, no-wrap
+msgid ""
+"This selects the DRO to use: metric or imperial units.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1212
+#, no-wrap
+msgid "show_rapids"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1215
+#, no-wrap
+msgid ""
+"This tells the plotter to show the rapid moves.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1215
+#, no-wrap
+msgid "show_dtg_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1218
+#, no-wrap
+msgid ""
+"This selects the DRO to display the distance-to-go value.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1218
+#, no-wrap
+msgid "use_relative"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1221
+#, no-wrap
+msgid ""
+"This selects the DRO to show values relative to user system or machine "
+"coordinates.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1221
+#, no-wrap
+msgid "show_live_plot"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1224
+#, no-wrap
+msgid ""
+"This tells the plotter to draw or not.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1224
+#, no-wrap
+msgid "show_limits"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1227
+#, no-wrap
+msgid ""
+"This tells the plotter to show the machine's limits.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1227
+#, no-wrap
+msgid "show_lathe_radius"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1231
+#, no-wrap
+msgid ""
+"This selects the DRO to display the X axis in radius or diameter, if in "
+"lathe mode (selectable in the INI file with LATHE = 1).\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1231
+#, no-wrap
+msgid "show_extents_option"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1234
+#, no-wrap
+msgid ""
+"This tells the plotter to show the machine's extents.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1234
+#, no-wrap
+msgid "show_tool"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1237
+#, no-wrap
+msgid ""
+"This tells the plotter to draw the tool.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1237
+#, no-wrap
+msgid "show_program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1240
+#, no-wrap
+msgid ""
+"Shows the G-code program.\n"
+"Default = True"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1240
+#, no-wrap
+msgid "use_joints_mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1243
+#, no-wrap
+msgid ""
+"Used in non trivialkins machines (e.g., robots).\n"
+"Default = false."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1243
+#, no-wrap
+msgid "grid_size"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1246
+#, no-wrap
+msgid ""
+"Sets the size of the grid (only visible in the X, Y and Z views).\n"
+"Defaults to 0"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1246
+#, no-wrap
+msgid "use_default_controls"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1251
+#, no-wrap
+msgid ""
+"This disables the default mouse controls.\n"
+"This is most useful when using a touchscreen as the default controls do not "
+"work well. You can programmatically add controls using Python and the "
+"handler file technique.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1251
+#, no-wrap
+msgid "view"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1254
+#, no-wrap
+msgid ""
+"May be any of `x`, `y`, `y2` , `z`, `z2` , `p` (perspective).\n"
+"Defaults to `z` view."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1258
+#, no-wrap
+msgid ""
+"Type = boolean.\n"
+"Whether to draw a DRO on the plot or not.\n"
+"Default = true."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1258
+#, no-wrap
+msgid "mouse_btn_mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1261
+#, no-wrap
+msgid ""
+"Type = integer.\n"
+"Mouse button handling: leads to different functions of the button:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1262
+#, no-wrap
+msgid "0 = default: left rotate, middle move,   right zoom\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1263
+#, no-wrap
+msgid "1 =          left zoom,   middle move,   right rotate\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1264
+#, no-wrap
+msgid "2 =          left move,   middle rotate, right zoom\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1265
+#, no-wrap
+msgid "3 =          left zoom,   middle rotate, right move\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1266
+#, no-wrap
+msgid "4 =          left move,   middle zoom,   right rotate\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1267
+#, no-wrap
+msgid "5 =          left rotate, middle zoom,   right move\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1268
+#, no-wrap
+msgid "6 =          left move,   middle zoom,   right zoom\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1270
+msgid ""
+"Mode 6 is recommended for plasmas and lathes, as rotation is not needed for "
+"such machines."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1291
+#, no-wrap
+msgid ""
+"[widget name].set_property('view','P')\n"
+"[widget name].set_property('metric_units',False)\n"
+"[widget name].set_property('use_default_controls',False)\n"
+"[widget name].set_property('enable_dro' False)\n"
+"[widget name].set_property('show_program', False)\n"
+"[widget name].set_property('show_limits', False)\n"
+"[widget name].set_property('show_extents_option', False)\n"
+"[widget name].set_property('show_live_plot', False)\n"
+"[widget name].set_property('show_tool', False)\n"
+"[widget name].set_property('show_lathe_radius',True)\n"
+"[widget name].set_property('show_dtg',True)\n"
+"[widget name].set_property('show_velocity',False)\n"
+"[widget name].set_property('mouse_btn_mode', 4)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1309
+#, no-wrap
+msgid ""
+"[widget name].show_offsets = True\n"
+"[widget name].grid_size = .75\n"
+"[widget name].select_fire(event.x,event.y)\n"
+"[widget name].select_prime(event.x,event.y)\n"
+"[widget name].start_continuous_zoom(event.y)\n"
+"[widget name].set_mouse_start(0,0)\n"
+"[widget name].gremlin.zoom_in()\n"
+"[widget name].gremlin.zoom_out()\n"
+"[widget name].get_zoom_distance()\n"
+"[widget name].set_zoom_distance(dist)\n"
+"[widget name].clear_live_plotter()\n"
+"[widget name].rotate_view(x,y)\n"
+"[widget name].pan(x,y)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1311 src/gui/gladevcp.adoc:1398
+#, no-wrap
+msgid "Hints"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1313
+msgid ""
+"If you set all the plotting options false but show_offsets true you get an "
+"offsets page instead of a graphics plot."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1314
+msgid ""
+"If you get the zoom distance before changing the view then reset the zoom "
+"distance, it is much more user friendly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1315
+msgid ""
+"if you select an element in the preview, the selected element will be used "
+"as rotation center point"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1316
+#, no-wrap
+msgid "Gremlin Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1317
+#, no-wrap
+msgid "images/gremlin.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1320
+#, no-wrap
+msgid "HAL_Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1323
+msgid "The `HAL_Offset` widget is used to display the offset of a single axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1327
+msgid "`HAL_Offset` has the following properties:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1328 src/gui/gladevcp.adoc:1353
+#: src/gui/gladevcp.adoc:1855
+#, no-wrap
+msgid "display_units_mm"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1330
+msgid "Display in metric units."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1333
+#, no-wrap
+msgid ""
+"Used to select which axis (technically which joint) is displayed.\n"
+"On a trivialkins machine (mill, lathe, router) axis vs. joint number are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1335
+msgid "0:X 1:Y 2:Z 3:A 4:B 5:C 6:U 7:V 8:W"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1336 src/gui/gladevcp.adoc:1362
+#: src/gui/gladevcp.adoc:1498 src/gui/gladevcp.adoc:1871
+#, no-wrap
+msgid "mm_text_template"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1338 src/gui/gladevcp.adoc:1340
+#: src/gui/gladevcp.adoc:1873 src/gui/gladevcp.adoc:1875
+msgid ""
+"You can use Python formatting to display the position with different "
+"precision."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1338 src/gui/gladevcp.adoc:1365
+#: src/gui/gladevcp.adoc:1501 src/gui/gladevcp.adoc:1873
+#, no-wrap
+msgid "imperial_text_template"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1340 src/gui/gladevcp.adoc:1375
+#, no-wrap
+msgid "reference_type"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1343
+msgid "0:G5x 1:tool 2:G92 3:Rotation around Z"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1345
+#, no-wrap
+msgid "DRO widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1348
+msgid "The DRO widget is used to display the current axis position."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1352 src/gui/gladevcp.adoc:1854
+msgid "It has the following properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1356
+msgid ""
+"Used to toggle the display units between metric and imperial.  Default is "
+"False."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1356 src/gui/gladevcp.adoc:1488
+#, no-wrap
+msgid "actual"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1359
+msgid "Select actual (feedback) position or commanded position.  Default is True."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1362
+msgid "Display diameter for a lathe.  Default is False."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1365
+msgid ""
+"You can use Python formatting to display the position with different "
+"precision.  Default is \"%10.3f\"."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1368
+msgid ""
+"You can use Python formatting to display the position with different "
+"precision.  Default is \"%9.4f\"."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1372
+#, no-wrap
+msgid ""
+"Used to select which axis (technically which joint) is displayed. Default is "
+"0.\n"
+"On a trivialkins machine (mill, lathe, router) axis vs. joint number are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1374
+msgid "0:X 1:Y 2:Z 3:A 4:B 5:C 6:U 7:V 8:W +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1377
+msgid "0 = `absolute` <<sec:machine-coordinate-system,(machine origin)>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1378
+msgid "1 = `relative` (to current user coordinate origin - G5x)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1379
+msgid "2 = `distance-to-go` (relative to current user coordinate origin)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1380
+msgid "Default is 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1380
+#, no-wrap
+msgid "font_family"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1384
+msgid ""
+"Specify the font family e.g. mono. Defaults to sans.  If the font does not "
+"exist then the current system font will be used.  Default is sans."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1384 src/gui/gladevcp.adoc:1519
+#, no-wrap
+msgid "font_size"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1387
+msgid "Specify the size of the font between 8 and 96.  Default is 26."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1387
+#, no-wrap
+msgid "font_weight"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1390
+msgid ""
+"Specify the weight of the font. Select from lighter, normal, bold, or "
+"bolder.  Default is bold."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1390 src/gui/gladevcp.adoc:1507
+#, no-wrap
+msgid "unhomed_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1394
+msgid ""
+"The text color when unhomed specified as a Gdk.RGBA color.  Default is red, "
+"Gdk.RGBA(red=1.000000, green=0.000000, blue=0.000000, alpha=1.000000)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1394 src/gui/gladevcp.adoc:1504
+#, no-wrap
+msgid "homed_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1398
+msgid ""
+"The text color when homed specified as a Gdk.RGBA color.  Default is green, "
+"Gdk.RGBA(red=0.000000, green=0.501961, blue=0.000000, alpha=1.000000)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1400
+msgid ""
+"If you want the display to be right justified, set the Horizontal Alignment "
+"to `End`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1402
+msgid ""
+"The background of the widget is actually see through, so if you place it "
+"over an image, the DRO numbers will show on top of it with no background.  "
+"There is a special technique to do this.  See the animated function diagrams "
+"below."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1404
+msgid ""
+"The DRO widget is a modified gtk label widget.  As such, much of what can be "
+"done to a gtk label can be done to the DRO widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1405
+msgid ""
+"The font properties may also be set from a css stylesheet which has the "
+"highest priority and will override values set by GObject properties."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1410
+#, no-wrap
+msgid "Using GObject to set the above listed properties"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1423
+#, no-wrap
+msgid ""
+"[widget name].set_property(\"display_units_mm\", True)\n"
+"[widget name].set_property(\"actual\", True)\n"
+"[widget name].set_property(\"diameter\", True)\n"
+"[widget name].set_property(\"mm_text_template\", \"%10.3f\")\n"
+"[widget name].set_property(\"imperial_text_template\", \"%9.4f\")\n"
+"[widget name].set_property(\"joint_number\", 3)\n"
+"[widget name].set_property(\"reference_type\", 3)\n"
+"[widget name].set_property(\"font_family\", \"mono\")\n"
+"[widget name].set_property(\"font_size\", 30)\n"
+"[widget name].set_property(\"font_weight\", \"bold\")\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1431
+#, no-wrap
+msgid ""
+"# it is easier to read colors by calling a function:\n"
+"def str_to_rgba(color):\n"
+"  c = Gdk.RGBA()\n"
+"  c.parse(color)\n"
+"  return c\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1434
+#, no-wrap
+msgid ""
+"[widget name].set_property(\"unhomed_color\", str_to_rgba(\"magenta\"))\n"
+"[widget name].set_property(\"homed_color\", str_to_rgba(\"cyan\"))\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1436
+#, no-wrap
+msgid "Using a CSS stylesheet to set font properties"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1439
+msgid ""
+"Colors may be specified in one of several formats, these would all specify "
+"the same color, red, *#ff0000, *rgb(255,0,0), or rgba(255,0,0,255)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1441
+msgid "Colors may be referenced either collectively:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1445
+#, no-wrap
+msgid ""
+".dro_unhomed {color: magenta}\n"
+".dro_homed {color: cyan}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1448
+msgid "or individually by widget name:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1452
+#, no-wrap
+msgid ""
+"#[widget name].dro_unhomed {color: magenta}\n"
+"#[widget name].dro_homed {color: cyan}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1455
+msgid "The other style properties need to be referenced by widget name:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1462
+#, no-wrap
+msgid ""
+"#[widget name], #[widget name], #[widget name] {\n"
+"    font-family: mono;\n"
+"    font-size: 60px;\n"
+"    font-weight: lighter;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1464
+#, no-wrap
+msgid "There are two Python methods"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1469
+#, no-wrap
+msgid ""
+"[widget name].set_dro_inch()\n"
+"[widget name].set_dro_metric()\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1472
+#, no-wrap
+msgid "Combi_DRO widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1477
+#, no-wrap
+msgid ""
+"The `Combi_DRO` widget is used to display the current, the relative axis "
+"position and the distance to go in one DRO.\n"
+"By clicking on the DRO the Order of the DRO will toggle around.\n"
+"In Relative Mode the actual coordinate system will be displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1481
+msgid "`Combi_DRO` has the following properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1485
+#, no-wrap
+msgid ""
+"Used to select which axis (technically which joint) is displayed.\n"
+"On a trivialkins machine (mill, lathe, router) axis/joint numbers are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1487
+msgid "0:X 1:Y 2:Z etc."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1490
+msgid "Select actual (feedback) or commanded position."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1492
+msgid "Used to toggle the display units between metric and imperial."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1492
+#, no-wrap
+msgid "auto_units"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1495
+#, no-wrap
+msgid ""
+"Units will toggle between metric and imperial according to the active G-code "
+"being G20 or G21.\n"
+"Default is TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1498
+#, no-wrap
+msgid ""
+"Whether to display position as diameter or radius.\n"
+"In diameter mode the DRO will display the joint value multiplied by 2."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1501
+#, no-wrap
+msgid ""
+"You can use Python formatting to display the position with different "
+"precision.\n"
+"Default is \"%10.3f\"."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1504
+#, no-wrap
+msgid ""
+"You can use Python formatting to display the position with different "
+"precision.\n"
+"Default is \"%9.4f\"."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1507
+#, no-wrap
+msgid ""
+"The foreground color of the DRO numbers if the joint is homed.\n"
+"Default is green."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1510
+#, no-wrap
+msgid ""
+"The foreground color of the DRO numbers if the joint is not homed.\n"
+"Default is red."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1510
+#, no-wrap
+msgid "abs_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1513
+#, no-wrap
+msgid ""
+"The background color of the DRO, if main DRO shows absolute coordinates.\n"
+"Default is blue."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1513
+#, no-wrap
+msgid "rel_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1516
+#, no-wrap
+msgid ""
+"The background color of the DRO, if main DRO shows relative coordinates.\n"
+"Default is black."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1516
+#, no-wrap
+msgid "dtg_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1519
+#, no-wrap
+msgid ""
+"The background color of the DRO, if main DRO shows distance to go.\n"
+"Default is yellow."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1523
+#, no-wrap
+msgid ""
+"The font size of the big numbers, the small ones will be 2.5 times "
+"smaller.\n"
+"The value must be an integer in the range of 8 to 96.\n"
+"Default is 25."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1523
+#, no-wrap
+msgid "toggle_readout"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1528
+#, no-wrap
+msgid ""
+"A left mouse click will toggle the DRO readout through the different modes "
+"[\"Rel\", \"Abs\", \"DTG\"].\n"
+"By unchecking the box you can disable that behavior. The toggling can still "
+"be done with `[widget name].toggle_readout()`.\n"
+"Value must be boolean.\n"
+"Default is TRUE."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1528
+#, no-wrap
+msgid "cycle_time"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1533
+#, no-wrap
+msgid ""
+"The time the DRO waits between two polls.\n"
+"This setting should only be changed if you use more than 5 DRO at the same "
+"time, i.e. on a 6 axis config, to avoid that the DRO slows down the main "
+"application too much.\n"
+"The value must be an integer in the range of 100 to 1000. FIXME unit=ms ?\n"
+"Default is 150."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1540
+#, no-wrap
+msgid "[widget name].set_property(property, value)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1543
+msgid "There are several Python methods to control the widget:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1548
+#, no-wrap
+msgid ""
+"`[widget name].set_to_inch(state)`\n"
+"Sets the DRO to show imperial units.\n"
+"`state` = boolean (True or False)\n"
+"Default is FIXME."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1552
+#, no-wrap
+msgid ""
+"`[widget name].set_auto_units(state)`\n"
+"If True the DRO will change units according to active G-code (G20 / G21).\n"
+"`state` = boolean (True or False)\n"
+"Default is True."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1556
+#, no-wrap
+msgid ""
+"`[widget name].set_to_diameter(state)`\n"
+"If True the DRO will show the diameter not the radius, i.e., the axis value "
+"multiplied by 2 (specially needed for lathes).\n"
+"`state` = boolean (True or False)\n"
+"Default is False."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1558
+#, no-wrap
+msgid ""
+"`[widget name].toggle_readout()`\n"
+"Toggles the order of the DRO in the widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1562
+#, no-wrap
+msgid ""
+"`[widget name].change_axisletter(letter)`\n"
+"Changes the automatically given axis letter.\n"
+"Very useful to change an lathe DRO from 'X' to 'R' or 'D'.\n"
+"`letter` = string"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1566
+#, no-wrap
+msgid ""
+"`[widget name].get_order()`\n"
+"Returns the order of the DRO in the widget mainly used to maintain them "
+"consistent.\n"
+"The order will also be transmitted with the clicked signal.\n"
+"Returns a list containing the order."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1569
+#, no-wrap
+msgid ""
+"`[widget name].set_order(order)`\n"
+"Sets the order of the DRO, mainly used to maintain them consistent.\n"
+"`order` = list object, must be one of:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1570
+msgid "`[\"Rel\", \"Abs\", \"DTG\"]` (default)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1571
+msgid "`[\"DTG\", \"Rel\", \"Abs\"]`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1572
+msgid "`[\"Abs\", \"DTG\", \"Rel\"]`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1575
+#, no-wrap
+msgid ""
+"`[widget name].get_position()`\n"
+"Returns the position of the DRO as a list of floats.\n"
+"The order is independent of the order shown on the DRO and will be given as "
+"`[Absolute , relative , DTG]`. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1576
+msgid ""
+"`Absolute` = the machine coordinates, depends on the actual property will "
+"give actual or commanded position. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1577
+msgid "`Relative` = will be the coordinates of the actual coordinate system. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1579
+#, no-wrap
+msgid ""
+"`DTG` = the distance to go.\n"
+"Will mostly be 0, as this function should not be used while the machine is "
+"moving, because of time delays."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1581 src/gui/gladevcp.adoc:1713
+msgid "The widget will emit the following signals:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1585
+#, no-wrap
+msgid ""
+"`clicked`\n"
+"This signal is emitted, when the user has clicked on the Combi_DRO widget.\n"
+"It will send the following data:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1587 src/gui/gladevcp.adoc:1597
+#: src/gui/gladevcp.adoc:1604
+#, no-wrap
+msgid ""
+"`widget` = widget object\n"
+"The widget object that sends the signal."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1589
+#, no-wrap
+msgid ""
+"`joint_number` = integer\n"
+"The joint number of the DRO, where '0:X  1:Y  2:Z  etc'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1592
+#, no-wrap
+msgid ""
+"`order` = list object\n"
+"The order of the DRO in that widget.\n"
+"The order may be used to set other Combi_DRO widgets to the same order with "
+"`[widget name].set_order(order)`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1595
+#, no-wrap
+msgid ""
+"`units_changed`\n"
+"This signal is emitted if the DRO units are changed.\n"
+"It will send the following data:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1599
+#, no-wrap
+msgid ""
+"`metric_units` = boolean\n"
+"True if the DRO does display metric units, False in case of imperial "
+"display."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1602
+#, no-wrap
+msgid ""
+"`system_changed`\n"
+"This signal is emitted if the DRO units are changed.\n"
+"It will send the following data:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1607
+#, no-wrap
+msgid ""
+"`system` = string\n"
+"The actual coordinate system. Will be one of G54 G55 G56 G57 G58 G59 G59.1 "
+"G59.2 G59.3 or Rel if none has been selected at all, what will only happen "
+"in Glade with no LinuxCNC running."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1609
+msgid ""
+"There are some information you can get through commands, which may be of "
+"interest for you:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1612
+#, no-wrap
+msgid ""
+"`[widget name].system`\n"
+"The actual system, as mentioned in the system_changed signal."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1614
+#, no-wrap
+msgid ""
+"`[widget name].homed`\n"
+"True if the joint is homed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1616
+#, no-wrap
+msgid ""
+"`[widget name].machine_units`\n"
+"0 if Imperial, 1 if Metric."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1617
+#, no-wrap
+msgid "Example: Three Combi_DRO in a window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1618
+#, no-wrap
+msgid "images/combi_dro.png"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1624
+#, no-wrap
+msgid ""
+"X = Relative Mode\n"
+"Y = Absolute Mode\n"
+"Z = DTG Mode\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1627
+#, no-wrap
+msgid "IconView (File Select)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1630
+msgid ""
+"This is a touch screen friendly widget to select a file and to change "
+"directories."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1634
+msgid "`IconView` widget has the following properties:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1635
+#, no-wrap
+msgid "icon_size"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1639
+#, no-wrap
+msgid ""
+"Sets the size of the displayed icon.\n"
+"Allowed values are integers in the range from 12 to 96.\n"
+"Default is 48."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1639
+#, no-wrap
+msgid "start_dir"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1643
+#, no-wrap
+msgid ""
+"Sets the directory to start in when the widget is shown first time.\n"
+"Must be a string, containing a valid directory path.\n"
+"Default is \"/\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1643
+#, no-wrap
+msgid "jump_to_dir"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1647
+#, no-wrap
+msgid ""
+"Sets the \"jump to\" directory, which is selected by the corresponding "
+"button in the bottom button list (the 5th button counting from the left).\n"
+"Must be a string, containing a valid directory path.\n"
+"Default is \"\\~\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1647
+#, no-wrap
+msgid "filetypes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1651
+#, no-wrap
+msgid ""
+"Sets the file filter for the objects to be shown.\n"
+"Must be a string containing a comma separated list of extensions to be "
+"shown.\n"
+"Default is \"ngc,py\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1651
+#, no-wrap
+msgid "sortorder"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1654
+#, no-wrap
+msgid ""
+"Sets the sorting order of the displayed icon.\n"
+"Must be an integer value from 0 to 3, where: +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1655
+msgid "0 = ASCENDING (sorted according to file names)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1656
+msgid "1 = DESCENDING (sorted according to file names)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1657
+msgid "2 = FOLDERFIRST (show the folders first, then the files), default"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1658
+msgid "3 = FILEFIRST (show the files first, then the folders)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1665
+#, no-wrap
+msgid "[widget name].set_property(property,Value)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1668 src/gui/gladevcp.adoc:1891
+#: src/gui/gladevcp.adoc:1933
+msgid "There are Python methods to control the widget:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1675
+#, no-wrap
+msgid ""
+"`[widget name].show_buttonbox(state)`\n"
+"If False the bottom button box will be hidden.\n"
+"This is helpful in custom screens, with special buttons layouts to not alter "
+"the layout of the GUI. Good example for that is GMOCCAPY.\n"
+"`state` = boolean (True or False).\n"
+"Default is True."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1680
+#, no-wrap
+msgid ""
+"`[widget name].show_filelabel(state)`\n"
+"If True the file label (between the IconView window and the bottom button "
+"box) will be shown.\n"
+"Hiding this label may save place, but showing it is very useful for "
+"debugging reasons.\n"
+"`state` = boolean (True or False).\n"
+"Default is True."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1684
+#, no-wrap
+msgid ""
+"`[widget name].set_icon_size(iconsize)`\n"
+"Sets the icon size.\n"
+"Must be an integer in the range from 12 to 96.\n"
+"Default = 48."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1687
+#, no-wrap
+msgid ""
+"`[widget name].set_directory(directory)`\n"
+"Allows to set an directory to be shown.\n"
+"`directory` = string (a valid file path)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1692
+#, no-wrap
+msgid ""
+"`[widget name].set_filetypes(filetypes)`\n"
+"Sets the file filter to be used.\n"
+"Only files with the given extensions will be shown.\n"
+"`filetypes` = string containing a comma separated list of extensions.\n"
+"Default = \"ngc,py\"."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1694
+#, no-wrap
+msgid ""
+"`[widget name].get_selected()`\n"
+"Returns the path of the selected file, or `None` if a directory has been "
+"selected."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1697
+#, no-wrap
+msgid ""
+"`[widget name].refresh_filelist()`\n"
+"Refreshes the filelist.\n"
+"Needed if you add a file without changing the directory."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1699
+msgid ""
+"If the button box has been hidden, you can reach the functions of this "
+"button through its clicked signals like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1708
+#, no-wrap
+msgid ""
+"[widget name].btn_home.emit(\"clicked\")\n"
+"[widget name].btn_jump_to.emit(\"clicked\")\n"
+"[widget name].btn_sel_prev.emit(\"clicked\")\n"
+"[widget name].btn_sel_next.emit(\"clicked\")\n"
+"[widget name].btn_get_selected.emit(\"clicked\")\n"
+"[widget name].btn_dir_up.emit(\"clicked\")\n"
+"[widget name].btn_exit.emit(\"clicked\")\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1717
+#, no-wrap
+msgid ""
+"`selected`\n"
+"This signal is emitted when the user selects an icon.\n"
+"It will return a string containing a file path if a file has been selected, "
+"or `None` if a directory has been selected."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1721
+#, no-wrap
+msgid ""
+"`sensitive`\n"
+"This signal is emitted when the buttons change their state from sensitive to "
+"not sensitive or vice versa.\n"
+"This signal is useful to maintain surrounding GUI synchronized with the "
+"button of the widget. See GMOCCAPY as example.\n"
+"It will return the **buttonname** and the new **state**: +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1723
+msgid ""
+"`buttonname` is one of `btn_home`, `btn_dir_up`, `btn_sel_prev`, "
+"`btn_sel_next`, `btn_jump_to` or `btn_select`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1724
+msgid "`state` is a boolean and will be True or False."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1727
+#, no-wrap
+msgid ""
+"`exit`\n"
+"This signal is emitted when the exit button has been pressed to close the "
+"IconView.\n"
+"Mostly needed if the application is started as stand alone."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1728
+#, no-wrap
+msgid "Iconview Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1729
+#, no-wrap
+msgid "images/iconview.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1732
+#, no-wrap
+msgid "Calculator widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1736
+#, no-wrap
+msgid ""
+"This is a simple calculator widget, that can be used for numerical input.\n"
+"You can preset the display and retrieve the result or that preset value. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1740
+msgid "`calculator` has the following properties:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1741
+#, no-wrap
+msgid "is_editable"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1743
+msgid "This allows the entry display to be typed into from a keyboard."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1743 src/gui/gladevcp.adoc:1783
+#: src/gui/gladevcp.adoc:1865
+#, no-wrap
+msgid "font"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1745
+msgid "This allows you to set the font of the display."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1755
+#, no-wrap
+msgid ""
+"[widget name].set_property(\"is_editable\",True)\n"
+"[widget name].set_property(\"font\",\"sans 25\")\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1761
+#, no-wrap
+msgid ""
+"`[widget name].set_value(2.5)`\n"
+"This presets the display and is recorded."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1762
+msgid "`[widget name].set_font(\"sans 25\")`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1763
+msgid "`[widget name].set_editable(True)`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1765
+#, no-wrap
+msgid ""
+"`[widget name].get_value()`\n"
+"Returns the calculated value - a float."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1766
+msgid "`[widget name].set_editable(True)` +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1768
+#, no-wrap
+msgid ""
+"`[widget name].get_preset_value()`\n"
+"Returns the recorded value: a float."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1770
+#, no-wrap
+msgid "Tooleditor widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1776
+#, no-wrap
+msgid ""
+"This is a `tooleditor` widget for displaying and modifying a tool file.\n"
+"If in lathe mode, it will display wear offsets and tool offsets "
+"separately.\n"
+"Wear offsets are designated by tool number above 10000 (Fanuc style).\n"
+"It checks the current file once a second to see if LinuxCNC updated it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1778
+msgid "LinuxCNC requires remapping of tool calls to actually use wear offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1782
+msgid "`tooleditor` has the following properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1785
+msgid "Display font to use"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1785 src/gui/gladevcp.adoc:1857
+#, no-wrap
+msgid "hide_columns"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1789
+#, no-wrap
+msgid ""
+"This will hide the given columns.\n"
+"The columns are designated (in order) as such: "
+"`s,t,p,x,y,z,a,b,c,u,v,w,d,i,j,q`.\n"
+"You can hide any number of columns including the select and comments."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1789
+#, no-wrap
+msgid "lathe_display_type"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1791
+msgid "Show lathe format"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1800
+#, no-wrap
+msgid "[widget name].set_properties('hide_columns','uvwijq')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1803
+msgid "This would hide the uvwij and q columns and show all others."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1808
+#, no-wrap
+msgid ""
+"`[widget name].set_visible(\"ijq\",False)`\n"
+"Would hide ij and Q columns and leave the rest as they were."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1810
+#, no-wrap
+msgid ""
+"`[widget name].set_filename(path_to_file)`\n"
+"Sets and loads the tool file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1812
+#, no-wrap
+msgid ""
+"`[widget name].reload(None)`\n"
+"Reloads the current toolfile."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1816
+#, no-wrap
+msgid ""
+"`[widget name].set_font('sans 16,tab='1')`\n"
+"Sets the (Pango) font on the Tab, column title, and tool data.\n"
+"The `all_offsets`, `wear_offsets`, `tool_offsets` can be set at the same "
+"time by adding 1, 2 and/or 3 to the tab string.\n"
+"Default is all the tabs set."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1820
+#, no-wrap
+msgid ""
+"`[widget name].set_title_font('sans 16,tab='1')`\n"
+"Sets the (Pango) font on the column titles only.\n"
+"The `all_offsets`, `wear_offsets`, `tool_offsets` can be set at the same "
+"time by adding 1, 2 and/or 3 to the tab string.\n"
+"Default is all the tabs set."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1824
+#, no-wrap
+msgid ""
+"`[widget name].set_tab_font('sans 16,tab='1')`\n"
+"Sets the (Pango) font on the tabs only.\n"
+"The `all_offsets`, `wear_offsets`, `tool_offsets` can be set at the same "
+"time by adding 1, 2 and/or 3 to the tab string.\n"
+"Default is all the tabs set."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1826
+#, no-wrap
+msgid ""
+"`[widget name].set_col_visible(\"abcUVW\", False, tab='1')`\n"
+"This would hide (False) the abcuvw columns on tab 1 (all_offsets)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1828
+#, no-wrap
+msgid ""
+"`[widget name].set_lathe_display(value)`\n"
+"Hides or shows the wear and tool offset tabs used for lathes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1831
+#, no-wrap
+msgid ""
+"`[widget name].get_toolinfo(toolnum)`\n"
+"Returns the tool information array of the requested toolnumber or current "
+"tool if no tool number is specified.\n"
+"Returns None if tool not found in table or if there is no current tool."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1834
+#, no-wrap
+msgid ""
+"`[widget name].hide_buttonbox(self, True)`\n"
+"'Convenience' method to hide buttons.\n"
+"You must call this after show_all()."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1836
+#, no-wrap
+msgid ""
+"`[widget name].get_selected_tool()`\n"
+"Return the user selected (highlighted) tool number."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1838
+#, no-wrap
+msgid ""
+"`[widget name].set_selected_tool(toolnumber)`\n"
+"Selects (highlights) the requested tool."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1839
+#, no-wrap
+msgid "Tooleditor Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1840
+#, no-wrap
+msgid "images/gtk-tooledit.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1843
+#, no-wrap
+msgid "Offsetpage"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1850
+#, no-wrap
+msgid ""
+"The `Offsetpage` widget is used to display/edit the offsets of all the "
+"axes.\n"
+"It has convenience buttons for zeroing G92 and Rotation-Around-Z offsets.\n"
+"It will only allow you to select the edit mode when the machine is on and "
+"idle.\n"
+"You can directly edit the offsets in the table at this time. Unselect the "
+"edit button to allow the `OffsetPage` to reflect changes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1857
+msgid "Display in metrice units"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1861
+#, no-wrap
+msgid ""
+"A no-space list of columns to hide. The columns are designated (in order) as "
+"such: `xyzabcuvwt`.\n"
+"You can hide any of the columns."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1861
+#, no-wrap
+msgid "hide_rows"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1865
+#, no-wrap
+msgid ""
+"A no-space list of rows to hide.\n"
+"The rows are designated (in order) as such: `0123456789abc`.\n"
+"You can hide any of the rows."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1867
+msgid "Sets text font type and size."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1867
+#, no-wrap
+msgid "highlight_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1869
+msgid "When editing this is the highlight color."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1869
+#, no-wrap
+msgid "foreground_color"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1871
+msgid ""
+"When `OffsetPage` detects an active user coordinate system it will use this "
+"color for the text."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1888
+#, no-wrap
+msgid ""
+"[widget name].set_property(\"highlight_color\",gdk.Color('blue'))\n"
+"[widget name].set_property(\"foreground_color\",gdk.Color('black'))\n"
+"[widget name].set_property(\"hide_columns\",\"xyzabcuvwt\")\n"
+"[widget name].set_property(\"hide_rows\",\"123456789abc\")\n"
+"[widget name].set_property(\"font\",\"sans 25\")\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1893
+msgid ""
+"`[widget "
+"name].set_filename(\"../../../configs/sim/gscreen/gscreen_custom/sim.var\")`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1894
+msgid "`[widget name].set_col_visible(\"Yabuvw\",False)`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1895
+msgid "`[widget name].set_row_visible(\"456789abc\",False)`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1896
+msgid "`[widget name].set_to_mm()`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1897
+msgid "`[widget name].set_to_inch()`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1898
+msgid "`[widget name].hide_button_box(True)`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1899
+msgid "`[widget name].set_font(\"sans 20\")`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1900
+msgid "`[widget name].set_highlight_color(\"violet\")`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1901
+msgid "`[widget name].set_foreground_color(\"yellow\")`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1904
+#, no-wrap
+msgid ""
+"`[widget name].mark_active(\"G55\")`\n"
+"Allows you to directly set a row to highlight, e.g., in case you wish to use "
+"your own navigation controls. See the chapter on <<cha:gmoccapy,GMOCCAPY>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1906
+#, no-wrap
+msgid ""
+"`[widget name].selection_mask = (\"Tool\",\"Rot\",\"G5x\")`\n"
+"These rows are NOT selectable in edit mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1910
+#, no-wrap
+msgid ""
+"`[widget "
+"name].set_names([['G54','Default'],[\"G55\",\"Vice1\"],['Rot','Rotational']])`\n"
+"This allows you to set the text of the 'T' column of each/any row.\n"
+"This is a list of a list of offset-name/user-name pairs.\n"
+"The default text is the same as the offset name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1914
+#, no-wrap
+msgid ""
+"`[widget name].get_names()`\n"
+"This returns a list of a list of row-keyword/user-name pairs.\n"
+"The user name column is editable, so saving this list is user friendly.\n"
+"See `set_names` above."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1915
+#, no-wrap
+msgid "Offsetpage Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1916
+#, no-wrap
+msgid "images/offsetpage.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1919
+#, no-wrap
+msgid "HAL_sourceview widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1924
+msgid ""
+"This is for displaying and simple editing of G-code.  It looks for `.ngc` "
+"highlighting specs in `~/share/gtksourceview-4/language-specs/`.  The "
+"current running line will be highlighted."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1926
+msgid "With external Python glue code it can:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1928
+msgid "Search for text, undo and redo changes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1929
+msgid "Be used for program line selection."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1936
+#, no-wrap
+msgid ""
+"`[widget name].redo()`\n"
+"Redo one level of changes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1938
+#, no-wrap
+msgid ""
+"`[widget name].undo()`\n"
+"Undo one level of changes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1941
+#, no-wrap
+msgid ""
+"`[widget name].text_search(direction=True,mixed_case=True,text='G92')`\n"
+"Searches forward (direction = True) or backward,\n"
+"Searches with mixed case (mixed_case = True) or exact match"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1944
+#, no-wrap
+msgid ""
+"`[widget name].set_line_number(linenumber)`\n"
+"Sets the line to highlight.\n"
+"Uses the sourceview line numbers."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1946
+#, no-wrap
+msgid ""
+"`[widget name].get_line_number()`\n"
+"Returns the currently highlighted line."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1948
+#, no-wrap
+msgid ""
+"`[widget name].line_up()`\n"
+"Moves the highlighted line up one line."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1950
+#, no-wrap
+msgid ""
+"`[widget name].line_down()`\n"
+"Moves the highlighted line down one line."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1953
+#, no-wrap
+msgid ""
+"`[widget name].load_file('filename')`\n"
+"Loads a file.\n"
+"Using None (not a filename string) will reload the same program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1955
+#, no-wrap
+msgid ""
+"`[widget name].get_filename()`\n"
+"FIXME description"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1956
+#, no-wrap
+msgid "Sourceview Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1957
+#, no-wrap
+msgid "images/hal_sourceview.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1960
+#, no-wrap
+msgid "MDI history"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1964
+#, no-wrap
+msgid ""
+"This is for displaying and entering MDI codes.\n"
+"It will be automatically grayed out when MDI is not available, e.g., during "
+"E-stop and program running."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1967
+#, no-wrap
+msgid "font_size_tree"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1970
+#, no-wrap
+msgid ""
+"Integer value between 8 and 96.\n"
+"Will modify the default font size of the treeview to the selected value."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1970
+#, no-wrap
+msgid "font_size_entry"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1973
+#, no-wrap
+msgid ""
+"Integer value between 8 and 96.\n"
+"Will modify the default font size of the entry to the selected value. +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:1973
+#, no-wrap
+msgid "use_double_click"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1976
+#, no-wrap
+msgid ""
+"Boolean, True enables the mouse double click feature and a double click on "
+"an entry will submit that command.\n"
+"It is not recommended to use this feature on real machines, as a double "
+"click on a wrong entry may cause dangerous situations."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:1985
+#, no-wrap
+msgid ""
+"[widget name].set_property(\"font_size_tree\",10)\n"
+"[widget name].set_property(\"font_size_entry\",20)\n"
+"[widget name].set_property(\"use_double_click\",False)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:1987
+#, no-wrap
+msgid "Animated function diagrams: HAL widgets in a bitmap"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1992
+msgid ""
+"For some applications it might be desirable to have a background image - "
+"like a functional diagram - and position widgets at appropriate places in "
+"that image.  A good combination is setting a bitmap background image, like "
+"from a .png file, making the GladeVCP window fixed-size, and use the Glade "
+"Fixed widget to position widgets on this image.  The code for the below "
+"example can be found in `configs/apps/gladevcp/animated-backdrop`:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:1993
+#, no-wrap
+msgid "HAL widgets in a bitmap Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:1994
+#, no-wrap
+msgid "images/small-screenshot.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:1996
+#, no-wrap
+msgid "Action Widgets Reference"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:1999
+msgid ""
+"GladeVCP includes a collection of \"canned actions\" called **VCP Action "
+"Widgets** for the Glade user interface editor."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:2003
+msgid ""
+"Other than HAL widgets, which interact with HAL pins, VCP Actions interact "
+"with LinuxCNC and the G-code interpreter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2006
+msgid "VCP Action Widgets are derived from the `Gtk.Action` widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2008
+msgid "The Action widget in a nutshell:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2010
+msgid "It is an object available in Glade"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2011
+msgid "It has no visual appearance by itself"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2013
+msgid ""
+"Its purpose: Associate a visible, sensitive UI component like menu, "
+"toolbutton, button with a command.  See these widget's "
+"'General→Related→Action' property."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2014
+msgid ""
+"The \"canned action\" will be executed when the associated UI component is "
+"triggered (button press, menu click..)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2015
+msgid ""
+"It provides an easy way to execute commands without resorting to Python "
+"programming."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2017
+msgid "The appearance of VCP Actions in Glade is roughly as follows:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:2018
+#, no-wrap
+msgid "Action Widgets"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:2019
+#, no-wrap
+msgid "images/vcp-actions.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2022
+msgid "Tooltip hovers provide a description."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2023
+#, no-wrap
+msgid "VCP Action Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2027
+msgid ""
+"VCP Action widgets are one-shot type widgets.  They implement a single "
+"action and are for use in simple buttons, menu entries or radio/check "
+"groups."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2028
+#, no-wrap
+msgid "VCP Action Python"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2031
+msgid "This widget is used to execute small arbitrary Python code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2033
+msgid "The command string may use special keywords to access important functions."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2035
+msgid "'ACTION' for access to the ACTION command library."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2036
+msgid "`GSTAT` for access to the Gstat status message library."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2037
+msgid "'INFO' for access to collected data from the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2038
+msgid "'HAL' for access to the HAL linuxcnc Python module."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2039
+msgid "`STAT` for access to LinuxCNC's raw status via the LinuxCNC Python module."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2040
+msgid "`CMD` for access to LinuxCNC's commands via the LinuxCNC Python module."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2041
+msgid "`EXT` for access to the handler file functions if available."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2042
+msgid "`linuxcnc` for access to the LinuxCNC Python module."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2043
+msgid "`self` for access to the widget instance."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2044
+msgid "'dir' for access to the handlers list of attributes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2046
+msgid "There are options to"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2048
+msgid "select when the widget will be active,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2049
+msgid "set the mode before the command is executed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2051
+msgid "Example command to just print a message to the terminal:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2055
+#, no-wrap
+msgid "print('action activated')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2058
+msgid "Example command to set the machine to off state:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2062
+#, no-wrap
+msgid "CMD.state(linuxcnc.STATE_OFF)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2065
+msgid "Example command to call a handler function that passes data:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2069
+#, no-wrap
+msgid "EXT.on_button_press(self, 100)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2072
+msgid "You can use a semicolon to separate multiple commands;"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2076
+#, no-wrap
+msgid "print('Set Machine Off');CMD.state(linuxcnc.STATE_OFF)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2079
+msgid ""
+"More information on INFO and ACTION can be found here: "
+"<<cha:gladevcp-libraries,GladeVCP Libraries modules>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2081
+msgid "More information on GStat can be found here: <<cha:gstat,GStat>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2082
+#, no-wrap
+msgid "VCP ToggleAction widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2088
+msgid ""
+"These are **bi-modal** widgets.  They implement two actions or use a second "
+"(usually `pressed`) state to indicate that currently an action is running.  "
+"Toggle actions are aimed for use in `ToggleButtons`, `ToggleToolButtons` or "
+"toggling menu items.  A simplex example is the `ESTOP` toggle button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2090
+msgid "Currently the following widgets are available:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2092
+msgid ""
+"The `ESTOP` toggle sends `ESTOP` or `ESTOP_RESET` commands to LinuxCNC "
+"depending on its state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2093
+msgid "The `ON/OFF` toggle sends `STATE_ON` and `STATE_OFF` commands."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2094
+msgid "`Pause/Resume` sends `AUTO_PAUSE` or `AUTO_RESUME` commands."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2096
+msgid ""
+"The following toggle actions have only one associated command and use the "
+"`pressed` state to indicate that the requested operation is running:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2098
+msgid ""
+"The `Run` toggle sends an `AUTO_RUN` command and waits in the `pressed` "
+"state until the interpreter is idle again."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2099
+msgid ""
+"The `Stop` toggle is inactive until the interpreter enters the active state "
+"(is running G-code) and then allows user to send `AUTO_ABORT` command."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2100
+msgid ""
+"The `MDI` toggle sends given MDI command and waits for its completion in "
+"`pressed` inactive state."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2101
+#, no-wrap
+msgid "The Action_MDI Toggle and Action_MDI widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2105
+#, no-wrap
+msgid ""
+"These widgets provide a means to execute arbitrary MDI commands.\n"
+"The `Action_MDI` widget does not wait for command completion as the "
+"`Action_MDI` Toggle does, which remains disabled until command complete."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2106
+#, no-wrap
+msgid "A simple example: Execute MDI command on button press"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2109
+msgid ""
+"`configs/apps/gladevcp/mdi-command-example/whoareyou.ui` is a Glade UI file "
+"which conveys the basics:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2111
+msgid "Open it in Glade and study how it is done."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2112
+msgid ""
+"Start AXIS, and then start this from a terminal window with `gladevcp "
+"whoareyou.ui`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2113
+msgid ""
+"See the `hal_action_mdi1` action and its `MDI command` property - this just "
+"executes `(MSG, \"Hi, I'm an VCP_Action_MDI\")` so there should be a message "
+"popup in AXIS like so:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:2114
+#, no-wrap
+msgid "Action_MDI Simple Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:2115
+#, no-wrap
+msgid "images/whoareyou.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2119
+msgid ""
+"You'll notice that the button associated with the Action_MDI action is "
+"grayed out if the machine is off, in E-Stop or if the interpreter is "
+"running.  It will automatically become active when the machine is turned on "
+"and out of E-Stop, and the program is idle."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2120
+#, no-wrap
+msgid "Parameter passing with Action_MDI and ToggleAction_MDI widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2125
+msgid ""
+"Optionally, `MDI command` strings may have parameters substituted before "
+"they are passed to the interpreter.  Parameters currently may be names of "
+"HAL pins in the GladeVCP component.  This is how it works:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2127
+msgid ""
+"assume you have a 'HAL SpinBox' named +speed+, and you want to pass its "
+"current value as a parameter in an MDI command."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2128
+msgid ""
+"The HAL SpinBox will have a float-type HAL pin named speed-f (see HalWidgets "
+"description)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2129
+msgid ""
+"To substitute this value in the MDI command, insert the HAL pin name "
+"enclosed like so: `${pin-name}`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2130
+msgid ""
+"for the above HAL SpinBox, we could use `(MSG, \"The speed is: "
+"${speed-f}\")` just to show what's happening."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2133
+msgid ""
+"The example UI file is "
+"`configs/apps/gladevcp/mdi-command-example/speed.ui`.  Here's what you get "
+"when running it:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:2134
+#, no-wrap
+msgid "Action_MDI Parameter Passing Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:2135
+#, no-wrap
+msgid "images/speed.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2137
+#, no-wrap
+msgid "An advanced example: Feeding parameters to an O-word subroutine"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2141
+msgid ""
+"It's perfectly OK to call an O-word subroutine in an MDI command, and pass "
+"HAL pin values as actual parameters.  An example UI file is in "
+"`configs/apps/gladevcp/mdi-command-example/owordsub.ui`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2144
+msgid ""
+"Place `nc_files/gladevcp_lib/oword.ngc` so AXIS can find it, and run "
+"`gladevcp owordsub.ui` from a terminal window.  This looks like so:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:2145
+#, no-wrap
+msgid "Action_MDI Advanced Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gladevcp.adoc:2146
+#, no-wrap
+msgid "images/oword.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2148
+#, no-wrap
+msgid "Preparing for an MDI Action, and cleaning up afterwards"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2153
+msgid ""
+"The LinuxCNC G-code interpreter has a single global set of variables, like "
+"feed, spindle speed, relative/absolute mode and others.  If you use G-code "
+"commands or O-word subs, some of these variables might get changed by the "
+"command or subroutine - for example, a probing subroutine will very likely "
+"set the feed value quite low.  With no further precautions, your previous "
+"feed setting will be overwritten by the probing subroutine's value."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2158
+msgid ""
+"To deal with this surprising and undesirable side effect of a given O-word "
+"subroutine or G-code statement executed with an LinuxCNC ToggleAction_MDI, "
+"you might associate pre-MDI and post-MDI handlers with a given LinuxCNC "
+"ToggleAction_MDI.  These handlers are optional and provide a way to save any "
+"state before executing the MDI Action, and to restore it to previous values "
+"afterwards.  The signal names are +mdi-command-start+ and "
+"+mdi-command-stop+; the handler names can be set in Glade like any other "
+"handler."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2161
+msgid ""
+"Here's an example how a feed value might be saved and restored by such "
+"handlers (note that LinuxCNC command and status channels are available as "
+"`self.linuxcnc` and `self.stat` through the VCP_ActionBase class):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2167
+#, no-wrap
+msgid ""
+"    def on_mdi_command_start(self, action, userdata=None):\n"
+"        action.stat.poll()\n"
+"        self.start_feed = action.stat.settings[1]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2172
+#, no-wrap
+msgid ""
+"    def on_mdi_command_stop(self, action, userdata=None):\n"
+"        action.linuxcnc.mdi('F%.1f' % (self.start_feed))\n"
+"        while action.linuxcnc.wait_complete() == -1:\n"
+"            pass\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2175
+msgid "Only the `Action_MDI` Toggle widget supports these signals."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:2180
+msgid ""
+"In a later release of LinuxCNC, the new M-codes M70-M72 will be available.  "
+"They will make saving state before a subroutine call, and restoring state on "
+"return much easier."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2182
+#, no-wrap
+msgid "Using the LinuxCNC Stat object to deal with status changes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2188
+msgid ""
+"Many actions depend on LinuxCNC status - is it in manual, MDI or auto mode? "
+"Is a program running, paused or idle? You cannot start an MDI command while "
+"a G-code program is running, so this needs to be taken care of.  Many "
+"LinuxCNC actions take care of this themselves, and related buttons and menu "
+"entries are deactivated when the operation is currently impossible."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2191
+msgid ""
+"When using Python event handlers - which are at a lower level than Actions - "
+"one needs to take care of dealing with status dependencies oneself.  For "
+"this purpose, there's the LinuxCNC Stat widget: to associate LinuxCNC status "
+"changes with event handlers."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2194
+msgid ""
+"LinuxCNC Stat has no visible component - you just add it to your UI with "
+"Glade.  Once added, you can associate handlers with its following signals:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2196
+msgid "state-related:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2197
+msgid "`state-estop`: emitted when E-Stop condition occurs,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2198
+msgid "`state-estop-reset`: emitted when machine is reset,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2199
+msgid "`state-on`: emitted when machine is turned on,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2200
+msgid "`state-off`: emitted when machine is turned off."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2201
+msgid "mode-related:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2202
+msgid "`mode-manual`: emitted when LinuxCNC enters manual mode,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2203
+msgid "`mode-mdi`: emitted when LinuxCNC enters MDI mode,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2204
+msgid "`mode-auto`: emitted when LinuxCNC enters automatic mode,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2205
+msgid ""
+"interpreter-related: emitted when the G-code interpreter changes into that "
+"mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2206
+msgid "`interp-run`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2207
+msgid "`interp-idle`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2208
+msgid "`interp-paused`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2209
+msgid "`interp-reading`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2210
+msgid "`interp-waiting`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2211
+msgid "`file-loaded`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2212
+msgid "`line-changed`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2213
+msgid "homing-related: emitted when LinuxCNC is homed or not"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2214
+msgid "`all-homed`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2215
+msgid "`not-all-homed`"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:2217
+#, no-wrap
+msgid "GladeVCP Programming"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2219
+#, no-wrap
+msgid "User Defined Actions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2223
+msgid ""
+"Most widget sets, and their associated user interface editors, support the "
+"concept of callbacks, i.e. functions in user-written code which are executed "
+"when 'something happens' in the UI - events like mouse clicks, characters "
+"typed, mouse movement, timer events, window hiding and exposure and so "
+"forth."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2226
+msgid ""
+"HAL output widgets typically map input-type events like a button press to a "
+"value change of the associated HAL pin by means of such a - predefined - "
+"callback.  Within PyVCP, this is really the only type of event handling "
+"supported - doing something more complex, like executing MDI commands to "
+"call a G-code subroutine, is not supported."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2229
+msgid ""
+"Within GladeVCP, HAL pin changes are just one type of the general class of "
+"events (called signals) in GTK+.  Most widgets may originate such signals, "
+"and the Glade editor supports associating such a signal with a Python method "
+"or function name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2232
+msgid ""
+"If you decide to use user-defined actions, your job is to write a Python "
+"module whose class methods - or in the simple case, just functions - can be "
+"referred to in Glade as event handlers.  GladeVCP provides a way to import "
+"your module(s) at startup and will automatically link your event handlers "
+"with the widget signals as set in the Glade UI description."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2233
+#, no-wrap
+msgid "Core Library"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2236
+msgid ""
+"There are three libraries of functions that can be used to help program "
+"GladeVCP."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2238
+msgid "'Info': collects details from the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2239
+msgid "'Action': A collection of functions to change LinuxCNC states."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2240
+msgid "'Status': Reports the state of LinuxCNC. It wraps around 'Gstat'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2242
+msgid "Importing and instantiating the libraries:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2246
+#, no-wrap
+msgid "from gladevcp.core import Info, Action\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2249
+#, no-wrap
+msgid ""
+"ACTION = Action()\n"
+"INFO = Info()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2252
+msgid "Using the library functions:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2257
+#, no-wrap
+msgid ""
+"print(INFO.MACHINE_IS_METRIC)\n"
+"ACTION.SET_ERROR_MESSAGE('Something went wrong')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2262
+msgid ""
+"More information can be found here: <<cha:gladevcp-libraries,GladeVCP "
+"Libraries modules>>.  There is a sample configuration that demonstrates "
+"using the core library with GladeVCP's action Python widgets and with a "
+"Python handler file.  Try loading 'sim/axis/gladevcp/gladevcp_panel_tester'."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2264
+#, no-wrap
+msgid "An example: adding custom user callbacks in Python"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2267
+msgid ""
+"This is just a minimal example to convey the idea - details are laid out in "
+"the rest of this section."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2270
+msgid ""
+"GladeVCP can not only manipulate or display HAL pins, you can also write "
+"regular event handlers in Python.  This could be used, among others, to "
+"execute MDI commands. Here's how you do it:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2272
+msgid "Write a Python module like so and save as e.g. handlers.py:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2280 src/gui/gladevcp.adoc:2332
+#, no-wrap
+msgid ""
+"nhits = 0\n"
+"def on_button_press(gtkobj,data=None):\n"
+"    global nhits\n"
+"    nhits += 1\n"
+"    gtkobj.set_label(\"hits: %d\" % nhits)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2284
+msgid ""
+"In Glade, define a button or HAL button, select the 'Signals' tab, and in "
+"the GtkButton properties select the 'pressed' line.  Enter 'on_button_press' "
+"there, and save the Glade file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2287
+msgid ""
+"Then add the option '-u handlers.py' to the GladeVCP command line.  If your "
+"event handlers are spread over several files, just add multiple '-u "
+"<pyfilename>' options."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2289
+msgid ""
+"Now, pressing the button should change its label since it is set in the "
+"callback function."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2292
+msgid ""
+"What the `+-u+` flag does: all Python functions in this file are collected "
+"and setup as potential callback handlers for your Gtk widgets - they can be "
+"referenced from Glade 'Signals' tabs.  The callback handlers are called with "
+"the particular object instance as parameter, like the GtkButton instance "
+"above, so you can apply any GtkButton method from there."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2294
+msgid "Or do some more useful stuff, like calling an MDI command!"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2295
+#, no-wrap
+msgid "HAL value change events"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2298
+msgid ""
+"HAL input widgets, like a LED, automatically associate their HAL pin state "
+"(on/off) with the optical appearance of the widget (LED lit/dark)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2302
+msgid ""
+"Beyond this built-in functionality, one may associate a change callback with "
+"any HAL pin, including those of predefined HAL widgets.  This fits nicely "
+"with the event-driven structure of a typical widget application: Every "
+"activity, be it mouse click, key, timer expired, or the change of a HAL "
+"pin's value, generates a callback and is handled by the same orthogonal "
+"mechanism."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2305
+msgid ""
+"For user-defined HAL pins not associated with a particular HAL widget, the "
+"signal name is 'value-changed'.  See the <<gladevcp:adding-hal-pins,Adding "
+"HAL pins>> section below for details."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2308
+msgid ""
+"HAL widgets come with a pre-defined signal called 'hal-pin-changed'.  See "
+"the <<gladevcp:hal-pin-changed-signal,HAL Widgets>> section for details."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2309
+#, no-wrap
+msgid "Programming model"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2312
+msgid "The overall approach is as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2314
+msgid ""
+"Design your UI with Glade, and set signal handlers where you want actions "
+"associated with a widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2315
+msgid ""
+"Write a Python module which contains callable objects (see 'handler models' "
+"below)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2316
+msgid "Pass your module's path name to GladeVCP with the '-u <module>' option."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2317
+msgid ""
+"GladeVCP imports the module, inspects it for signal handlers and connects "
+"them to the widget tree."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2318
+msgid "The main event loop is run."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gladevcp.adoc:2319
+#, no-wrap
+msgid "The simple handler model"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2324
+msgid ""
+"For simple tasks it is sufficient to define functions named after the Glade "
+"signal handlers.  These will be called when the corresponding event happens "
+"in the widget tree.  Here's a trivial example - it assumes that the "
+"'pressed' signal of a Gtk Button or HAL Button is linked to a callback "
+"called 'on_button_press':"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2335
+msgid "Add this function to a Python file and run as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2338
+#, no-wrap
+msgid "gladevcp -u <myhandler>.py mygui.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2342
+msgid ""
+"Note communication between handlers has to go through global variables, "
+"which does not scale well and is positively un-pythonic.  This is why we "
+"came up with the class-based handler model."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gladevcp.adoc:2343
+#, no-wrap
+msgid "The class-based handler model"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2348
+msgid ""
+"The idea here is: Handlers are linked to class methods.  The underlying "
+"class(es) are instantiated and inspected during GladeVCP startup and linked "
+"to the widget tree as signal handlers.  So the task now is to write:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2350
+msgid ""
+"One or more several class definition(s) with one or several methods, in one "
+"module or split over several modules,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2351
+msgid ""
+"a function 'get_handlers' in each module which will return a list of class "
+"instances to GladeVCP - their method names will be linked to signal "
+"handlers."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2353
+msgid "Here is a minimum user-defined handler example module:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2359
+#, no-wrap
+msgid ""
+"class MyCallbacks :\n"
+"    def on_this_signal(self,obj,data=None):\n"
+"        print(\"this_signal happened, obj=\",obj)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2362
+#, no-wrap
+msgid ""
+"def get_handlers(halcomp,builder,useropts):\n"
+"    return [MyCallbacks ()]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2365
+msgid ""
+"Now, 'on_this_signal' will be available as signal handler to your widget "
+"tree."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gladevcp.adoc:2366
+#, no-wrap
+msgid "GladeVCP-specific signals"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2374
+#, no-wrap
+msgid ""
+"For GladeVCP panel which respond to HAL inputs it may be important that the "
+"handler code can tell that the GladeVCP panel is currently active and "
+"displayed. For example a panel inside the Touchy interface might well need "
+"to perform an action when the switch connected to touchy.cycle-start is "
+"operated (in the same way that the native tabs respond differently to the "
+"same button).\n"
+"To make this possible, a signal is sent from the GUI (at the time of "
+"writing, only Touchy) to the embedded tab. The signal is of type "
+"\"Gladevcp\" and the two messages sent are \"Visible\" and \"Hidden\". (Note "
+"that the signals have a fixed length of 20 characters so only the first "
+"characters should be used in any comparison, hence the [:7] below.) A sample "
+"handler for these signals is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2385
+#, no-wrap
+msgid ""
+"    # This catches our messages from another program\n"
+"    def event(self,w,event):\n"
+"        print(event.message_type,event.data)\n"
+"        if event.message_type == 'Gladevcp':\n"
+"            if event.data[:7] == 'Visible':\n"
+"                self.active = True\n"
+"            else:\n"
+"                self.active = False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2391
+#, no-wrap
+msgid ""
+"    # connect to client-events from the host GUI\n"
+"    def on_map_event(self, widget, data=None):\n"
+"        top = widget.get_toplevel()\n"
+"        print(\"map event\")\n"
+"        top.connect('client-event', self.event)\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gladevcp.adoc:2393
+#, no-wrap
+msgid "The get_handlers protocol"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2396
+msgid ""
+"If during module inspection GladeVCP finds a function `get_handlers`, it "
+"calls it as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2399
+#, no-wrap
+msgid "get_handlers(halcomp,builder,useropts)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2402
+msgid "The arguments are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2404
+msgid "`halcomp` - refers to the HAL component under construction,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2405
+msgid ""
+"`builder` - widget tree - result of reading the UI definition (either "
+"referring to a GtkBuilder or libglade-type object),"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2406
+msgid ""
+"`useropts` - a list of strings collected from the GladeVCP command line `-U "
+"<useropts>` option."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2410
+msgid ""
+"GladeVCP then inspects the list of class instances and retrieves their "
+"method names.  Qualifying method names are connected to the widget tree as "
+"signal handlers.  Only method names which do not begin with an '_' "
+"(underscore) are considered."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2413
+msgid ""
+"Note that regardless whether you're using the libglade or the new GtkBuilder "
+"format for your Glade UI, widgets can always be referred to as "
+"`builder.get_object(<widgetname>)`.  Also, the complete list of widgets is "
+"available as `builder.get_objects()` regardless of UI format."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2414
+#, no-wrap
+msgid "Initialization sequence"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2419
+msgid ""
+"It is important to know in which state of affairs your `get_handlers()` "
+"function is called so you know what is safe to do there and what not.  "
+"First, modules are imported and initialized in command line order.  After "
+"successful import, `get_handlers()` is called in the following state:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2421
+msgid ""
+"The widget tree is created, but not yet realized (no toplevel "
+"`window.show()` has been executed yet)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2422
+msgid ""
+"The halcomp HAL component is set up and all HAL widgets' pins have already "
+"been added to it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2423
+msgid ""
+"It is safe to add more HAL pins because `halcomp.ready()` has not yet been "
+"called at this point, so you may add your own pins, for instance in the "
+"class `__init__()` method."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2425
+msgid ""
+"Once all modules have been imported and method names extracted, the "
+"following steps happen:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2427
+msgid ""
+"All qualifying method names will be connected to the widget tree with "
+"`connect_signals()/signal_autoconnect()` (depending on the type of UI "
+"imported - GtkBuilder vs the old libglade format)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2428
+msgid "The HAL component is finalized with halcomp.ready()."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2429
+msgid ""
+"If a window ID was passed as argument, the widget tree is re-parented to run "
+"in this window, and Glade's toplevel window1 is abandoned (see FAQ)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2430
+msgid ""
+"If a HAL command file was passed with `-H halfile`, it is executed with "
+"halcmd."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2431
+msgid "The Gtk main loop is run."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2434
+msgid ""
+"So when your handler class is initialized, all widgets are existent but not "
+"yet realized (displayed on screen).  And the HAL component isn't ready as "
+"well, so its unsafe to access pins values in your `__init__()` method."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2437
+msgid ""
+"If you want to have a callback to execute at program start after it is safe "
+"to access HAL pins, then a connect a handler to the realize signal of the "
+"top level window1 (which might be its only real purpose).  At this point "
+"GladeVCP is done with all setup tasks, the HAL file has been run, and "
+"GladeVCP is about to enter the Gtk main loop."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2438
+#, no-wrap
+msgid "Multiple callbacks with the same name"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2443
+msgid ""
+"Within a class, method names must be unique.  However, it is OK to have "
+"multiple class instances passed to GladeVCP by get_handlers() with "
+"identically named methods.  When the corresponding signal occurs, these "
+"methods will be called in definition order - module by module, and within a "
+"module, in the order class instances are returned by `get_handlers()`."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2444
+#, no-wrap
+msgid "The GladeVCP `-U <useropts>` flag"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2451
+msgid ""
+"Instead of extending GladeVCP for any conceivable option which could "
+"potentially be useful for a handler class, you may use the -U <useroption> "
+"flag (repeatedly if you wish).  This flag collects a list of <useroption> "
+"strings.  This list is passed to the get_handlers() function (useropts "
+"argument).  Your code is free to interpret these strings as you see fit.  An "
+"possible usage would be to pass them to the Python exec function in your "
+"`get_handlers()` as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2461
+#, no-wrap
+msgid ""
+"debug = 0\n"
+"...\n"
+"def get_handlers(halcomp,builder,useropts):\n"
+"    ...\n"
+"    global debug # assuming there's a global var\n"
+"    for cmd in useropts:\n"
+"        exec cmd in globals()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2464
+msgid ""
+"This way you can pass arbitrary Python statements to your module through the "
+"`gladevcp -U` option, for example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2467
+#, no-wrap
+msgid "gladevcp -U debug=42 -U \"print 'debug=%d' % debug\" ...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2470
+msgid "This should set debug to 2 and confirm that your module actually did it."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2471
+#, no-wrap
+msgid "Persistent variables in GladeVCP"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2475
+msgid ""
+"An annoying aspect of GladeVCP in its earlier form and PyVCP is the fact "
+"that you may change values and HAL pins through text entry, sliders, spin "
+"boxes, toggle buttons, etc., but their settings are not saved and restored "
+"at the next run of LinuxCNC - they start at the default value as set in the "
+"panel or widget definition."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2477
+msgid ""
+"GladeVCP has an easy-to-use mechanism to save and restore the state of HAL "
+"widgets, and program variables (in fact any instance attribute of type int, "
+"float, bool or string)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2479
+msgid ""
+"This mechanism uses the popular INI file format to save and reload "
+"persistent attributes."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gladevcp.adoc:2480
+#, no-wrap
+msgid "Persistence, program versions and the signature check"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2484
+msgid ""
+"Imagine renaming, adding or deleting widgets in Glade: An .INI file lying "
+"around from a previous program version, or an entirely different user "
+"interface, would be not be able to restore the state properly since "
+"variables and types might have changed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2487
+msgid ""
+"GladeVCP detects this situation by a signature which depends on all object "
+"names and types which are saved and to be restored.  In the case of "
+"signature mismatch, a new INI file with default settings is generated."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2488
+#, no-wrap
+msgid "Using persistent variables"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2491
+msgid ""
+"If you want any of Gtk widget state, HAL widgets output pin's values and/or "
+"class attributes of your handler class to be retained across invocations, "
+"proceed as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2493
+msgid "Import the `gladevcp.persistence` module."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2494
+msgid ""
+"Decide which instance attributes, and their default values you want to have "
+"retained, if any."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2495
+msgid "Decide which widgets should have their state retained."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2496
+msgid ""
+"Describe these decisions in your handler class' `\\__init()__` method "
+"through a nested dictionary as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2513
+#, no-wrap
+msgid ""
+"def __init__(self, halcomp,builder,useropts):\n"
+"    self.halcomp = halcomp\n"
+"    self.builder = builder\n"
+"    self.useropts = useropts\n"
+"    self.defaults = {\n"
+"        # the following names will be saved/restored as method attributes\n"
+"        # the save/restore mechanism is strongly typed - the variables type "
+"will be derived from the type of the\n"
+"        # initialization value. Currently supported types are: int, float, "
+"bool, string\n"
+"        IniFile.vars : { 'nhits' : 0, 'a': 1.67, 'd': True ,'c' : \"a "
+"string\"},\n"
+"        # to save/restore all widget's state which might remotely make "
+"sense, add this:\n"
+"        IniFile.widgets : widget_defaults(builder.get_objects())\n"
+"        # a sensible alternative might be to retain only all HAL output "
+"widgets' state:\n"
+"        # IniFile.widgets: "
+"widget_defaults(select_widgets(self.builder.get_objects(), "
+"hal_only=True,output_only = True)),\n"
+"    }\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2516
+msgid "Then associate an INI file with this descriptor:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2522
+#, no-wrap
+msgid ""
+"self.ini_filename = __name__ + '.ini'\n"
+"self.ini = IniFile(self.ini_filename,self.defaults,self.builder)\n"
+"self.ini.restore_state(self)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2525
+msgid ""
+"After `restore_state()`, self will have attributes set if as running the "
+"following:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2532
+#, no-wrap
+msgid ""
+"self.nhits = 0\n"
+"self.a = 1.67\n"
+"self.d = True\n"
+"self.c = \"a string\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2536
+msgid ""
+"Note that types are saved and preserved on restore.  This example assumes "
+"that the INI file didn't exist or had the default values from self.defaults."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2538
+msgid "After this incantation, you can use the following IniFile methods:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2539
+#, no-wrap
+msgid "ini.save_state(obj)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2541
+msgid ""
+"Saves objs's attributes as per `IniFile.vars` dictionary and the widget "
+"state as described in `IniFile.widgets` in `self.defaults`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2541
+#, no-wrap
+msgid "ini.create_default_ini()"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2543
+msgid "Create an INI file with default values."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2543
+#, no-wrap
+msgid "ini.restore_state(obj)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2545
+msgid ""
+"Restore HAL out pins and obj's attributes as saved/initialized to default as "
+"above."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2546
+#, no-wrap
+msgid "Saving the state on GladeVCP shutdown"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2549
+msgid "To save the widget and/or variable state on exit, proceed as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2551
+msgid "Select some interior widget (type is not important, for instance a table)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2552
+msgid ""
+"In the 'Signals' tab, select 'GtkObject'. It should show a 'destroy' signal "
+"in the first column."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2553
+msgid "Add the handler name, e.g. 'on_destroy', to the second column."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2554
+msgid "Add a Python handler like below:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2561
+#, no-wrap
+msgid ""
+"import gtk\n"
+"...\n"
+"def on_destroy(self,obj,data=None):\n"
+"    self.ini.save_state(self)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2564
+msgid ""
+"This will save state and shutdown GladeVCP properly, regardless whether the "
+"panel is embedded in AXIS, or a standalone window."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:2571
+msgid ""
+"Do not use `window1` (the toplevel window) to connect a 'destroy' event.  "
+"Due to the way a GladeVCP panel interacts with AXIS, if a panel is embedded "
+"within AXIS, *window1 will not receive destroy events properly*.  However, "
+"since on shutdown all widgets are destroyed, anyone will do.  Recommended: "
+"use a second-level widget - for instance, if you have a table container in "
+"your panel, use that."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2574
+msgid ""
+"Next time you start the GladeVCP application, the widgets should come up in "
+"the state when the application was closed."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:2578
+msgid ""
+"The 'GtkWidget' line has a similarly sounding 'destroy-event' - *dont use "
+"that to connect to the 'on_destroy' handler, it wont work* - make sure you "
+"use the 'destroy' event from the 'GtkObject' line."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2580
+#, no-wrap
+msgid "Saving state when Ctrl-C is pressed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2585
+msgid ""
+"By default, the reaction of GladeVCP to a Ctrl-C event is to just exit - "
+"_without_ saving state.  To make sure that this case is covered, add a "
+"handler call `on_unix_signal` which will be automatically be called on "
+"Ctrl-C (actually on the SIGINT and SIGTERM signals).  Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2591
+#, no-wrap
+msgid ""
+"def on_unix_signal(self,signum,stack_frame):\n"
+"    print(\"on_unix_signal(): signal %d received, saving state\" % "
+"(signum))\n"
+"    self.ini.save_state(self)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2593
+#, no-wrap
+msgid "Hand-editing INI (.ini) files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2598
+msgid ""
+"You can do that, but note that the values in self.defaults override your "
+"edits if there is a syntax or type error in your edit.  The error is "
+"detected, a console message will hint about that happened, and the bad "
+"inifile will be renamed to have the .BAD suffix.  Subsequent bad INI files "
+"overwrite earlier .BAD files."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2600
+#, no-wrap
+msgid "Adding HAL pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2603
+msgid ""
+"If you need HAL pins which are not associated with a specific HAL widget, "
+"add them as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2610
+#, no-wrap
+msgid ""
+"import hal_glib\n"
+"...\n"
+"# in your handler class __init__():\n"
+"self.example_trigger = hal_glib.GPin(halcomp.newpin('example-trigger', "
+"hal.HAL_BIT, hal.HAL_IN))\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2613
+msgid ""
+"To get a callback when this pin's value changes, associate a `value-change` "
+"callback with this pin, add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2617
+#, no-wrap
+msgid ""
+"self.example_trigger.connect('value-changed', "
+"self._on_example_trigger_change)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2620
+msgid ""
+"and define a callback method (or function, in this case leave out the `self` "
+"parameter):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2626
+#, no-wrap
+msgid ""
+"# note '_' - this method will not be visible to the widget tree\n"
+"def _on_example_trigger_change(self,pin,userdata=None):\n"
+"    print(\"pin value changed to:\" % (pin.get()))\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2628
+#, no-wrap
+msgid "Adding timers"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2632
+msgid ""
+"Since GladeVCP uses Gtk widgets which rely on the "
+"https://pygobject.readthedocs.io/en/latest/[PyGObject] base class, the full "
+"GLib functionally is available.  Here is an example for a timer callback:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2643
+#, no-wrap
+msgid ""
+"def _on_timer_tick(self,userdata=None):\n"
+"    ...\n"
+"    return True # to restart the timer; return False for on-shot\n"
+"...\n"
+"# demonstrate a slow background timer - granularity is one second\n"
+"# for a faster timer (granularity 100 ms), use this:\n"
+"# GLib.timeout_add(100, self._on_timer_tick,userdata) # 10Hz\n"
+"GLib.timeout_add_seconds(1, self._on_timer_tick)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2645
+#, no-wrap
+msgid "Setting HAL widget properties programmatically"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2650
+msgid ""
+"With Glade, widget properties are typically set fixed while editing.  You "
+"can, however, set widget properties at runtime, for instance from INI file "
+"values, which would typically be done in the handler initialization code.  "
+"Setting properties from HAL pin values is possible, too."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2653
+msgid ""
+"In the following example (assuming a HAL Meter widget called `meter`), the "
+"meter's min value is set from an INI file parameter at startup, and the max "
+"value is set via a HAL pin, which causes the widget's scale to readjust "
+"dynamically:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2660
+#, no-wrap
+msgid ""
+"import linuxcnc\n"
+"import os\n"
+"import hal\n"
+"import hal_glib\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2662 src/gui/gstat.adoc:108 src/gui/gstat.adoc:152
+#: src/gui/qtvcp.adoc:762
+#, no-wrap
+msgid "class HandlerClass:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2666
+#, no-wrap
+msgid ""
+"    def _on_max_value_change(self,hal_pin,data=None):\n"
+"        self.meter.max = float(hal_pin.get())\n"
+"        self.meter.queue_draw() # force a widget redraw\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2669
+#, no-wrap
+msgid ""
+"    def __init__(self, halcomp,builder,useropts):\n"
+"        self.builder = builder\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2674
+#, no-wrap
+msgid ""
+"        # HAL pin with change callback.\n"
+"        # When the pin's value changes the callback is executed.\n"
+"        self.max_value = hal_glib.GPin(halcomp.newpin('max-value',  "
+"hal.HAL_FLOAT, hal.HAL_IN))\n"
+"        self.max_value.connect('value-changed', self._on_max_value_change)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2679
+#, no-wrap
+msgid ""
+"        inifile = linuxcnc.ini(os.getenv(\"INI_FILE_NAME\"))\n"
+"        mmin = float(inifile.find(\"METER\", \"MIN\") or 0.0)\n"
+"        self.meter = self.builder.get_object('meter')\n"
+"        self.meter.min = mmin\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2683 src/gui/gstat.adoc:133
+#, no-wrap
+msgid ""
+"def get_handlers(halcomp,builder,useropts):\n"
+"    return [HandlerClass(halcomp,builder,useropts)]\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2685
+#, no-wrap
+msgid "Value-changed callback with hal_glib"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2689
+#, no-wrap
+msgid ""
+"GladeVCP uses the hal_glib library, which can be used to connect a "
+"\"watcher\" signal on a HAL input pin.\n"
+"This signal can be used to register a function to call when the HAL pin "
+"changes state. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2691
+msgid "One must import the `hal_glib` and the `hal` modules:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2696
+#, no-wrap
+msgid ""
+"import hal_glib\n"
+"import hal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2699
+msgid ""
+"Then make a pin and connect a 'value-changed' (the watcher) signal to a "
+"function call:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2706
+#, no-wrap
+msgid ""
+"class HandlerClass:\n"
+"    def __init__(self, halcomp,builder,useropts):\n"
+"        self.example_trigger = "
+"hal_glib.GPin(halcomp.newpin('example-trigger', hal.HAL_BIT, hal.HAL_IN))\n"
+"        self.example_trigger.connect('value-changed', "
+"self._on_example_trigger_change)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2709
+msgid "And have a function to be called:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2716
+#, no-wrap
+msgid ""
+"    def _on_example_trigger_change(self,pin,userdata=None):\n"
+"        print(\"pin value changed to: {}\".format(pin.get()))\n"
+"        print(\"pin name= {}\".format(pin.get_name()))\n"
+"        print(\"pin type= {}\".format(pin.get_type()))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2719
+#, no-wrap
+msgid ""
+"        # this can be called outside the function\n"
+"        self.example_trigger.get()\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gladevcp.adoc:2721
+#, no-wrap
+msgid "Examples, and rolling your own GladeVCP application"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2724
+msgid ""
+"Visit `linuxcnc_root_directory/configs/apps/gladevcp` for running examples "
+"and starters for your own projects."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:2725
+#, no-wrap
+msgid "FAQ"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2729
+#, no-wrap
+msgid ""
+"I get an unexpected unmap event in my handler function right after "
+"startup. What's this?"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2734
+msgid ""
+"This is a consequence of your Glade UI file having the window1 Visible "
+"property set to True, together with re-parenting the GladeVCP window into "
+"AXIS or touchy.  The GladeVCP widget tree is created, including a top level "
+"window, and then 'reparented into AXIS', leaving that toplevel window laying "
+"around orphaned.  To avoid having this useless empty window hanging around, "
+"it is unmapped (made invisible), which is the cause of the unmap signal you "
+"get.  Suggested fix: set window1.visible to False, and ignore an initial "
+"unmap event."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2735
+#, no-wrap
+msgid "My GladeVCP program starts, but no window appears where I expect it to be?"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2742
+msgid ""
+"The window AXIS allocates for GladeVCP will obtain the 'natural size' of all "
+"its child widgets combined.  It is the child widget's job to request a size "
+"(width and/or height).  However, not all widgets do request a width greater "
+"than 0, for instance the Graph widget in its current form.  If there's such "
+"a widget in your Glade file and it is the one which defines the layout you "
+"might want to set its width explicitly.  Note that setting the window1 width "
+"and height properties in Glade does not make sense because this window will "
+"be orphaned during re-parenting and hence its geometry will have no impact "
+"on layout (see above).  The general rule is: if you manually run a UI file "
+"with 'gladevcp <uifile>' and its window has reasonable geometry, it should "
+"come up in AXIS properly as well."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2743
+#, no-wrap
+msgid "I want a blinking LED, but it wont blink"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2747
+msgid ""
+"I ticked the checkbutton to let it blink with 100 msec interval.  It wont "
+"blink, and I get a startup warning: Warning: value \"0\" of type `gint' is "
+"invalid or out of range for property `led-blink-rate' of type `gint'? This "
+"seems to be a Glade bug. Just type over the blink rate field, and save again "
+"- this works for me."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2748
+#, no-wrap
+msgid ""
+"My GladeVCP panel in AXIS doesn't save state when I close AXIS, although I "
+"defined an on_destroy handler linked to the window destroy signal"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2753
+msgid ""
+"Very likely this handler is linked to window1, which due to reparenting "
+"isn't usable for this purpose.  Please link the on_destroy handler to the "
+"destroy signal of an interior window.  For instance, I have a notebook "
+"inside window1, and linked on_destroy to the notebooks destroy signal, and "
+"that works fine.  It doesn't work for window1."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2754
+#, no-wrap
+msgid ""
+"I want to set the background color or text of a HAL_Label widget depending "
+"on its HAL pin value"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2759
+msgid ""
+"See the example in configs/apps/gladevcp/colored-label.  Setting the "
+"background color of a GtkLabel widget (and HAL_Label is derived from "
+"GtkLabel) is a bit tricky.  The GtkLabel widget has no window object of its "
+"own for performance reasons, and only window objects can have a background "
+"color.  The solution is to enclose the Label in an EventBox container, which "
+"has a window but is otherwise invisible - see the coloredlabel.ui file."
+msgstr ""
+
+#.  FIXME: This is probably irrelevant now that we are on Python3 and Gtk3
+#. type: Labeled list
+#: src/gui/gladevcp.adoc:2761
+#, no-wrap
+msgid ""
+"I defined a `hal_spinbutton` widget in Glade, and set a default `value` "
+"property in the corresponding adjustment. It comes up with zero?"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2766
+msgid ""
+"This is due to a bug in the old Gtk version distributed with Ubuntu 8.04 and "
+"10.04, and is likely to be the case for all widgets using adjustment.  The "
+"workaround mentioned for instance in "
+"http://osdir.com/ml/gtk-app-devel-list/2010-04/msg00129.html does not "
+"reliably set the HAL pin value, it is better to set it explicitly in an "
+"`on_realize` signal handler during widget creation.  See the example in "
+"`configs/apps/gladevcp/by-widget/spinbutton.{ui,py}`."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:2767
+#, no-wrap
+msgid "Troubleshooting"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2771
+msgid ""
+"Make sure you have the development version of LinuxCNC installed.  You don't "
+"need the axisrc file any more, this was mentioned in the old GladeVCP wiki "
+"page."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2774
+msgid ""
+"Run GladeVCP or AXIS from a terminal window.  If you get Python errors, "
+"check whether there's still a `/usr/lib/python2.6/dist-packages/hal.so` file "
+"lying around besides the newer `/usr/lib/python2.6/dist-packages/_hal.so` "
+"(note the underscore); if yes, remove the `hal.so` file. It has been "
+"superseded by hal.py in the same directory and confuses the import "
+"mechanism."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2775
+msgid ""
+"If you're using run-in-place, do a 'make clean' to remove any accidentally "
+"left over hal.so file, then 'make'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2777
+msgid ""
+"If you're using 'HAL_table' or 'HAL_HBox' widgets, be aware they have an HAL "
+"pin associated with it which is off by default.  This pin controls whether "
+"these container's children are active or not."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:2778
+#, no-wrap
+msgid "Implementation note: Key handling in AXIS"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2782
+msgid ""
+"We believe key handling works OK, but since it is new code, we're telling "
+"about it you so you can watch out for problems; please let us know of errors "
+"or odd behavior.  This is the story:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2787
+msgid ""
+"AXIS uses the TkInter widget set.  GladeVCP applications use Gtk widgets and "
+"run in a separate process context.  They are hooked into AXIS with the "
+"Xembed protocol.  This allows a child application like GladeVCP to properly "
+"fit in a parent's window, and - in theory - have integrated event handling."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2792
+msgid ""
+"However, this assumes that both parent and child application properly "
+"support the Xembed protocol, which Gtk does, but TkInter does not.  A "
+"consequence of this is that certain keys would not be forwarded from a "
+"GladeVCP panel to AXIS properly under all circumstances.  One of these "
+"situations was the case when an Entry, or SpinButton widget had focus: In "
+"this case, for instance an Escape key would not have been forwarded to AXIS "
+"and cause an abort as it should, with potentially disastrous consequences."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2795
+msgid ""
+"Therefore, key events in GladeVCP are explicitly handled, and selectively "
+"forwarded to AXIS, to assure that such situations cannot arise.  For "
+"details, see the `keyboard_forward()` function in "
+"`lib/python/gladevcp/xembed.py`."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:2796
+#, no-wrap
+msgid "Adding Custom Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2800
+msgid ""
+"The LinuxCNC Wiki has information on adding custom widgets to GladeVCP.  "
+"link:https://wiki.linuxcnc.org/cgi-bin/wiki.pl?GladeVCP_Custom_Widgets[GladeVCP "
+"Custom Widgets]"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp.adoc:2801
+#, no-wrap
+msgid "Auxiliary GladeVCP Applications"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2804
+msgid ""
+"Support is provided for independently installed GladeVCP applications that "
+"conform to system directory placements as defined by the "
+"LINUXCNC_AUX_GLADEVCP and LINUXCNC_AUX_EXAMPLES items reported by the script "
+"linuxcnc_var:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2810
+#, no-wrap
+msgid ""
+"$ linuxcnc_var LINUXCNC_AUX_GLADEVCP\n"
+"/usr/share/linuxcnc/aux_gladevcp\n"
+"$ linuxcnc_var LINUXCNC_AUX_EXAMPLES\n"
+"/usr/share/linuxcnc/aux_examples\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2814
+msgid ""
+"The system directory defined by LINUXCNC_AUX_GLADEVCP "
+"(/usr/share/linuxcnc/aux_gladevcp) specifies the location for a "
+"GladeVCP-compatible Python file(s) and related subdirectories.  The Python "
+"file is imported at GladeVCP startup and made available to subsequent "
+"GladeVCP applications including embedded usage in supporting GUIs."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2817
+msgid ""
+"The system directory defined by LINUXCNC_AUX_EXAMPLES "
+"(/usr/share/linuxcnc/aux_examples) specifies the location of example "
+"configuration subdirectories used for auxiliary applications.  See the "
+"getting-started/running-linuxcnc section for 'Adding Configuration Selection "
+"Items'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2822
+msgid ""
+"For testing, a runtime specification of auxiliary applications may be "
+"specified using the exported environmental variable: GLADEVCP_EXTRAS.  This "
+"variable should be a path list of one or more configuration directories "
+"separated by a (:).  Typically, this variable would be set in a shell "
+"starting `linuxcnc` or in a user's `~/.profile` startup script.  Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp.adoc:2825
+#, no-wrap
+msgid "export GLADEVCP_EXTRAS=~/mygladevcp:/opt/othergladevcp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp.adoc:2830
+msgid ""
+"Files found in directories specified with the environmental variable "
+"GLADEVCP_EXTRAS supersede identically-named files within subdirectories of "
+"the system directory specified by LINUXNC_AUX_GLADEVCP (e.g., "
+"/usr/share/linuxcnc/aux_gladevcp).  This provision allows a developer to "
+"test an application by exporting GLADEVCP_EXTRAS to specify a private "
+"application directory without removing a system-installed application "
+"directory.  Messages indicating rejected duplicates are printed to stdout."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gladevcp.adoc:2835
+msgid ""
+"Support for auxiliary GladeVCP applications requires a Python module named "
+"'importlib'.  This module may not be available in older installations like "
+"Ubuntu-Lucid."
+msgstr ""
+
+#. type: Title =
+#: src/gui/gladevcp-libraries.adoc:5
+#, no-wrap
+msgid "GladeVCP Library modules"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:15
+msgid ""
+"Libraries are prebuilt Python modules that give added features to GladeVCP.  "
+"In this way you can select what features you want - yet don't have to build "
+"common ones yourself."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gladevcp-libraries.adoc:16
+#, no-wrap
+msgid "Info"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:19
+msgid "Info is a library to collect and filters data from the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:21
+msgid "The available data and defaults:"
+msgstr ""
+
+#. TODO convert to definition list ?
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:37 src/gui/qtvcp-libraries.adoc:104
+#, no-wrap
+msgid ""
+"LINUXCNC_IS_RUNNING\n"
+"LINUXCNC_VERSION\n"
+"INIPATH\n"
+"INI = linuxcnc.ini(INIPATH)\n"
+"MDI_HISTORY_PATH = '~/.axis_mdi_history'\n"
+"QTVCP_LOG_HISTORY_PATH = '~/qtvcp.log'\n"
+"MACHINE_LOG_HISTORY_PATH = '~/.machine_log_history'\n"
+"PREFERENCE_PATH = '~/.Preferences'\n"
+"SUB_PATH = None\n"
+"SUB_PATH_LIST = []\n"
+"self.MACRO_PATH = None\n"
+"MACRO_PATH_LIST = []\n"
+"INI_MACROS = self.INI.findall(\"DISPLAY\", \"MACRO\")\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:40 src/gui/qtvcp-libraries.adoc:107
+#, no-wrap
+msgid ""
+"IMAGE_PATH = IMAGEDIR\n"
+"LIB_PATH = os.path.join(HOME, \"share\",\"qtvcp\")\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:58 src/gui/qtvcp-libraries.adoc:125
+#, no-wrap
+msgid ""
+"PROGRAM_FILTERS = None\n"
+"PARAMETER_FILE = None\n"
+"MACHINE_IS_LATHE = False\n"
+"MACHINE_IS_METRIC = False\n"
+"MACHINE_UNIT_CONVERSION = 1\n"
+"MACHINE_UNIT_CONVERSION_9 = [1]*9\n"
+"TRAJ_COORDINATES =\n"
+"JOINT_COUNT = int(self.INI.find(\"KINS\",\"JOINTS\")or 0)\n"
+"AVAILABLE_AXES = ['X','Y','Z']\n"
+"AVAILABLE_JOINTS = [0,1,2]\n"
+"GET_NAME_FROM_JOINT = {0:'X',1:'Y',2:'Z'}\n"
+"GET_JOG_FROM_NAME = {'X':0,'Y':1,'Z':2}\n"
+"NO_HOME_REQUIRED = False\n"
+"HOME_ALL_FLAG\n"
+"JOINT_TYPE = self.INI.find(section, \"TYPE\") or \"LINEAR\"\n"
+"JOINT_SEQUENCE_LIST\n"
+"JOINT_SYNC_LIST\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:62 src/gui/qtvcp-libraries.adoc:129
+#, no-wrap
+msgid ""
+"JOG_INCREMENTS = None\n"
+"ANGULAR_INCREMENTS = None\n"
+"GRID_INCREMENTS\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:66 src/gui/qtvcp-libraries.adoc:133
+#, no-wrap
+msgid ""
+"DEFAULT_LINEAR_JOG_VEL = 15 units per minute\n"
+"MIN_LINEAR_JOG_VEL = 60 units per minute\n"
+"MAX_LINEAR_JOG_VEL = 300 units per minute\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:70 src/gui/qtvcp-libraries.adoc:137
+#, no-wrap
+msgid ""
+"DEFAULT_ANGULAR_JOG_VEL =\n"
+"MIN_ANGULAR_JOG_VEL =\n"
+"MAX_ANGULAR_JOG_VEL =\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:73 src/gui/qtvcp-libraries.adoc:140
+#, no-wrap
+msgid ""
+"MAX_FEED_OVERRIDE =\n"
+"MAX_TRAJ_VELOCITY =\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:79 src/gui/qtvcp-libraries.adoc:146
+#, no-wrap
+msgid ""
+"AVAILABLE_SPINDLES = int(self.INI.find(\"TRAJ\", \"SPINDLES\") or 1)\n"
+"DEFAULT_SPINDLE_0_SPEED = 200\n"
+"MAX_SPINDLE_0_SPEED = 2500\n"
+"MAX_SPINDLE_0_OVERRIDE = 100\n"
+"MIN_SPINDLE_0_OVERRIDE = 50\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:82 src/gui/qtvcp-libraries.adoc:149
+#, no-wrap
+msgid ""
+"MAX_FEED_OVERRIDE = 1.5\n"
+"MAX_TRAJ_VELOCITY\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:91
+#, no-wrap
+msgid ""
+"# user message dialog info\n"
+"USRMESS_BOLDTEXT = self.INI.findall(\"DISPLAY\", \"MESSAGE_BOLDTEXT\")\n"
+"USRMESS_TEXT = self.INI.findall(\"DISPLAY\", \"MESSAGE_TEXT\")\n"
+"USRMESS_TYPE = self.INI.findall(\"DISPLAY\", \"MESSAGE_TYPE\")\n"
+"USRMESS_PINNAME = self.INI.findall(\"DISPLAY\", \"MESSAGE_PINNAME\")\n"
+"USRMESS_DETAILS = self.INI.findall(\"DISPLAY\", \"MESSAGE_DETAILS\")\n"
+"USRMESS_ICON = self.INI.findall(\"DISPLAY\", \"MESSAGE_ICON\")\n"
+"ZIPPED_USRMESS =\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:93 src/gui/qtvcp-libraries.adoc:164
+#, no-wrap
+msgid "self.GLADEVCP = (self.INI.find(\"DISPLAY\", \"GLADEVCP\")) or None\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:99
+#, no-wrap
+msgid ""
+"# embedded program info\n"
+"TAB_NAMES = (self.INI.findall(\"DISPLAY\", \"EMBED_TAB_NAME\")) or None\n"
+"TAB_LOCATION = (self.INI.findall(\"DISPLAY\", \"EMBED_TAB_LOCATION\")) or "
+"[]\n"
+"TAB_CMD = (self.INI.findall(\"DISPLAY\", \"EMBED_TAB_COMMAND\")) or None\n"
+"ZIPPED_TABS =\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:103 src/gui/qtvcp-libraries.adoc:178
+#, no-wrap
+msgid ""
+"MDI_COMMAND_LIST =      (heading: [MDI_COMMAND_LIST], title: "
+"MDI_COMMAND\")\n"
+"TOOL_FILE_PATH =        (heading: [EMCIO], title:TOOL_TABLE)\n"
+"POSTGUI_HALFILE_PATH =  (heading: [HAL], title: POSTGUI_HALFILE)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:106
+msgid "There are some 'helper functions' - mostly used for widget support"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:116
+#, no-wrap
+msgid ""
+"get_error_safe_setting(self, heading, detail, default=None)\n"
+"convert_metric_to_machine(data)\n"
+"convert_imperial_to_machine(data)\n"
+"convert_9_metric_to_machine(data)\n"
+"convert_9_imperial_to_machine(data)\n"
+"convert_units(data)\n"
+"convert_units_9(data)\n"
+"get_filter_program(fname)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:119 src/gui/gladevcp-libraries.adoc:155
+#: src/gui/qtvcp-libraries.adoc:773
+msgid "To import this modules add this Python code to your import section:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:125 src/gui/gladevcp-libraries.adoc:161
+#: src/gui/qtvcp-code-snippets.adoc:526 src/gui/qtvcp-libraries.adoc:36
+#: src/gui/qtvcp-libraries.adoc:204 src/gui/qtvcp-libraries.adoc:256
+#: src/gui/qtvcp-libraries.adoc:613 src/gui/qtvcp-libraries.adoc:646
+#: src/gui/qtvcp-libraries.adoc:744 src/gui/qtvcp-libraries.adoc:779
+#: src/gui/qtvcp-libraries.adoc:1140 src/gui/qtvcp-libraries.adoc:1254
+#: src/gui/qtvcp-libraries.adoc:1441
+#, no-wrap
+msgid ""
+"############################\n"
+"# **** IMPORT SECTION **** #\n"
+"############################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:127
+#, no-wrap
+msgid "from gladevcp.core import Info\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:130
+msgid ""
+"To instantiate the module so you can use it in a handler file add this "
+"Python code to your instantiate section:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:136 src/gui/gladevcp-libraries.adoc:172
+#: src/gui/qtvcp.adoc:753 src/gui/qtvcp-libraries.adoc:216
+#: src/gui/qtvcp-libraries.adoc:268 src/gui/qtvcp-libraries.adoc:625
+#: src/gui/qtvcp-libraries.adoc:658 src/gui/qtvcp-libraries.adoc:756
+#: src/gui/qtvcp-libraries.adoc:792 src/gui/qtvcp-libraries.adoc:1152
+#, no-wrap
+msgid ""
+"###########################################\n"
+"# **** INSTANTIATE LIBRARIES SECTION **** #\n"
+"###########################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:138 src/gui/qtvcp-libraries.adoc:218
+#, no-wrap
+msgid "INFO = Info()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:141
+msgid "To access INFO data use this general syntax:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:147 src/gui/qtvcp-libraries.adoc:227
+#, no-wrap
+msgid ""
+"home_state = INFO.NO_HOME_REQUIRED\n"
+"if INFO.MACHINE_IS_METRIC is True:\n"
+"    print('Metric based')\n"
+msgstr ""
+
+#. type: Table
+#: src/gui/gladevcp-libraries.adoc:149 src/plasma/qtplasmac.adoc:2519
+#: src/plasma/qtplasmac.adoc:4053
+#, no-wrap
+msgid "Action"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:153
+msgid ""
+"This library is used to command LinuxCNC's motion controller.  It tries to "
+"hide incidental details and add convenience methods for developers."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:163
+#, no-wrap
+msgid "from gladevcp.core import Action\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:166
+msgid ""
+"To instantiate the module so you can use it add this Python code to your "
+"instantiate section:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:174 src/gui/qtvcp-libraries.adoc:270
+#, no-wrap
+msgid "ACTION = Action()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:176
+msgid "To access Action commands use general syntax such as these:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:180 src/gui/qtvcp-libraries.adoc:279
+#, no-wrap
+msgid ""
+"ACTION.SET_ESTOP_STATE(state)\n"
+"ACTION.SET_MACHINE_STATE(state)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:183 src/gui/qtvcp-libraries.adoc:282
+#, no-wrap
+msgid ""
+"ACTION.SET_MACHINE_HOMING(joint)\n"
+"ACTION.SET_MACHINE_UNHOMED(joint)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:185 src/gui/gladevcp-libraries.adoc:191
+#: src/gui/qtvcp-libraries.adoc:284 src/gui/qtvcp-libraries.adoc:290
+#, no-wrap
+msgid "ACTION.SET_LIMITS_OVERRIDE()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:189 src/gui/qtvcp-libraries.adoc:288
+#, no-wrap
+msgid ""
+"ACTION.SET_MDI_MODE()\n"
+"ACTION.SET_MANUAL_MODE()\n"
+"ACTION.SET_AUTO_MODE()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:195 src/gui/qtvcp-libraries.adoc:294
+#, no-wrap
+msgid ""
+"ACTION.CALL_MDI(code)\n"
+"ACTION.CALL_MDI_WAIT(code)\n"
+"ACTION.CALL_INI_MDI(number)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:197 src/gui/qtvcp-libraries.adoc:296
+#, no-wrap
+msgid "ACTION.CALL_OWORD()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:200 src/gui/qtvcp-libraries.adoc:299
+#, no-wrap
+msgid ""
+"ACTION.OPEN_PROGRAM(filename)\n"
+"ACTION.SAVE_PROGRAM(text_source, fname):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:203 src/gui/qtvcp-libraries.adoc:302
+#, no-wrap
+msgid ""
+"ACTION.SET_AXIS_ORIGIN(axis,value)\n"
+"ACTION.SET_TOOL_OFFSET(axis,value,fixture = False)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:207
+#, no-wrap
+msgid ""
+"ACTION.RUN()\n"
+"ACTION.ABORT()\n"
+"ACTION.PAUSE()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:212 src/gui/qtvcp-libraries.adoc:313
+#, no-wrap
+msgid ""
+"ACTION.SET_MAX_VELOCITY_RATE(rate)\n"
+"ACTION.SET_RAPID_RATE(rate)\n"
+"ACTION.SET_FEED_RATE(rate)\n"
+"ACTION.SET_SPINDLE_RATE(rate)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:217 src/gui/qtvcp-libraries.adoc:318
+#, no-wrap
+msgid ""
+"ACTION.SET_JOG_RATE(rate)\n"
+"ACTION.SET_JOG_INCR(incr)\n"
+"ACTION.SET_JOG_RATE_ANGULAR(rate)\n"
+"ACTION.SET_JOG_INCR_ANGULAR(incr, text)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:222 src/gui/qtvcp-libraries.adoc:323
+#, no-wrap
+msgid ""
+"ACTION.SET_SPINDLE_ROTATION(direction = 1, rpm = 100, number = 0)\n"
+"ACTION.SET_SPINDLE_FASTER(number = 0)\n"
+"ACTION.SET_SPINDLE_SLOWER(number = 0)\n"
+"ACTION.SET_SPINDLE_STOP(number = 0)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:224 src/gui/qtvcp-libraries.adoc:325
+#, no-wrap
+msgid "ACTION.SET_USER_SYSTEM(system)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:228 src/gui/qtvcp-libraries.adoc:329
+#, no-wrap
+msgid ""
+"ACTION.ZERO_G92_OFFSET()\n"
+"ACTION.ZERO_ROTATIONAL_OFFSET()\n"
+"ACTION.ZERO_G5X_OFFSET(num)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:231 src/gui/qtvcp-libraries.adoc:332
+#, no-wrap
+msgid ""
+"ACTION.RECORD_CURRENT_MODE()\n"
+"ACTION.RESTORE_RECORDED_MODE()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:233 src/gui/qtvcp-libraries.adoc:334
+#, no-wrap
+msgid "ACTION.SET_SELECTED_AXIS(jointnum)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:236 src/gui/qtvcp-libraries.adoc:337
+#, no-wrap
+msgid ""
+"ACTION.DO_JOG(jointnum, direction)\n"
+"ACTION.JOG(jointnum, direction, rate, distance=0)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:240 src/gui/qtvcp-libraries.adoc:341
+#, no-wrap
+msgid ""
+"ACTION.TOGGLE_FLOOD()\n"
+"ACTION.SET_FLOOD_ON()\n"
+"ACTION.SET_FLOOD_OFF()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:244 src/gui/qtvcp-libraries.adoc:345
+#, no-wrap
+msgid ""
+"ACTION.TOGGLE_MIST()\n"
+"ACTION.SET_MIST_ON()\n"
+"ACTION.SET_MIST_OFF()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:247 src/gui/qtvcp-libraries.adoc:348
+#, no-wrap
+msgid ""
+"ACTION.RELOAD_TOOLTABLE()\n"
+"ACTION.UPDATE_VAR_FILE()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:251 src/gui/qtvcp-libraries.adoc:352
+#, no-wrap
+msgid ""
+"ACTION.TOGGLE_OPTIONAL_STOP()\n"
+"ACTION.SET_OPTIONAL_STOP_ON()\n"
+"ACTION.SET_OPTIONAL_STOP_OFF()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:255 src/gui/qtvcp-libraries.adoc:356
+#, no-wrap
+msgid ""
+"ACTION.TOGGLE_BLOCK_DELETE()\n"
+"ACTION.SET_BLOCK_DELETE_ON()\n"
+"ACTION.SET_BLOCK_DELETE_OFF()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:258 src/gui/qtvcp-libraries.adoc:359
+#, no-wrap
+msgid ""
+"ACTION.RELOAD_DISPLAY()\n"
+"ACTION.SET_GRAPHICS_VIEW(view)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:260 src/gui/qtvcp-libraries.adoc:361
+#, no-wrap
+msgid "ACTION.UPDATE_MACHINE_LOG(text, option=None):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:263 src/gui/qtvcp-libraries.adoc:381
+#, no-wrap
+msgid ""
+"ACTION.SET_DISPLAY_MESSAGE(string)\n"
+"ACTION.SET_ERROR_MESSAGE(string)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gladevcp-libraries.adoc:266
+msgid "There are some 'helper functions' - mostly used for this library's support"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gladevcp-libraries.adoc:273
+#, no-wrap
+msgid ""
+"get_jog_info (num)\n"
+"jnum_check(num)\n"
+"ensure_mode(modes)\n"
+"open_filter_program(filename, filter)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:21
+msgid ""
+"GMOCCAPY is a GUI for LinuxCNC, designed to be used with a touch screen, but "
+"can also be used on normal screens with a mouse or hardware buttons and MPG "
+"wheels, as it presents HAL Pins for the most common needs.  Please find more "
+"information in the following."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:26
+msgid ""
+"It offers the possibility to display up to 9 axes, support a lathe mode for "
+"normal and back tool lathe and can be adapted to nearly every need, because "
+"GMOCCAPY supports embedded tabs and side panels.  As a good example for that "
+"see "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Gmoccapy_plasma[gmoccapy_plasma]."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:29
+msgid ""
+"GMOCCAPY 3 does support up to 9 axes and 9 joints.  As GMOCCAPY 3 has been "
+"changed in code to support the joint / axis changes in LinuxCNC it does not "
+"work on 2.7 or 2.6 branch!"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:32
+msgid ""
+"It has support for integrated virtual keyboard (onboard or "
+"matchbox-keyboard), so there is no need for a hardware keyboard or mouse, "
+"but it can also be used with that hardware.  GMOCCAPY offers a separate "
+"settings page to configure most settings of the GUI without editing files."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:38
+msgid ""
+"GMOCCAPY can be localized very easy, because the corresponding files are "
+"separated from the linuxcnc.po files, so there is no need to translate "
+"unneeded stuff.  If you want to contribute a translation, please use the "
+"link:https://hosted.weblate.org/projects/linuxcnc/gmocappy/[web based "
+"translation editor Weblate]. For more information see the section "
+"<<sec:contributing-translations,Translations>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:40
+msgid "image:images/gmoccapy_5_axis_mid.png[align=\"left\",link=\"images/gmoccapy_5_axis.png\"]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:50
+msgid ""
+"GMOCCAPY 3 has been tested on Debian Jessie, Debian Stretch and MINT 18 with "
+"LinuxCNC master and 2.8 release.  It fully support joint / axis changes of "
+"LinuxCNC, making it suitable as GUI for Scara, Robots or any other config "
+"with more joints than axes.  So it supports also gantry configs.  If you use "
+"other versions, please inform about problems and / or solutions on the "
+"https://linuxcnc.org/index.php/english/forum/41-guis/26314-gmoccapy-a-new-screen-for-linuxcnc[LinuxCNC "
+"forum] or the http://www.cncecke.de/forum/showthread.php?t=78549[German CNC "
+"Ecke Forum] or "
+"https://lists.sourceforge.net/lists/listinfo/emc-users[LinuxCNC users "
+"mailing list]."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:54
+msgid ""
+"The minimum screen resolution for GMOCCAPY for the normal layout (without "
+"side panels) is *980 x 750 Pixel*, so it should fit to every standard "
+"screen.  It is recommended to use screens with minimum resolution of "
+"1024x768.  There is also a configuration which fits for 800x600 screens "
+"(introduced in GMOCCAPY 3.4.8)."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:55
+#, no-wrap
+msgid "How to Get GMOCCAPY"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:60
+msgid ""
+"GMOCCAPY 3 is included in the standard distribution of LinuxCNC since "
+"release 2.7.  So the easiest way to get GMOCCAPY on your controlling PC is "
+"just to download the https://linuxcnc.org/downloads/[ISO] and install it "
+"from the CD/DVD/USB-stick.  This allows you to receive updates with the "
+"regular Debian packages."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:62
+msgid ""
+"In the link:gmoccapy_release_notes.txt[*release notes*] aka changelist you "
+"can track the latest bugfixes and features."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:64
+msgid ""
+"You will get a similar screen to the following (the design may vary "
+"depending on your config):"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:66
+msgid "image:images/gmoccapy_3_axis_mid.png[align=\"left\",link=\"images/gmoccapy_3_axis.png\"]"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:67
+#, no-wrap
+msgid "Basic Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:70
+msgid "GMOCCAPY 3 supports the following command line options:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:72
+msgid ""
+"'-user_mode': If set, the setup button will be disabled, so normal machine "
+"operators are not able to edit the settings of the machine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:73
+msgid ""
+"'-logo <path to logo file>': If given, the logo will hide the jog button tab "
+"in manual mode, this is only useful for machines with hardware buttons for "
+"jogging and increment selection."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:76
+msgid ""
+"There is really not to much to configure just to run GMOCCAPY, but there are "
+"some points you should take care off if you want to use all the features of "
+"the GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:78
+msgid ""
+"You will find a lot of simulation configurations (INI files) included, just "
+"to show the basics:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:80
+msgid "gmoccapy.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:81
+msgid "gmoccapy_4_axis.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:82
+msgid "lathe_configs/gmoccapy_lathe.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:83
+msgid "lathe_configs/gmoccapy_lathe_imperial.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:84
+msgid "gmoccapy_left_panel.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:85
+msgid "gmoccapy_right_panel.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:86
+msgid "gmoccapy_messages.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:87
+msgid "gmoccapy_pendant.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:88
+msgid "gmoccapy_sim_hardware_button.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:89
+msgid "gmoccapy_tool_sensor.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:90
+msgid "gmoccapy_with_user_tabs.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:91
+msgid "gmoccapy_XYZAB.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:92
+msgid "gmoccapy_XYZAC.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:93
+msgid "gmoccapy_XYZCW.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:94
+msgid "gmoccapy-JA/Gantry/gantry_mm.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:95
+msgid "gmoccapy-JA/scara/scara.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:96
+msgid "gmoccapy-JA/table-rotary-tilting/xyzac-trt.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:97
+msgid "and a lot more ..."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:99
+msgid "The names should explain the main intention of the different INI files."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:101
+msgid ""
+"If you use an existing configuration of your machine, just edit your INI "
+"according to this document."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:103
+msgid ""
+"So let us take a closer look at the INI file and what you need to include to "
+"use GMOCCAPY on your machine:"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:105
+#, no-wrap
+msgid "The DISPLAY Section"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:118
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"DISPLAY = gmoccapy\n"
+"PREFERENCE_FILE_PATH = gmoccapy_preferences\n"
+"MAX_FEED_OVERRIDE = 1.5\n"
+"MAX_SPINDLE_OVERRIDE = 1.2\n"
+"MIN_SPINDLE_OVERRIDE = 0.5\n"
+"LATHE = 1\n"
+"BACK_TOOL_LATHE = 1\n"
+"PROGRAM_PREFIX = ../../nc_files/\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:122
+msgid "_DISPLAY = gmoccapy_ - This tells LinuxCNC to use GMOCCAPY."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:126
+msgid ""
+"_PREFERENCE_FILE_PATH_ - Gives the location and name of the preferences file "
+"to be used.  In most cases this line will not be needed, it is used by "
+"GMOCCAPY to store your settings of the GUI, like themes, DRO units, colors, "
+"and keyboard settings, etc., see <<gmoccapy:settings-page,settings page>> "
+"for more details."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:131
+msgid ""
+"If no path or file is given, GMOCCAPY will use as default "
+"<your_machinename>.pref, if no machine name is given in your INI File it "
+"will use gmoccapy.pref.  The file will be stored in your config directory, "
+"so the settings will not be mixed if you use several configs.  If you only "
+"want to use one file for several machines, you need to include "
+"`PREFERENCE_FILE_PATH` in your INI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:133
+msgid ""
+"_MAX_FEED_OVERRIDE = 1.5_ - Sets the maximum feed override, in the example "
+"given, you will be allowed to override the feed by 150%."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:136
+msgid "If no value is given, it will be set to 1.0."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:138
+msgid ""
+"_MIN_SPINDLE_OVERRIDE = 0.5_ and _MAX_SPINDLE_OVERRIDE = 1.2_ - Will allow "
+"you to change the spindle override within a limit from 50% to 120%."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:141
+msgid "If no values are given, MIN will be set to 0.1 and MAX to 1.0."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:143
+msgid "_LATHE = 1_ - Set the screen layout to control a lathe."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:146
+msgid ""
+"_BACK_TOOL_LATHE = 1_ - Is optional and will switch the X axis in a way you "
+"need for a back tool lathe.  Also the keyboard shortcuts will react in a "
+"different way.  It is allowed with GMOCCAPY to configure a lathe also with "
+"additional axes, so you may use also a XZCW config for a lathe."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:149
+msgid "See also the <<gmoccapy:lathe-section,Lathe Specific Section>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:151
+msgid ""
+"_PROGRAM_PREFIX = ../../nc_files/_ - Is the entry to tell LinuxCNC/GMOCCAPY "
+"where to look for the NGC files."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:155
+msgid ""
+"If not specified, GMOCCAPY will look in the following order for NGC files: "
+"First `linuxcnc/nc_files` and then the users home directory."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:158
+#, no-wrap
+msgid "The TRAJ Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:161
+msgid ""
+"_DEFAULT_LINEAR_VELOCITY = 85.0_ - Sets the default jog velocity of the "
+"machine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:165
+msgid ""
+"If not set, half of 'MAX_LINEAR_VELOCITY' will be used.  If that value is "
+"also not given, it will default to 180."
+msgstr ""
+
+#.  max. jog velocity?
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:168
+msgid "_MAX_LINEAR_VELOCITY = 230.0_ - Sets the maximal velocity of the machine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:171
+msgid "Defaults to 600 if not set."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:174 src/gui/qtdragon.adoc:351
+#, no-wrap
+msgid "Macro Buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:180
+msgid ""
+"You can add macros to GMOCCAPY, similar to Touchy's way.  A macro is nothing "
+"else than a NGC file.  You are able to execute complete CNC programs in MDI "
+"mode by just pushing one button.  To do so, you first have to specify the "
+"search path for macros:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:186
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"SUBROUTINE_PATH = macros\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:189
+msgid ""
+"This sets the path to search for macros and other subroutines.  Several "
+"subroutine paths can be separated \":\"."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:191
+msgid "Then you just have to add a section like this:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:192
+#, no-wrap
+msgid "Configuration of Five Macros to be Shown in the MDI Button List"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:201
+#, no-wrap
+msgid ""
+"[MACROS]\n"
+"MACRO = i_am_lost\n"
+"MACRO = hello_world\n"
+"MACRO = jog_around\n"
+"MACRO = increment xinc yinc\n"
+"MACRO = go_to_position X-pos Y-pos Z-pos\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:204
+msgid ""
+"Then you have to provide the corresponding NGC files which have to follow "
+"these rules:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:206
+msgid ""
+"The name of the file need to be exactly the same as the name mentioned in "
+"the macro line, just with the \".ngc\" extension (case sensitive)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:207
+msgid ""
+"The file must contain a subroutine like '*O<i_am_lost> sub*', the name of "
+"the sub must match exactly (case sensitive) the name of the macro."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:208
+msgid ""
+"The file must end with an endsub '*O<i_am_lost> endsub*' followed by an "
+"'*M2*' command."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:209
+msgid ""
+"The files need to be placed in a folder specified in your INI file by "
+"'SUBROUTINE_PATH' in the RS274NGC section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:211
+msgid ""
+"The code between sub and endsub will be executed by pushing the "
+"corresponding macro button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:217
+msgid ""
+"A maximum of 16 macros will be shown in the GUI.  Due to space reasons you "
+"may need to click on an arrow to switch the page and display hidden macro "
+"buttons.  The macro buttons will be displayed in the order of the INI "
+"entries.  It is no error placing more than 16 macros in your INI file, they "
+"will just not be shown."
+msgstr ""
+
+#. .Macros example
+#. image::images/gmoccapy_mdi_hidden_keyboard.png[align="left"]
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:225
+msgid ""
+"You will find the sample macros in a folder named 'macros' placed in the "
+"GMOCCAPY sim folder.  If you have given several subroutine paths, they will "
+"be searched in the order of the given paths.  The first file found will be "
+"used."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:227
+msgid "GMOCCAPY will also accept macros asking for parameters like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:231
+#, no-wrap
+msgid ""
+"[MACRO]\n"
+"MACRO = go_to_position X-pos Y-pos Z-pos\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:235
+msgid ""
+"The parameters must be separated by spaces.  This example calls a file "
+"'go_to_position.ngc' with the following content:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:239
+#, no-wrap
+msgid ""
+"; Test file \"go to position\"\n"
+"; will jog the machine to a given position\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:241
+#, no-wrap
+msgid "O<go_to_position> sub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:250
+#, no-wrap
+msgid ""
+"G17\n"
+"G21\n"
+"G54\n"
+"G61\n"
+"G40\n"
+"G49\n"
+"G80\n"
+"G90\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:254
+#, no-wrap
+msgid ""
+";#1 = <X-Pos>\n"
+";#2 = <Y-Pos>\n"
+";#3 = <Z-Pos>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:257
+#, no-wrap
+msgid ""
+"(DBG, Will now move machine to X = #1 , Y = #2 , Z = #3)\n"
+"G0 X #1 Y #2 Z #3\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:260
+#, no-wrap
+msgid ""
+"O<go_to_position> endsub\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:264
+msgid ""
+"After pushing the '*execute macro button*', you will be asked to enter the "
+"values for '*X-pos Y-pos Z-pos*' and the macro will only run if all values "
+"have been given."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:267
+msgid ""
+"If you would like to use a macro without any movement, see also the notes in "
+"<<sub:NOT_ENDING_MACROS,known problems>>."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:268
+#, no-wrap
+msgid "Macro example using the \"go to position\"-macro"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:270
+msgid "image:images/gmoccapy_getting_macro_info_mid.png[align=\"left\",link=\"images/gmoccapy_getting_macro_info.png\"]"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:273
+#, no-wrap
+msgid "Embedded Tabs and Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:276
+msgid ""
+"You can add embedded programs to GMOCCAPY like you can do in AXIS, Touchy "
+"and Gscreen.  All is done by GMOCCAPY automatically if you include a few "
+"lines in your INI file in the DISPLAY section."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:278
+msgid ""
+"If you have never used a Glade panel, I recommend to read the excellent "
+"documentation on https://linuxcnc.org/docs/2.9/html/gui/gladevcp.html[Glade "
+"VCP]."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:279
+#, no-wrap
+msgid "Embedded Tab Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:286
+#, no-wrap
+msgid ""
+"EMBED_TAB_NAME = DRO\n"
+"EMBED_TAB_LOCATION = ntb_user_tabs\n"
+"EMBED_TAB_COMMAND = gladevcp -x {XID} dro.glade\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:290
+#, no-wrap
+msgid ""
+"EMBED_TAB_NAME = Second user tab\n"
+"EMBED_TAB_LOCATION = ntb_preview\n"
+"EMBED_TAB_COMMAND = gladevcp -x {XID} vcp_box.glade\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:293
+msgid ""
+"All you have to take care of, is that you include for every tab or side "
+"panel the mentioned three lines:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:295
+msgid ""
+"EMBED_TAB_NAME = Represents the name of the tab or side panel, it is up to "
+"you what name you use, but it must be present!"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:296
+msgid ""
+"EMBED_TAB_LOCATION = The place where your program will be placed in the GUI, "
+"see figure <<fig:gmoccapy_emb_tab_locations,Embedded tab locations>>. Valid "
+"values are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:297
+#, no-wrap
+msgid "*ntb_user_tabs*            (as main tab, covering the complete screen)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:298
+#, no-wrap
+msgid "*ntb_preview*              (as tab on the preview side *(1)*)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:299
+#, no-wrap
+msgid ""
+"*hbox_jog*                 (will hide the jog buttons and introduce your "
+"glade file here *(2)*)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:300
+#, no-wrap
+msgid "*box_left*                 (on the left, complete high of the screen)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:301
+#, no-wrap
+msgid ""
+"*box_right*                (on the right, in between the normal screen and "
+"the button list)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:302
+#, no-wrap
+msgid ""
+"*box_tool_and_code_info*   (will hide the Tool information and G-code frames "
+"and introduce your glade file here *(3)*)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:303
+#, no-wrap
+msgid ""
+"*box_tool_info*            (will hide the Tool information frame and "
+"introduce your glade file here)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:304
+#, no-wrap
+msgid ""
+"*box_code_info*            (will hide the G-code information frame and "
+"introduce your glade file here)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:305
+#, no-wrap
+msgid ""
+"*box_vel_info*             (will hide the velocity frames and introduce your "
+"glade file *(4)*)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:306
+#, no-wrap
+msgid ""
+"*box_coolant_and_spindle*  (will hide the coolant and spindle frames and "
+"introduce your glade file here *(5)+(6)*)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:307
+#, no-wrap
+msgid ""
+"*box_cooling*              (will hide the cooling frame and introduce your "
+"glade file *(5)*)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:308
+#, no-wrap
+msgid ""
+"*box_spindle*              (will hide the spindle frame and introduce your "
+"glade file *(6)*)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:309
+#, no-wrap
+msgid ""
+"*box_custom_1*             (will introduce your glade file left of "
+"vel_frame)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:310
+#, no-wrap
+msgid ""
+"*box_custom_2*             (will introduce your glade file left of "
+"cooling_frame)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:311
+#, no-wrap
+msgid ""
+"*box_custom_3*             (will introduce your glade file left of "
+"spindle_frame)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:312
+#, no-wrap
+msgid ""
+"*box_custom_4*             (will introduce your glade file right of "
+"spindle_frame)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:313
+#, no-wrap
+msgid ""
+"*box_dro_side*             (will introduce your glade file right of the "
+"DRO)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:316
+msgid "See also the included sample INI files to see the differences."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:318
+msgid "EMBED_TAB_COMMAND = The command to execute, i.e."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:321
+#, no-wrap
+msgid "gladevcp -x {XID} dro.glade\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:325
+msgid ""
+"includes a custom glade file called dro.glade in the mentioned location.  "
+"The file must be placed in the config folder of your machine."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:328
+#, no-wrap
+msgid "gladevcp h_buttonlist.glade\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:332
+msgid ""
+"will just open a new user window called h_buttonlist.glade note the "
+"difference.  This one is stand alone, and can be moved around independent "
+"from GMOCCAPY window."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:335
+#, no-wrap
+msgid ""
+"gladevcp -c gladevcp -u hitcounter.py -H manual-example.hal "
+"manual-example.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:339
+msgid ""
+"will add a the panel manual-example.ui, include a custom Python handler, "
+"hitcounter.py and make all connections after realizing the panel according "
+"to manual-example.hal."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:342
+#, no-wrap
+msgid "hide\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:345
+msgid "will hide the chosen box."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:347
+#, no-wrap
+msgid "Embedded tab locations"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:348
+#, no-wrap
+msgid "images/gmoccapy_embedded_tabs.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:355
+msgid ""
+"If you make any HAL connections to your custom glade panel, you need to do "
+"that in the HAL file specified in the EMBED_TAB_COMMAND line, otherwise you "
+"may get an error that the HAL pin does not exist -- this is because of race "
+"conditions loading the HAL files.  Connections to GMOCCAPY HAL pins need to "
+"be made in the postgui HAL file specified in your INI file, because these "
+"pins do not exist prior of realizing the GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:357
+msgid "Here are some examples:"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:361
+#, no-wrap
+msgid ""
+".ntb_preview\n"
+"image:images/gmoccapy_ntb_preview_small.png[align=\"left\",link=\"images/gmoccapy_ntb_preview.png\"]"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:364
+#, no-wrap
+msgid ""
+".box_right - and GMOCCAPY in MDI mode\n"
+"image:images/gmoccapy_with_right_panel_in_MDI_mode_small.png[align=\"left\",link=\"images/gmoccapy_with_right_panel_in_MDI_mode.png\"]"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:367
+#, no-wrap
+msgid "User Created Messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:370
+msgid ""
+"GMOCCAPY has the ability to create HAL driven user messages.  To use them "
+"you need to introduce some lines in the [DISPLAY] section of the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:372
+msgid "These three lines are needed to define a user pop up message dialog:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:377
+#, no-wrap
+msgid ""
+"MESSAGE_TEXT    = The text to be displayed, may be pango markup formatted\n"
+"MESSAGE_TYPE    = \"status\" , \"okdialog\" , \"yesnodialog\"\n"
+"MESSAGE_PINNAME = is the name of the HAL pin group to be created\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:381
+msgid ""
+"The messages support pango markup language. Detailed information about the "
+"markup language can be found at "
+"https://developer.gnome.org/pango/stable/PangoMarkupFormat.html[Pango "
+"Markup]."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:383
+msgid "The following three dialog types are available:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:385
+#, no-wrap
+msgid ""
+"*status* - Will just display a message as pop up window, using the messaging "
+"system of GMOCCAPY.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:386
+#, no-wrap
+msgid ""
+"*okdialog* - Will hold focus on the message dialog and will activate a "
+"`-waiting` HAL pin.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:387
+#, no-wrap
+msgid ""
+"*yesnodialog* - Will hold focus on the message dialog and will activate a "
+"`-waiting` HAL pin and provide a `-response` HAL pin.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:389
+msgid ""
+"For more detailed information of the pins see "
+"<<gmoccapy:user-created-message,User Created Message HAL Pins>>."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:390
+#, no-wrap
+msgid "Example of User Message Configuration"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:396
+#, no-wrap
+msgid ""
+"MESSAGE_TEXT = This is a <span background=\"#ff0000\" "
+"foreground=\"#ffffff\">info-message</span> test\n"
+"MESSAGE_TYPE = status\n"
+"MESSAGE_PINNAME = statustest\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:400
+#, no-wrap
+msgid ""
+"MESSAGE_TEXT = This is a yes no dialog test\n"
+"MESSAGE_TYPE = yesnodialog\n"
+"MESSAGE_PINNAME = yesnodialog\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:404
+#, no-wrap
+msgid ""
+"MESSAGE_TEXT = Text can be <small>small</small>, <big>big</big>, <b>bold</b "
+"<i>italic</i>, and even be <span color=\"red\">colored</span>.\n"
+"MESSAGE_TYPE = okdialog\n"
+"MESSAGE_PINNAME = okdialog\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:408
+msgid "Currently the formatting doesn't work."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:409 src/gui/qtdragon.adoc:238
+#, no-wrap
+msgid "Preview Control"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:414
+msgid ""
+"Magic comments can be used to control the G-code preview.  On very large "
+"programs the preview can take a long time to load.  You can control what is "
+"shown and what is hidden on the graphics screen by adding the appropriate "
+"comments from this list into your G-code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:419
+#, no-wrap
+msgid ""
+"(PREVIEW,hide)\n"
+"<G-code to be hidden>\n"
+"(PREVIEW,show)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:421
+#, no-wrap
+msgid "User Command File"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:426
+msgid ""
+"If a file `~/.gmoccapyrc` exists, its contents are executed as Python source "
+"code just after the GUI is displayed. The details of what may be written in "
+"the `~/.gmoccapyrc` are subject to change during the development cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:428
+msgid ""
+"A configuration-specific Python file may be specified with an INI file "
+"setting"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:432
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"USER_COMMAND_FILE=filename.py\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:435
+msgid ""
+"If this file is specified, this file is sourced just after the GMOCCAPY GUI "
+"is displayed *instead* of `~/.gmoccapyrc`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:438
+msgid "The following example changes the size of the vertical buttons:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:438
+#, no-wrap
+msgid "Example of .gmoccapyrc file"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:451
+#, no-wrap
+msgid ""
+"self.widgets.vbtb_main.set_size_request(85,-1)\n"
+"BB_SIZE = (70, 70) # default = (90, 56)\n"
+"self.widgets.tbtn_estop.set_size_request(*BB_SIZE)\n"
+"self.widgets.tbtn_on.set_size_request(*BB_SIZE)\n"
+"self.widgets.rbt_manual.set_size_request(*BB_SIZE)\n"
+"self.widgets.rbt_mdi.set_size_request(*BB_SIZE)\n"
+"self.widgets.rbt_auto.set_size_request(*BB_SIZE)\n"
+"self.widgets.tbtn_setup.set_size_request(*BB_SIZE)\n"
+"self.widgets.tbtn_user_tabs.set_size_request(*BB_SIZE)\n"
+"self.widgets.btn_exit.set_size_request(*BB_SIZE)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:454
+msgid "The widget names can the looked up in the /usr/share/gmoccapy.glade file"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:455
+#, no-wrap
+msgid "User CSS File"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:459
+msgid ""
+"Similar to the User command file it's possible to influence the appearance "
+"by cascading style sheets (CSS).  If a file `~/.gmoccapy_css` exists, its "
+"contents are loaded into the stylesheet provider and are so being applied to "
+"the GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:461
+msgid "A configuration-specific CSS file may be specified with an INI file setting"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:465
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"USER_CSS_FILE=filename.css\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:467
+msgid "If this file is specified, this file is used *instead* of `~/.gmoccapy_css`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:469
+msgid ""
+"Information what can be controlled by CSS can be found here: "
+"link:https://docs.gtk.org/gtk3/css-overview.html[Overview of CSS in GTK]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:471
+msgid "Here an example how the color of checked buttons can be set to yellow:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:471
+#, no-wrap
+msgid "Example Yellow color for checked buttons"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:477
+#, no-wrap
+msgid ""
+"button:checked {\n"
+"    background: rgba(250,230,0,0.8);\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:480 src/gui/qtdragon.adoc:86
+#, no-wrap
+msgid "Logging"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:483
+msgid ""
+"GMOCCAPY supports specifying the level of information (log level) that will "
+"be printed to the console and to the log file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:486
+msgid ""
+"The order is _VERBOSE_, _DEBUG_, _INFO_, _WARNING_, _ERROR_, _CRITICAL_.  "
+"Default is _WARNING_, that means _WARNING_, _ERROR_ and _CRITICAL_ are "
+"printed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:488
+msgid "You can specify the log level in the INI file like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:492
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"DISPLAY = gmoccapy <log_level_param>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:494
+msgid "using these parameters:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:500
+#, no-wrap
+msgid ""
+"Log level   <log_level_param>\n"
+"DEBUG       -d\n"
+"INFO        -i\n"
+"VERBOSE     -v\n"
+"ERROR       -q\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:502
+#, no-wrap
+msgid "Example: Configure logging to print only errors"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:507
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"DISPLAY = gmoccapy -q\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:510
+msgid "You can specify where to save the log file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:514
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"LOG_FILE = gmoccapy.log\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:516
+msgid "If `LOG_FILE` is not set, logging happens to `$HOME/<base_log_name>.log`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:522
+msgid ""
+"GMOCCAPY exports several HAL pins to be able to react to hardware devices.  "
+"The goal is to get a GUI that may be operated in a tool shop, "
+"completely/mostly without mouse or keyboard."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:527
+msgid ""
+"You will have to do all connections to GMOCCAPY pins in your postgui.hal "
+"file.  When GMOCCAPY is started, it creates the HAL pins for the GUI then it "
+"executes the post-GUI HAL file named in the INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:531
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"POSTGUI_HALFILE=<filename>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:536
+#, no-wrap
+msgid ""
+"Typically `<filename>` would be the configs base name + `_postgui.hal`, "
+"e.g. `lathe_postgui.hal`, but can be any legal filename.\n"
+"These commands are executed after the screen is built, guaranteeing the "
+"widget's HAL pins are available.\n"
+"You can have multiple line of `POSTGUI_HALFILE=<filename>` in the INI "
+"file. Each will be run one after the other in the order they appear."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:538
+#, no-wrap
+msgid "Right and Bottom Button Lists"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:543
+msgid ""
+"The screen has two main button lists, one on the right side an one on the "
+"bottom.  The right handed buttons will not change during operation, but the "
+"bottom button list will change very often.  The buttons are count from up to "
+"down and from left to right beginning with 0."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:546
+msgid "The pin names have changed in GMOCCAPY 2 to order them in a better way."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:548
+msgid "The pins for the right (vertical) buttons are:"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:550
+#, no-wrap
+msgid "*gmoccapy.v-button.button-0* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:551
+#, no-wrap
+msgid "*gmoccapy.v-button.button-1* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:552
+#, no-wrap
+msgid "*gmoccapy.v-button.button-2* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:553
+#, no-wrap
+msgid "*gmoccapy.v-button.button-3* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:554
+#, no-wrap
+msgid "*gmoccapy.v-button.button-4* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:555
+#, no-wrap
+msgid "*gmoccapy.v-button.button-5* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:556
+#, no-wrap
+msgid "*gmoccapy.v-button.button-6* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:558
+msgid "For the bottom (horizontal) buttons they are:"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:560
+#, no-wrap
+msgid "*gmoccapy.h-button.button-0* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:561
+#, no-wrap
+msgid "*gmoccapy.h-button.button-1* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:562
+#, no-wrap
+msgid "*gmoccapy.h-button.button-2* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:563
+#, no-wrap
+msgid "*gmoccapy.h-button.button-3* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:564
+#, no-wrap
+msgid "*gmoccapy.h-button.button-4* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:565
+#, no-wrap
+msgid "*gmoccapy.h-button.button-5* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:566
+#, no-wrap
+msgid "*gmoccapy.h-button.button-6* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:567
+#, no-wrap
+msgid "*gmoccapy.h-button.button-7* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:568
+#, no-wrap
+msgid "*gmoccapy.h-button.button-8* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:569
+#, no-wrap
+msgid "*gmoccapy.h-button.button-9* _(bit IN)_\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:573
+msgid ""
+"As the buttons in the bottom list will change according to the mode and "
+"other influences, the hardware buttons will activate the displayed "
+"functions.  So you don't have to take care about switching functions around "
+"in HAL, because that is done completely by GMOCCAPY!"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:575
+msgid ""
+"For a three axes XYZ machine the HAL pins will react as shown in the "
+"following three tables:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:577
+#, no-wrap
+msgid "Functional assignment of horizontal buttons (1)"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:580 src/gui/gmoccapy.adoc:597
+#: src/gui/gmoccapy.adoc:614 src/hal/intro.adoc:294
+#: src/hal/parallel-port.adoc:108
+#, no-wrap
+msgid "Pin"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:580
+#, no-wrap
+msgid "Manual Mode"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:580
+#, no-wrap
+msgid "MDI Mode"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:581
+#, no-wrap
+msgid "Auto Mode"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:581 src/gui/gmoccapy.adoc:598
+#: src/gui/gmoccapy.adoc:615
+#, no-wrap
+msgid "gmoccapy.h-button.button-0"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:581
+#, no-wrap
+msgid "open homing button"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:581
+#, no-wrap
+msgid "macro_0 or nothing"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:582
+#, no-wrap
+msgid "open file"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:582 src/gui/gmoccapy.adoc:599
+#: src/gui/gmoccapy.adoc:616
+#, no-wrap
+msgid "gmoccapy.h-button.button-1"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:582
+#, no-wrap
+msgid "open touch off stuff"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:582
+#, no-wrap
+msgid "macro_1 or nothing"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:583
+#, no-wrap
+msgid "reload program"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:583 src/gui/gmoccapy.adoc:600
+#: src/gui/gmoccapy.adoc:617
+#, no-wrap
+msgid "gmoccapy.h-button.button-2"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:583
+#, no-wrap
+msgid "macro_2 or nothing"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:584
+#, no-wrap
+msgid "run"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:584 src/gui/gmoccapy.adoc:601
+#: src/gui/gmoccapy.adoc:618
+#, no-wrap
+msgid "gmoccapy.h-button.button-3"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:584
+#, no-wrap
+msgid "open tool dialogs"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:584
+#, no-wrap
+msgid "macro_3 or nothing"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:585 src/man/man3/hal_port.3hal.adoc:114
+#: src/man/man3/hal_stream.3hal.adoc:137
+#, no-wrap
+msgid "stop"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:585 src/gui/gmoccapy.adoc:602
+#: src/gui/gmoccapy.adoc:619
+#, no-wrap
+msgid "gmoccapy.h-button.button-4"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:585
+#, no-wrap
+msgid "macro_4 or nothing"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:586
+#, no-wrap
+msgid "pause"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:586 src/gui/gmoccapy.adoc:603
+#: src/gui/gmoccapy.adoc:620
+#, no-wrap
+msgid "gmoccapy.h-button.button-5"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:586
+#, no-wrap
+msgid "macro_5 or nothing"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:587
+#, no-wrap
+msgid "step by step"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:587 src/gui/gmoccapy.adoc:604
+#: src/gui/gmoccapy.adoc:621
+#, no-wrap
+msgid "gmoccapy.h-button.button-6"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:587
+#, no-wrap
+msgid "macro_6 or nothing"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:588
+#, no-wrap
+msgid "run from line if enabled in settings, otherwise Nothing"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:588 src/gui/gmoccapy.adoc:605
+#: src/gui/gmoccapy.adoc:622
+#, no-wrap
+msgid "gmoccapy.h-button.button-7"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:588
+#, no-wrap
+msgid "macro_7 or nothing"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:589
+#, no-wrap
+msgid "optional blocks"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:589 src/gui/gmoccapy.adoc:606
+#: src/gui/gmoccapy.adoc:623
+#, no-wrap
+msgid "gmoccapy.h-button.button-8"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:589 src/gui/gmoccapy.adoc:590
+#, no-wrap
+msgid "full-size preview"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:589
+#, no-wrap
+msgid "macro_8 or switch page to additional macros"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:590 src/gui/gmoccapy.adoc:607
+#: src/gui/gmoccapy.adoc:624
+#, no-wrap
+msgid "gmoccapy.h-button.button-9"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:590
+#, no-wrap
+msgid "exit if machine is off, otherwise no reaction"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:590
+#, no-wrap
+msgid "open keyboard or abort if macro is running"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:591
+#, no-wrap
+msgid "edit code"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:594
+#, no-wrap
+msgid "Functional assignment of horizontal buttons (2)"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:597
+#, no-wrap
+msgid "Settings Mode"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:597
+#, no-wrap
+msgid "Homing Mode"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:598
+#, no-wrap
+msgid "Touch off Mode"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:598
+#, no-wrap
+msgid "delete MDI history"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:599
+#, no-wrap
+msgid "edit offsets"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:599
+#, no-wrap
+msgid "home all"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:600
+#, no-wrap
+msgid "touch X"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:601
+#, no-wrap
+msgid "touch Y"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:601
+#, no-wrap
+msgid "home x"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:602
+#, no-wrap
+msgid "touch Z"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:602
+#, no-wrap
+msgid "open classic ladder"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:602
+#, no-wrap
+msgid "home y"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:603
+#, no-wrap
+msgid "open HAL scope"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:603
+#, no-wrap
+msgid "home z"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:604
+#, no-wrap
+msgid "open HAL status"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:605
+#, no-wrap
+msgid "zero G92"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:605
+#, no-wrap
+msgid "open HAL meter"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:606
+#, no-wrap
+msgid "open HAL calibration"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:606
+#, no-wrap
+msgid "unhome all"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:607
+#, no-wrap
+msgid "set selected"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:607
+#, no-wrap
+msgid "open HAL show"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:607 src/gui/gmoccapy.adoc:608
+#: src/gui/gmoccapy.adoc:624 src/gui/gmoccapy.adoc:625
+#, no-wrap
+msgid "back"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:611
+#, no-wrap
+msgid "Functional assignment of horizontal buttons (3)"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:614
+#, no-wrap
+msgid "Tool Mode"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:614
+#, no-wrap
+msgid "Edit Mode"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:615
+#, no-wrap
+msgid "Select File"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:615
+#, no-wrap
+msgid "delete tool(s)"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:616
+#, no-wrap
+msgid "go to home directory"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:616
+#, no-wrap
+msgid "new tool"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:616
+#, no-wrap
+msgid "reload file"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:617
+#, no-wrap
+msgid "one directory level up"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:617
+#, no-wrap
+msgid "reload tool table"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:617
+#, no-wrap
+msgid "save"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:618
+#, no-wrap
+msgid "apply changes"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:618
+#, no-wrap
+msgid "save as"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:619
+#, no-wrap
+msgid "move selection left"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:619
+#, no-wrap
+msgid "change tool by number T? M6"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:620
+#, no-wrap
+msgid "move selection right"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:620
+#, no-wrap
+msgid "set tool by number without change M61 Q?"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:621
+#, no-wrap
+msgid "jump to directory as set in settings"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:621
+#, no-wrap
+msgid "change tool to the selected one"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:621
+#, no-wrap
+msgid "new file"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:623
+#, no-wrap
+msgid "select / ENTER"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:623
+#, no-wrap
+msgid "touch of tool in Z"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:623
+#, no-wrap
+msgid "show keyboard"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:628
+msgid "So we have 67 reactions with only 10 HAL pins!"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:632
+msgid ""
+"These pins are made available to be able to use the screen without a touch "
+"panel, or protect it from excessive use by placing hardware buttons around "
+"the panel.  They are available in a sample configuration like shown in the "
+"<<gmoccapy-sim-hardware-button,image below>>."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:634
+#, no-wrap
+msgid ""
+"Sample configuration \"gmoccapy_sim_hardware_button\" showing the side "
+"buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:636
+msgid "image:images/gmoccapy_sim_hardware_button_mid.png[align=\"left\",link=\"images/gmoccapy_sim_hardware_button.png\"]"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:637
+#, no-wrap
+msgid "Velocities and Overrides"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:640
+msgid ""
+"All sliders from GMOCCAPY can be connected to hardware encoders or hardware "
+"potentiometers."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:644
+msgid ""
+"For GMOCCAPY 3 some HAL pin names have changed when new controls have been "
+"implemented.  Max velocity does not exist any more, it was replaced by rapid "
+"override due to the demand of many users."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:646
+msgid "To connect encoders, the following pins are exported:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:648
+#, no-wrap
+msgid ""
+"*gmoccapy.jog.jog-velocity.counts*                _(s32 IN)_ - Jog "
+"velocity\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:649
+#, no-wrap
+msgid ""
+"*gmoccapy.jog.jog-velocity.count-enable*          _(bit IN)_ - Must be True, "
+"to enable counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:650
+#, no-wrap
+msgid ""
+"*gmoccapy.feed.feed-override.counts*              _(s32 IN)_ - feed "
+"override\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:651
+#, no-wrap
+msgid ""
+"*gmoccapy.feed.feed-override.count-enable*        _(bit IN)_ - Must be True, "
+"to enable counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:652
+#, no-wrap
+msgid ""
+"*gmoccapy.feed.reset-feed-override*               _(bit IN)_ - reset the "
+"feed override to *0%\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:653
+#, no-wrap
+msgid ""
+"*gmoccapy.spindle.spindle-override.counts*        _(s32 IN)_ - spindle "
+"override\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:654
+#, no-wrap
+msgid ""
+"*gmoccapy.spindle.spindle-override.count-enable*  _(bit IN)_ - Must be True, "
+"to enable counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:655
+#, no-wrap
+msgid ""
+"*gmoccapy.spindle.reset-spindle-override*         _(bit IN)_ - reset the "
+"spindle override to *0%\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:656
+#, no-wrap
+msgid ""
+"*gmoccapy.rapid.rapid-override.counts*            _(s32 IN)_ - Maximal "
+"Velocity of the *chine\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:657
+#, no-wrap
+msgid ""
+"*gmoccapy.rapid.rapid-override.count-enable*      _(bit IN)_ - Must be True, "
+"to enable counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:659
+msgid "To connect potentiometers, use the following pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:661
+#, no-wrap
+msgid ""
+"*gmoccapy.jog.jog-velocity.direct-value*          _(float IN)_ - To adjust "
+"the jog velocity slider\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:662
+#, no-wrap
+msgid ""
+"*gmoccapy.jog.jog-velocity.analog-enable*         _(bit IN)_   - Must be "
+"True, to allow analog inputs\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:663
+#, no-wrap
+msgid ""
+"*gmoccapy.feed.feed-override.direct-value*        _(float IN)_ - To adjust "
+"the feed override slider\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:664
+#, no-wrap
+msgid ""
+"*gmoccapy.feed.feed-override.analog-enable*       _(bit IN)_   - Must be "
+"True, to allow analog inputs\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:665
+#, no-wrap
+msgid ""
+"*gmoccapy.spindle.spindle-override.direct-value*  _(float IN)_ - To adjust "
+"the spindle override slider\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:666
+#, no-wrap
+msgid ""
+"*gmoccapy.spindle.spindle-override.analog-enable* _(bit IN)_   - Must be "
+"True, to allow analog inputs\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:667
+#, no-wrap
+msgid ""
+"*gmoccapy.rapid.rapid-override.direct-value*      _(float)_    - To adjust "
+"the max velocity slider\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:668
+#, no-wrap
+msgid ""
+"*gmoccapy.rapid.rapid-override.analog-enable*     _(bit IN)_   - Must be "
+"True, to allow analog inputs\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:673
+msgid ""
+"In addition, GMOCCAPY 3 offers additional HAL pins to control the new slider "
+"widgets with momentary switches.  The values how fast the increase or "
+"decrease will be, must be set in the glade file.  In a future release it "
+"will be integrated in the settings page."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:675
+#, no-wrap
+msgid "SPEED"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:677
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_jog_vel.increase*      _(bit IN)_    - As long as True the "
+"value of the slider will increase\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:678
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_jog_vel.decrease*      _(bit IN)_    - As long as True the "
+"value of the slider will decrease\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:679
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_jog_vel.scale*         _(float IN)_  - A value to scale the "
+"output value (handy to change units/min to units/sec)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:680
+#, no-wrap
+msgid "*gmoccapy.spc_jog_vel.value*         _(float OUT)_ - Value of the widget\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:681
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_jog_vel.scaled-value*  _(float OUT)_ - Scaled value of the "
+"widget\n"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:681 src/plasma/qtplasmac.adoc:720
+#: src/plasma/qtplasmac.adoc:859
+#, no-wrap
+msgid "FEED"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:683
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_feed.increase*         _(bit IN)_    - As long as True the "
+"value of the slider will increase\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:684
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_feed.decrease*         _(bit IN)_    - As long as True the "
+"value of the slider will decrease\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:685
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_feed.scale*            _(float IN)_  - A value to scale the "
+"output value (handy to change units/min to units/sec)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:686
+#, no-wrap
+msgid "*gmoccapy.spc_feed.value*            _(float OUT)_ - Value of the widget\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:687
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_feed.scaled-value*     _(float OUT)_ - Scaled value of the "
+"widget\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:689
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_spindle.increase*      _(bit IN)_    - As long as True the "
+"value of the slider will increase\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:690
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_spindle.decrease*      _(bit IN)_    - As long as True the "
+"value of the slider will decrease\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:691
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_spindle.scale*         _(float IN)_  - A value to scale the "
+"output value (handy to change units/min to units/sec)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:692
+#, no-wrap
+msgid "*gmoccapy.spc_spindle.value*         _(float OUT)_ - Value of the widget\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:693
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_spindle.scaled-value*  _(float OUT)_ - Scaled value of the "
+"widget\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:693
+#, no-wrap
+msgid "RAPIDS"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:695
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_rapid.increase*        _(bit IN)_    - As long as True the "
+"value of the slider will increase\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:696
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_rapid.decrease*        _(bit IN)_    - As long as True the "
+"value of the slider will decrease\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:697
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_rapid.scale*           _(float IN)_  - A value to scale the "
+"output value (handy to change units/min to units/sec)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:698
+#, no-wrap
+msgid "*gmoccapy.spc_rapid.value*           _(float OUT)_ - Value of the widget\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:699
+#, no-wrap
+msgid ""
+"*gmoccapy.spc_rapid.scaled-value*    _(float OUT)_ - Scaled value of the "
+"widget\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:701
+msgid ""
+"The float pins do accept values from 0.0 to 1.0, being the percentage value "
+"you want to set the slider value."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:705
+msgid ""
+"If you use both connection types, do not connect the same slider to both pin "
+"as the influences between the two has not been tested! Different sliders may "
+"be connected to the one or other HAL connection type."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:710
+msgid ""
+"Please be aware that the jog velocity depends on the turtle button state.  "
+"It will lead to different slider scales depending on the mode (turtle or "
+"rabbit).  Please take also a look at <<gmoccapy:jog-velocity,jog velocities "
+"and turtle-jog HAL pin>> for more details."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:711
+#, no-wrap
+msgid "Setting a slider value"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:721
+#, no-wrap
+msgid ""
+"Spindle Override Min Value =  20 % +\n"
+"Spindle Override Max Value = 120 % +\n"
+"gmoccapy.analog-enable = 1 +\n"
+"gmoccapy.spindle-override-value = 0.25 +\n"
+" +\n"
+"value to set = Min Value + (Max Value - Min Value) * "
+"gmoccapy.spindle-override-value +\n"
+"value to set = 20 + (120 - 20) * 0.25 +\n"
+"value to set = 45 % +\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:723
+#, no-wrap
+msgid "Jog HAL Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:726
+msgid ""
+"All axes given in the INI file have a jog-plus and a jog-minus pin, so "
+"hardware momentary switches can be used to jog the axes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:729
+msgid "Naming of these HAL pins have changed in GMOCCAPY 2."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:731
+msgid "For the standard XYZ config following HAL pins will be available:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:733
+#, no-wrap
+msgid "*gmoccapy.jog.axis.jog-x-plus*  _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:734
+#, no-wrap
+msgid "*gmoccapy.jog.axis.jog-x-minus* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:735
+#, no-wrap
+msgid "*gmoccapy.jog.axis.jog-y-plus*  _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:736
+#, no-wrap
+msgid "*gmoccapy.jog.axis.jog-y-minus* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:737
+#, no-wrap
+msgid "*gmoccapy.jog.axis.jog-z-plus*  _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:738
+#, no-wrap
+msgid "*gmoccapy.jog.axis.jog-z-minus* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:740
+msgid "If you use a 4 axes configuration, there will be two additional pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:742
+#, no-wrap
+msgid "*gmoccapy.jog.jog-<your fourth axis letter >-plus*  _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:743
+#, no-wrap
+msgid "*gmoccapy.jog.jog-<your fourth axis letter >-minus* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:745
+msgid "For a C-axis you will see:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:747
+#, no-wrap
+msgid "*gmoccapy.jog.axis.jog-c-plus*  _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:748
+#, no-wrap
+msgid "*gmoccapy.jog.axis.jog-c-minus* _(bit IN)_\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:750
+#, no-wrap
+msgid "Jog Velocities and Turtle-Jog HAL Pin"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:758
+msgid ""
+"The jog velocity can be selected with the corresponding slider.  The scale "
+"of the slider will be modified if the turtle button (the one showing a "
+"rabbit or a turtle) has been toggled.  If the button is not visible, it "
+"might have been disabled on the <<gmoccapy:turtle-jog,settings page>>.  If "
+"the button shows the rabbit-icon, the scale is from min to max machine "
+"velocity.  If it shows the turtle, the scale will reach only 1/20 of max "
+"velocity by default.  The used divider can be set on the "
+"<<gmoccapy:turtle-jog,settings page>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:760
+msgid "So using a touch screen it is much easier to select smaller velocities."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:762
+msgid "GMOCCAPY offers this HAL pin to toggle between turtle and rabbit jogging:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:764
+#, no-wrap
+msgid "*gmoccapy.jog.turtle-jog* _(bit IN)_\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:765
+#, no-wrap
+msgid "Jog Increment HAL Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:768
+msgid "The jog increments given in the INI file like"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:772
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:776
+msgid ""
+"are selectable through HAL pins, so a selection hardware switch can be used "
+"to select the increment to use.  There will be a maximum of 10 HAL pins for "
+"the increments given in the INI file.  If you give more increments in your "
+"INI file, they will be not reachable from the GUI as they will not be "
+"displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:778
+msgid ""
+"If you have 6 increments in your INI file like in the example above, you "
+"will get *7* pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:780
+#, no-wrap
+msgid ""
+"*gmoccapy.jog.jog-inc-0* _(bit IN)_ - This one is fixed and will represent "
+"continuous jogging.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:781
+#, no-wrap
+msgid ""
+"*gmoccapy.jog.jog-inc-1* _(bit IN)_ - First increment given in the INI "
+"file.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:782
+#, no-wrap
+msgid "*gmoccapy.jog.jog-inc-2* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:783
+#, no-wrap
+msgid "*gmoccapy.jog.jog-inc-3* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:784
+#, no-wrap
+msgid "*gmoccapy.jog.jog-inc-4* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:785
+#, no-wrap
+msgid "*gmoccapy.jog.jog-inc-5* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:786
+#, no-wrap
+msgid "*gmoccapy.jog.jog-inc-6* _(bit IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:788
+msgid "GMOCCAPY offers also a HAL pin to output the selected jog increment:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:790
+#, no-wrap
+msgid "*gmoccapy.jog.jog-increment* _(float OUT)_\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:792
+#, no-wrap
+msgid "Hardware Unlock Pin"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:796
+msgid ""
+"To be able to use a key switch to unlock the settings page, the following "
+"pin is exported:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:799
+#, no-wrap
+msgid ""
+"*gmoccapy.unlock-settings* _(bit IN)_ - The settings page is unlocked if the "
+"pin is high.\n"
+"To use this pin, you need to activate it on the settings page.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:800
+#, no-wrap
+msgid "Error/Warning Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:803
+#, no-wrap
+msgid ""
+"*gmoccapy.error* _(bit OUT)_ - Indicates an error, so a light can lit or "
+"even the machine may be stopped. It will be reset with the pin "
+"`gmoccapy.delete-message`.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:804
+#, no-wrap
+msgid ""
+"*gmoccapy.delete-message* _(bit IN)_ - Will delete the first error and reset "
+"the `gmoccapy.error` pin to false after the last error has been cleared.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:805
+#, no-wrap
+msgid ""
+"*gmoccapy.warning-confirm* _(bit IN)_ - Confirms warning dialog like click "
+"on OK\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:810
+msgid ""
+"Messages or user infos will not affect the `gmoccapy.error` pin, but the "
+"`gmoccapy.delete-message` pin will delete the last message if no error is "
+"shown!"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:813
+#, no-wrap
+msgid "User Created Message HAL Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:816
+msgid ""
+"GMOCCAPY may be configured to react to external errors, using 3 different "
+"user messages:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:817
+#, no-wrap
+msgid "status"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:820
+#, no-wrap
+msgid "*gmoccapy.messages.status* _(bit IN)_ - Triggers the dialog.\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:821
+#, no-wrap
+msgid "okdialog"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:824
+#, no-wrap
+msgid "*gmoccapy.messages.okdialog* _(bit IN)_ - Triggers the dialog.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:825
+#, no-wrap
+msgid ""
+"*gmoccapy.messages.okdialog-waiting* _(bit OUT)_ - Will be '1' as long as "
+"the dialog is open. Closing the message will reset the this pin.\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:826
+#, no-wrap
+msgid "yesnodialog"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:829
+#, no-wrap
+msgid "*gmoccapy.messages.yesnodialog* _(bit IN)_ - Triggers the dialog.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:830
+#, no-wrap
+msgid ""
+"*gmoccapy.messages.yesnodialog-waiting* _(bit OUT)_ - Will be '1' as long as "
+"the dialog is open. Closing the message will reset the this pin.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:832
+#, no-wrap
+msgid ""
+"*gmoccapy.messages.yesnodialog-response* _(bit OUT)_ - This pin will change "
+"to '1' if the user clicks OK and in all other cases it will be '0'.\n"
+"This pin will remain '1' until the dialog is called again.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:835
+msgid ""
+"To add a user created message you need to add the message to the INI file in "
+"the DISPLAY section.  See "
+"<<sub:gmocccapy-configuration-user-messages,Configuration of User Created "
+"Messages>>."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:836
+#, no-wrap
+msgid "User Message Example (INI file)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:842
+#, no-wrap
+msgid ""
+"MESSAGE_TEXT = LUBE FAULT\n"
+"MESSAGE_TYPE = okdialog\n"
+"MESSAGE_PINNAME = lube-fault\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:846
+#, no-wrap
+msgid ""
+"MESSAGE_TEXT = X SHEAR PIN BROKEN\n"
+"MESSAGE_TYPE = status\n"
+"MESSAGE_PINNAME = pin\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:850
+msgid ""
+"To connect these new pins you need to do this in the postgui HAL file.  Here "
+"are some example connections which connect the message signals to some place "
+"else in the HAL file."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:851
+#, no-wrap
+msgid "Example Connection of User Messages (HAL file)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:857
+#, no-wrap
+msgid ""
+"net gmoccapy-lube-fault gmoccapy.messages.lube-fault\n"
+"net gmoccapy-lube-fault-waiting gmoccapy.messages.lube-fault-waiting\n"
+"net gmoccapy-pin gmoccapy.messages.pin\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:861
+msgid ""
+"For more information about HAL files and the net command see the "
+"<<cha:basic-hal-reference,HAL Basics>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:862
+#, no-wrap
+msgid "Spindle Feedback Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:865
+msgid "There are two pins for spindle feedback:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:867
+#, no-wrap
+msgid ""
+"*gmoccapy.spindle_feedback_bar* _(float IN)_ - Pin to show the spindle speed "
+"on the spindle bar.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:868
+#, no-wrap
+msgid ""
+"*gmoccapy.spindle_at_speed_led* _(bit IN)_ - Pin to lit the "
+"is-at-speed-led.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:870
+#, no-wrap
+msgid "Pins to Indicate Program Progress Information"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:873
+msgid "There are three pins giving information about the program progress:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:875
+#, no-wrap
+msgid ""
+"*gmoccapy.program.length* _(s32 OUT)_ - Shows the total number of lines of "
+"the program.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:876
+#, no-wrap
+msgid ""
+"*gmoccapy.program.current-line* _(s32 OUT)_ - Indicates the current working "
+"line of the program.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:877
+#, no-wrap
+msgid ""
+"*gmoccapy.program.progress* _(float OUT)_ - Gives the program progress in "
+"percentage.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:880
+msgid ""
+"The values may not be very accurate if you are working with subroutines or "
+"large remap procedures.  Also loops will cause different values."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:881
+#, no-wrap
+msgid "Tool Related Pins"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:883
+#, no-wrap
+msgid "Tool Change Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:887
+msgid ""
+"These pins are provided to use GMOCCAPY's internal tool change dialog, "
+"similar to the one known from AXIS, but with several modifications.  So you "
+"will not only get the message to change to 'tool number 3', but also the "
+"description of that tool like '7.5 mm 3 flute cutter'.  The information is "
+"taken from the tool table, so it is up to you what to display."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:888
+#, no-wrap
+msgid "GMOCCAPY tool change dialog"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gmoccapy.adoc:889
+#, no-wrap
+msgid "Manual tool change"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:889
+#, no-wrap
+msgid "images/gmoccapy_manual_toolchange.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:892
+#, no-wrap
+msgid ""
+"*gmoccapy.toolchange-number*  _(s32 IN)_ - The number of the tool to be "
+"changed\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:893
+#, no-wrap
+msgid ""
+"*gmoccapy.toolchange-change*  _(bit IN)_ - Indicates that a tool has to be "
+"changed\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:894
+#, no-wrap
+msgid ""
+"*gmoccapy.toolchange-changed* _(bit OUT)_ - Indicates tool has been "
+"changed\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:895
+#, no-wrap
+msgid "*gmoccapy.toolchange-confirm* _(bit IN)_ - Confirms tool change\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:897
+msgid "Usually they are connected like this for a manual tool change:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:904
+#, no-wrap
+msgid ""
+"net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change\n"
+"net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed\n"
+"net tool-prep-number gmoccapy.toolchange-number <= "
+"iocontrol.0.tool-prep-number\n"
+"net tool-prep-loop iocontrol.0.tool-prepare <= iocontrol.0.tool-prepared\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:908
+msgid ""
+"Please take care, that this connections have to be done in the postgui HAL "
+"file."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:909
+#, no-wrap
+msgid "Tool Offset Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:912
+msgid ""
+"These pins allow you to show the active tool offset values for X and Z in "
+"the tool information frame.  You should know that they are only active after "
+"G43 has been sent."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:913
+#, no-wrap
+msgid "Tool information area"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gmoccapy.adoc:914
+#, no-wrap
+msgid "Tool information"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:914
+#, no-wrap
+msgid "images/gmoccapy_tool_info.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:917
+#, no-wrap
+msgid "*gmoccapy.tooloffset-x* _(float IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:918
+#, no-wrap
+msgid "*gmoccapy.tooloffset-z* _(float IN)_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:921
+msgid ""
+"The tooloffset-x line is not needed on a mill, and will not be displayed on "
+"a mill with trivial kinematics."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:923
+msgid ""
+"To display the current offsets, the pins have to be connected like this in "
+"the postgui HAL file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:928
+#, no-wrap
+msgid ""
+"net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x\n"
+"net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:933
+#, no-wrap
+msgid ""
+"Please note, that GMOCCAPY takes care of its own to update the offsets, "
+"sending an G43 after any tool change, *but not in auto mode!*\n"
+"So writing a program makes you responsible to include an G43 after each tool "
+"change!"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:935 src/gui/qtdragon.adoc:938
+#, no-wrap
+msgid "Auto Tool Measurement"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:939
+msgid ""
+"GMOCCAPY offers an integrated auto tool measurement.  To use this feature, "
+"you will need to do some additional settings and you may want to use the "
+"offered HAL pin to get values in your own NGC remap procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:943
+msgid ""
+"Before starting the first test, do not forget to enter the probe height and "
+"probe velocities on the settings page! See "
+"<<gmoccapy:tool-measurement,Settings Page Tool Measurement>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:946
+msgid ""
+"It might be also a good idea to take a look at the tool measurement video, "
+"see <<gmoccapy:tool-measurement-videos,tool measurement related videos>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:949
+msgid ""
+"Tool Measurement in GMOCCAPY is done a little bit different to many other "
+"GUIs.  You should follow these steps:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:951 src/gui/qtdragon.adoc:972
+msgid "Touch off your workpiece in X and Y."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:952
+msgid ""
+"Measure the height of your block from the base where your tool switch is "
+"located, to the upper face of the block (including chuck etc.)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:953
+msgid "Push the button block height and enter the measured value."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:954 src/gui/qtdragon.adoc:975
+msgid "Go to auto mode and start your program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:956
+msgid "Here is a small sketch:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:957
+#, no-wrap
+msgid "Tool measurement data"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:958 src/gui/qtdragon.adoc:977
+#, no-wrap
+msgid "images/sketch_auto_tool_measurement.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:962
+msgid ""
+"With the first given tool change the tool will be measured and the offset "
+"will be set automatically to fit the block height.  The advantage of the "
+"GMOCCAPY way is, that you do not need a reference tool."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:968
+msgid ""
+"Your program must contain a tool change at the beginning! The tool will be "
+"measured, even it has been used before, so there is no danger, if the block "
+"height has changed.  There are several videos showing the way to do that on "
+"YouTube."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:971
+#, no-wrap
+msgid "Provided Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:975
+msgid ""
+"GMOCCAPY offers five pins for tool measurement purposes.  These pins are "
+"mostly used to be read from a G-code subroutine, so the code can react to "
+"different values."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:977
+#, no-wrap
+msgid "*gmoccapy.toolmeasurement* _(bit OUT)_ - Enable or not tool measurement\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:978
+#, no-wrap
+msgid ""
+"*gmoccapy.blockheight* _(float OUT)_ - The measured value of the top face of "
+"the workpiece\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:979
+#, no-wrap
+msgid "*gmoccapy.probeheight* _(float OUT)_ - The probe switch height\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:980
+#, no-wrap
+msgid ""
+"*gmoccapy.searchvel* _(float OUT)_ - The velocity to search for the tool "
+"probe switch\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:981
+#, no-wrap
+msgid "*gmoccapy.probevel* _(float OUT)_ - The velocity to probe tool length\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:982
+#, no-wrap
+msgid "INI File Modifications"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:985
+msgid "Modify your INI file to include the following sections."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:986
+#, no-wrap
+msgid "The RS274NGC Section"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:992
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"# is the sub, with is called when a error during tool change happens, not "
+"needed on every machine configuration\n"
+"ON_ABORT_COMMAND=O <on_abort> call\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:995
+#, no-wrap
+msgid ""
+"# The remap code\n"
+"REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change "
+"epilog=change_epilog\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:998
+msgid ""
+"Make sure INI_VARS and HAL_PIN_VARS are not set to 0. They are set to 1 by "
+"default."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gmoccapy.adoc:999 src/gui/qtdragon.adoc:1147
+#, no-wrap
+msgid "The Tool Sensor Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1002
+msgid ""
+"The position of the tool sensor and the start position of the probing "
+"movement, all values are absolute coordinates, except MAXPROBE, which must "
+"be given in relative movement."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1010
+#, no-wrap
+msgid ""
+"[TOOLSENSOR]\n"
+"X = 10\n"
+"Y = 10\n"
+"Z = -20\n"
+"MAXPROBE = -20\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gmoccapy.adoc:1012 src/gui/qtdragon.adoc:1183
+#, no-wrap
+msgid "The Change Position Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1015
+msgid ""
+"This is not named TOOL_CHANGE_POSITION on purpose - *canon uses that name "
+"and will interfere otherwise.* The position to move the machine before "
+"giving the change tool command. All values are in absolute coordinates."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1022 src/gui/qtdragon.adoc:1196
+#, no-wrap
+msgid ""
+"[CHANGE_POSITION]\n"
+"X = 10\n"
+"Y = 10\n"
+"Z = -2\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/gmoccapy.adoc:1024 src/gui/qtdragon.adoc:1198
+#, no-wrap
+msgid "The Python Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1026
+msgid "The Python plug ins serves interpreter and task."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1034
+#, no-wrap
+msgid ""
+"[PYTHON]\n"
+"# The path to start a search for user modules\n"
+"PATH_PREPEND = python\n"
+"# The start point for all.\n"
+"TOPLEVEL = python/toplevel.py\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1036
+#, no-wrap
+msgid "Needed Files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1040
+msgid ""
+"First make a directory \"python\" in your config folder.  From "
+"`<your_linuxcnc-dev_directory>/configs/sim/gmoccapy/python` copy the "
+"following files into the just created `config_dir/python` folder:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1042
+msgid "`toplevel.py`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1043
+msgid "`remap.py`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1044
+msgid "`stdglue.py`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1046
+msgid "From `<your_linuxcnc-dev_directory>/configs/sim/gmoccapy/macros` copy"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1048
+msgid "`on_abort.ngc`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1049
+msgid "`change.ngc`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1051
+msgid ""
+"to the directory specified as `SUBROUTINE_PATH`, see "
+"<<gmocappy:rs274ngc,RS274NGC Section>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1053
+msgid ""
+"Open `change.ngc` with a editor and uncomment the following lines (49 and "
+"50):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1059
+#, no-wrap
+msgid ""
+"F #<_hal[gmoccapy.probevel]>\n"
+"G38.2 Z-4\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1062
+msgid "You may want to modify this file to fit more your needs."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1063
+#, no-wrap
+msgid "Needed HAL Connections"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1066
+msgid "Connect the tool probe in your HAL file like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1070 src/gui/qtdragon.adoc:1220
+#, no-wrap
+msgid "net probe  motion.probe-input <= <your_input_pin>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1073
+msgid "The line might look like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1078
+#, no-wrap
+msgid "net probe  motion.probe-input <= parport.0.pin-15-in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1081
+msgid "In your postgui.hal file add the following lines:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1089
+#, no-wrap
+msgid ""
+"# The next lines are only needed if the pins had been connected before\n"
+"unlinkp iocontrol.0.tool-change\n"
+"unlinkp iocontrol.0.tool-changed\n"
+"unlinkp iocontrol.0.tool-prep-number\n"
+"unlinkp iocontrol.0.tool-prepared\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1095
+#, no-wrap
+msgid ""
+"# link to GMOCCAPY toolchange, so you get the advantage of tool description "
+"on change dialog\n"
+"net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change\n"
+"net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed\n"
+"net tool-prep-number gmoccapy.toolchange-number <= "
+"iocontrol.0.tool-prep-number\n"
+"net tool-prep-loop iocontrol.0.tool-prepare <= iocontrol.0.tool-prepared\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:1098
+#, no-wrap
+msgid "The Settings Page"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1102
+msgid ""
+"To enter the page you will have to click on "
+"image:images/gmoccapy_settings_button.png[align=\"left\"] and give an unlock "
+"code, which is *123* by default.  If you want to change it at this time you "
+"will have to edit the hidden preference file, see "
+"<<gmoccapy:display-section,the display section>> for details."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1104
+msgid "The page is separated in three main tabs:"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1105
+#, no-wrap
+msgid "Appearance"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1107
+#, no-wrap
+msgid "GMOCCAPY settings page Appearance"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gmoccapy.adoc:1108
+#, no-wrap
+msgid "Configuration page"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:1108
+#, no-wrap
+msgid "images/gmoccapy_settings_appearance.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1111
+msgid "On this tab you will find the following options:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1112
+#, no-wrap
+msgid "Main Window"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1117
+msgid ""
+"Here you can select how you wish the GUI to start.  The main reason for this "
+"was the wish to get an easy way for the user to set the starting options "
+"without the need to touch code.  You have three options:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1119
+msgid "_Start as full screen_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1120
+msgid "_Start maximized_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1123
+msgid ""
+"_Start as window_ - If you select start as window the spinboxes to set the "
+"position and size will get active.  One time set, the GUI will start every "
+"time on the place and with the size selected.  Nevertheless the user can "
+"change the size and position using the mouse, but that will not have any "
+"influence on the settings."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1124
+msgid ""
+"_Window decorated_ - Allows the title bar to be hidden. (default: title bar "
+"visible)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1125
+msgid ""
+"_hide cursor_ - Does allow to hide the cursor, what is very useful if you "
+"use a touch screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1126
+msgid "_hide tooltips_ - Hides the tool tips."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1127
+#, no-wrap
+msgid "Keyboard"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1133
+msgid ""
+"The checkboxes allow the user to select if he wants the on board keyboard to "
+"be shown immediately, when entering the MDI Mode, when entering the offset "
+"page, the tooledit widget or when open a program in the EDIT mode.  The "
+"keyboard button on the bottom button list will not be affected by these "
+"settings, so you are able to show or hide the keyboard by pressing the "
+"button.  The default behavior will be set by the checkboxes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1135
+msgid "Default are :"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1138
+msgid ""
+"If this section is not sensitive, you have not installed a virtual keyboard, "
+"supported ones are _onboard_ and _matchbox-keyboard_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1140
+msgid "_Show keyboard on offset_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1141
+msgid "_Show keyboard on tooledit_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1142
+msgid "_Show keyboard on MDI_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1143
+msgid "_Show keyboard on EDIT_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1144
+msgid "_Show keyboard on load file_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1147
+msgid ""
+"If the keyboard layout is not correct, i.e. clicking Y gives Z, than the "
+"layout has not been set properly, related to your locale settings.  For "
+"onboard it can be solved with a small batch file with the following content:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1151
+#, no-wrap
+msgid ""
+"#!/bin/bash\n"
+"setxkbmap -model pc105 -layout de -variant basic\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1155
+msgid ""
+"The letters \"de\" are for German, you will have to set them according to "
+"your locale settings.  Just execute this file before starting LinuxCNC, it "
+"can be done also adding a starter to your local folder."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1158
+#, no-wrap
+msgid "./config/autostart\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1161
+msgid "So that the layout is set automatically on starting."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1163
+msgid ""
+"For matchbox-keyboard you will have to make your own layout, for a German "
+"layout ask in the forum."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1164
+#, no-wrap
+msgid "GMOCCAPY with Onboard keyboard in edit mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1166
+msgid ""
+"image:images/gmoccapy_keyboard_edit_mode_mid.png[\"Onboard "
+"keyboard\",align=\"left\",link=\"images/gmoccapy_keyboard_edit_mode.png\"]"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1167
+#, no-wrap
+msgid "On Touch Off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1170
+msgid ""
+"This gives the option whether to show the preview tab or the offset page tab "
+"when you enter the touch off mode by clicking the corresponding bottom "
+"button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1172
+msgid "_show preview_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1173
+msgid "_show offsets_"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1174
+#, no-wrap
+msgid "DRO Options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1177
+msgid ""
+"You have the option to select the background colors of the different DRO "
+"states.  So users suffering from protanopia (red/green weakness) are able to "
+"select proper colors."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1179
+msgid "By default, the background colors are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1181
+msgid "Relative mode = black"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1182
+msgid "Absolute mode = blue"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1183
+msgid "Distance to go = yellow"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1185
+msgid "The foreground color of the DRO can be selected with:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1187
+#, no-wrap
+msgid "homed color   = green\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1188
+#, no-wrap
+msgid "unhomed color = red\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1193
+msgid ""
+"You can change through the DRO modes (absolute, relative, distance to go) by "
+"clicking the number on the DRO! If you click on the left side letter of the "
+"DRO a popup window will allow you to set the value of the axes, making it "
+"easier to set the value, as you will not need to go over the touch off "
+"bottom button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1197
+msgid ""
+"Allows to set the size of the DRO font, default is 28, if you use a bigger "
+"screen you may want to increase the size up to 56.  If you do use 4 axes, "
+"the DRO font size will be 3/4 of the value, because of space reason."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:1197
+#, no-wrap
+msgid "digits"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1199
+msgid "Sets the number of digits of the DRO from 1 to 5."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:1204
+msgid ""
+"Imperial will show one digit more that metric.  So if you are in imperial "
+"machine units and set the digit value to 1, you will get no digit at all in "
+"metric."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:1205
+#, no-wrap
+msgid "toggle DRO mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1209
+#, no-wrap
+msgid ""
+"If not active, a mouse click on the DRO will not take any action.\n"
+"By default this checkbox is active, so every click on any DRO will toggle "
+"the DRO readout from actual to relative to DTG (distance to go).\n"
+"Neverthereless a click on the axis letter will open the popup dialog to set "
+"the axis value."
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1210 src/plasma/qtplasmac.adoc:1156
+#, no-wrap
+msgid "Preview"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1215
+msgid ""
+"_Grid Size_ - Sets the grid size of the preview window.  Unfortunately the "
+"size *has to be set in inches*, even if your machine units are metric.  We "
+"do hope to fix that in a future release."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1217
+msgid "The grid will not be shown in perspective view."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1219
+msgid ""
+"_Show DRO_ - Will show the a DRO also in the preview pane, it will be always "
+"shown in fullsize preview."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1220
+msgid ""
+"_Show DTG_ - Will show the DTG (direct distance to end point) in the preview "
+"pane if Show DRO is active. Otherwise only in full size preview."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1221
+msgid ""
+"_Show Offsets_ - Will show the offsets in the preview pane when Show DRO is "
+"active. Otherwise only in full size preview."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1222
+msgid ""
+"_Mouse Button Mode_ - This combobox allows you to select the button behavior "
+"of the mouse to rotate, move or zoom within the preview:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1224
+msgid "left rotate, middle move, right zoom"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1225
+msgid "left zoom, middle move, right rotate"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1226
+msgid "left move, middle rotate, right zoom"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1227
+msgid "left zoom, middle rotate, right move"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1228
+msgid "left move, middle zoom, right rotate"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1229
+msgid "left rotate, middle zoom, right move"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1231
+msgid "Default is left move, middle zoom, right rotate."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1233
+msgid "The mouse wheel will still zoom the preview in every mode."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:1238
+msgid ""
+"If you select an element in the preview, the selected element will be taken "
+"as rotation center point and in auto mode the corresponding code line will "
+"be highlighted."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1240
+#, no-wrap
+msgid "File to load on start up"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1245
+msgid ""
+"Select the file you want to be loaded on start up.  If a file is loaded, it "
+"can be set by pressing the current button.  To avoid that any program is "
+"loaded at start up, just press the None button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1249
+msgid ""
+"The file selection screen will use the filters you have set in the INI file, "
+"if there aren't any filters given, you will only see *NGC files*.  The path "
+"will be set according to the INI settings in `[DISPLAY] PROGRAM_PREFIX`."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1250
+#, no-wrap
+msgid "Jump to dir"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1253
+msgid ""
+"You can set here the directory to jump to if you press the corresponding "
+"button in the file selection dialog."
+msgstr ""
+
+#.  image::images/gmoccapy_file_selection_dialog_with_keyboard.png["Directory selection",align="left"]
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1256
+#, no-wrap
+msgid "Themes and Sounds"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1260
+msgid ""
+"This lets the user select what desktop theme to apply and what error and "
+"messages sounds should be played.  By default \"Follow System Theme\" is "
+"set."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1263
+msgid ""
+"It further allows to change the icon theme.  Currently there are three "
+"themes available:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1265
+msgid "classic"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1266
+msgid "material"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1267
+msgid "material light"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1269
+msgid ""
+"To create custom icon themes, see section <<gmoccapy:icon-theme-section,Icon "
+"Theme>> for details."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1270
+#, no-wrap
+msgid "Hardware"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gmoccapy.adoc:1272
+#, no-wrap
+msgid "Hardware settings"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:1272
+#, no-wrap
+msgid "images/gmoccapy_settings_hardware.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1274
+#, no-wrap
+msgid "Hardware MPG Scale"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1282
+msgid ""
+"For the different HAL pins to connect MPG wheels to, you may select "
+"individual scales to be applied.  The main reason for this was my own test "
+"to solve this through HAL connections, resulting in a very complex HAL "
+"file.  Imagine a user having an MPG Wheel with 100 ipr and he wants to slow "
+"down the max. vel. from 14000 to 2000 mm/min, that needs 12000 impulses, "
+"resulting in 120 turns of the wheel! Or an other user having a MPG Wheel "
+"with 500 ipr and he wants to set the spindle override which has limits from "
+"50 to 120 % so he goes from min to max within 70 impulses, meaning not even "
+"1/4 turn."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1284
+msgid "By default all scales are set using the calculation:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1287
+#, no-wrap
+msgid "(MAX - MIN)/100\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1289
+#, no-wrap
+msgid "Keyboard shortcuts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1294
+#, no-wrap
+msgid ""
+"Some users want to jog there machine using the keyboard buttons and there "
+"are others that will never allow this. So everybody can select whether to "
+"use them or not.\n"
+"Keyboard shortcuts are disabled by default. They can be activated in the "
+"<<gmoccapy:advanced-settings,Advanced Settings>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1297
+msgid ""
+"It is not recommended to use keyboard jogging, as it represents a serious "
+"risk for operator and machine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1300
+msgid ""
+"Please take care if you use a lathe, then the shortcuts will be different, "
+"see the <<gmoccapy:lathe-section,Lathe Specific Section>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1304
+msgid "_F1_ - Trigger Estop (will work even if keyboard shortcuts are disabled)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1305
+msgid "_F2_ - Toggle machine on/off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1306
+msgid "_F3_ - Manual mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1307
+msgid "_F5_ - MDI mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1308
+msgid "_ESC_ - Abort"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:1309
+#, no-wrap
+msgid "In Manual Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1312
+msgid "_Arrow_Left_ or _NumPad_Left_ - Jog X minus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1313
+msgid "_Arrow_Right_ or _NumPad_Right_ - Jog X plus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1314
+msgid "_Arrow_up_ or _NumPad_Up_ - Jog Y plus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1315
+msgid "_Arrow_Down_ or _NumPad_Down_ - Jog Y minus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1316
+msgid "_Page_Up_ or _NumPad_Page_Up_ - Jog Z plus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1317
+msgid "_Page_Down_ or _NumPad_Page_Down_ - Jog Z minus"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:1318
+#, no-wrap
+msgid "In Auto Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1321
+msgid "_R_ or _r_ - Run program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1322
+msgid "_P_ or _p_ - Pause program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1323
+msgid "_S_ or _s_ - Resume program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1324
+msgid "_Control + R_ or _Control + r_ - Reload the loaded file"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:1325
+#, no-wrap
+msgid ""
+"Message handling (see <<gmoccapy:message-behavior,Message behavior and "
+"appearance>>)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1328
+msgid "_WINDOWS_ - Delete last message"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1329
+msgid "_Control + Space_ - Delete all messages"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1330
+#, no-wrap
+msgid "Unlock options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1333
+msgid "There are three options to unlock the settings page:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1335
+msgid "_Use unlock code_ - The user must give a code to get in."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1336
+msgid "_Do not use unlock code_ - There will be no security check."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1337
+msgid ""
+"_Use HAL pin to unlock_ - Hardware pin must be high to unlock the settings, "
+"see <<gmoccapy:hardware-unlock,hardware unlock pin>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1339
+msgid "Default is _use unlock code_ (default = *123*)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1342
+msgid ""
+"_Starting RPM_ - Sets the rpm to be used if the spindle is started and no S "
+"value has been set."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1346
+msgid ""
+"This value will be presetted according to your settings in `[DISPLAY] "
+"DEFAULT_SPINDLE_SPEED` of your INI file.  If you change the settings on the "
+"settings page, that value will be default from that moment, your INI file "
+"will not be modified."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1348
+msgid ""
+"_Spindle bar min_ and _Spindle bar max_ - Sets the limits of the spindle bar "
+"shown in the INFO frame on the main screen."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gmoccapy.adoc:1353
+#, no-wrap
+msgid ""
+"Default values are:\n"
+"MIN = 0\n"
+"MAX = 6000"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1358
+msgid ""
+"It is no error giving wrong values.  If you give a maximum of 2000 and your "
+"spindle makes 4000 RPM, only the bar level will be wrong on higher speeds "
+"than 2000 RPM."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1361
+#, no-wrap
+msgid "Turtle Jog"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1363
+msgid "This settings will have influence on the jog velocities."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1368
+msgid ""
+"_Hide turtle jog button_ - Will hide the button right of the jog velocity "
+"slider.  If you hide this button, please take care that the \"rabbit mode\" "
+"is activated, otherwise you will not be able to jog faster than the turtle "
+"jog velocity, which is calculated using the turtle jog factor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1370
+msgid ""
+"_Turtle jog factor_ - Sets the scale to apply for turtle jog mode (button "
+"pressed, showing the turtle).  If you set a factor of 20, the turtle "
+"max. jog velocity will be 1/20 of the max. velocity of the machine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1373
+msgid ""
+"This button can be controlled using the <<gmoccapy:jog-velocity,Turtle-Jog "
+"HAL Pin>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1375
+#, no-wrap
+msgid "Advanced Settings"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gmoccapy.adoc:1377
+#, no-wrap
+msgid "Advanced settings"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:1377
+#, no-wrap
+msgid "images/gmoccapy_settings_advanced.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1380
+#, no-wrap
+msgid "Tool Measurement"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1383
+msgid "Please check <<gmoccapy:auto-tool-measurement,Auto Tool Measurement>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1386
+msgid ""
+"If this part is not sensitive, you do not have a valid INI file "
+"configuration to use tool measurement."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1389
+msgid ""
+"_Use auto tool measurement_ - If checked, after each tool change, a tool "
+"measurement will be done, the result will be stored in the tool table and a "
+"G43 will be executed after the change."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:1391
+#, no-wrap
+msgid "Probe Information"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1395
+msgid ""
+"The following information is taken from your INI file and must be given in "
+"absolute coordinates."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1397
+msgid "_X Pos._ - The X position of the tool switch."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1398
+msgid "_Y Pos._ - The Y position of the tool switch."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1399
+msgid ""
+"_Z Pos._ - The Z position of the tool switch, we will go as rapid move to "
+"this coordinate."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1401
+msgid ""
+"_Max. Probe_ The distance to search for contact, an error will be launched, "
+"if no contact is given in this range.  The distance has to be given in "
+"relative coordinates, beginning the move from Z Pos., so you have to give a "
+"negative value to go down!"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1404
+msgid ""
+"_Probe Height_ - The height of your probe switch, you can measure it.  Just "
+"touch off the base where the probe switch is located and set that to zero.  "
+"Then make a tool change and watch the tool_offset_z value, that is the "
+"height you must enter here."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:1405
+#, no-wrap
+msgid "Probe velocities"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1410
+msgid ""
+"_Search Vel._ - The velocity to search for the tool switch.  After contact "
+"the tool will go up again and then goes towards the probe again with probe "
+"vel, so you will get better results."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1413
+msgid ""
+"_Probe Vel._ - The velocity for the second movement to the switch.  It "
+"should be slower to get better touch results.  In simulation mode, this is "
+"commented out in macros/change.ngc, otherwise the user would have to click "
+"twice on the probe button."
+msgstr ""
+
+#.  TODO: check if this option is accidentally gone in 2.9
+#.  Tool Changer::
+#.  +
+#.  --
+#.  If your fourth axis is used as a tool changer, you may want to hide the
+#.  DRO and all other buttons related to that axis.
+#.  You can do that by marking the checkbox, which will hide:
+#.  * 4^th^ axis DRO
+#.  * 4^th^ axis jog button
+#.  * 4^th^ axis homing button
+#.  * 4^th^ axis column on the offset page.
+#.  * 4^th^ axis column in the tool editor.
+#.  [[gmoccapy:reload-tool-on-start]]
+#.  If checked, the tool in spindle will be saved on each change in the preference
+#.  file, making it possible to reload the last mounted tool on start up.
+#.  The tool will be loaded after all axes are homed, because before it is not
+#.  allowed to execute MDI commands. If you use NO_FORCE_HOMING you can not use
+#.  this feature, because the needed all_homed_signal will never be emitted.
+#.  --
+#. type: Labeled list
+#: src/gui/gmoccapy.adoc:1437
+#, no-wrap
+msgid "Reload Tool"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1440
+msgid "_Reload Tool on Start_ - Loads the last tool on start after homing."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1441
+#, no-wrap
+msgid "Run From Line Option"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1446
+msgid ""
+"You can allow or disallow the run from line.  This will set the "
+"corresponding button insensitive (grayed out), so the user will not be able "
+"to use this option.  The default is disable run from line."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1450
+msgid ""
+"It is not recommend to use run from line, as LinuxCNC will not take care of "
+"any previous lines in the code before the starting line.  So errors or "
+"crashes are fairly likely."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1452
+#, no-wrap
+msgid "Message Behavior And Appearance"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1457
+msgid ""
+"This will display small pop up windows displaying a message or error text, "
+"similar to the ones known from AXIS.  You can delete a specific message by "
+"clicking on its close button.  If you want to delete the last one, just hit "
+"the `WINDOWS` key on your keyboard, or delete all messages at once with "
+"`Control + Space`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1459
+msgid "You are able to set some options:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1461
+msgid ""
+"_X Pos_ - The position of the top left corner of the message in X counted in "
+"pixel from the top left corner of the screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1462
+msgid ""
+"_Y Pos_ - The position of the top left corner of the message in Y counted in "
+"pixel from the top left corner of the screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1463
+msgid "_Width_ - The width of the message box."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1465
+msgid ""
+"_Max Messages_ - The maximum number of messages you want to see at once.  If "
+"you set this to 10, the 11^th^ message will delete the first one, so you "
+"will only see the last 10."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1466
+msgid "_Font_ - The font and size you want to use to display the messages."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1468
+msgid ""
+"_Use frames_ - If you activate the checkbox, each message will be displayed "
+"in a frame, so it is much easier to distinguish the messages. But you will "
+"need a little bit more space."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1469
+msgid ""
+"_Launch test message_-button - It will show a message, so you can see the "
+"changes of your settings without the need to generate an error."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:1471
+#, no-wrap
+msgid "Icon Theme"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1474
+msgid "Icon themes are used to customize the look and feel of GMOCCAPY's icons."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1476
+msgid "GMOCCAPY ships with three different icon themes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1478
+msgid "_classic_ - The classic GMOCCAPY icons."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1479
+msgid ""
+"_material_ - A modern icon theme inspired by Google's Material Icons that "
+"automatically adopts its coloring from the selected desktop theme."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1480
+msgid ""
+"_material-light_ - Derived from material but optimized for light desktop "
+"themes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1483
+msgid ""
+"The icon theme used in GMOCCAPY is a regular GTK icon theme that follows the "
+"freedestktop icon theme specification.  Thus every valid GTK icon theme can "
+"be used as GMOCCAPY icon theme as long as it contains the required icons."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1485
+msgid "GMOCCAPY scans the following directories for icon themes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1487
+msgid "linuxcnc/share/gmoccapy/icons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1488
+msgid "~/.icons"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1489
+#, no-wrap
+msgid "Custom Icon Theme"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1494
+msgid ""
+"Creating a custom icon theme is pretty easy.  All you need is a text editor "
+"and of course the desired icons as pixel or vector graphics.  Details about "
+"how exactly an icon theme is built can be found at the "
+"https://specifications.freedesktop.org/icon-theme-spec/icon-theme-spec-latest.html[Freedesktop "
+"Icon Theme Specification]."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1499
+msgid ""
+"Start by creating an empty directory with the name of the icon theme.  Place "
+"the directory in one of GMOCCAPY's icon theme directories.  Then we need a "
+"file called index.theme in the root folder of our icon theme which contains "
+"the required metadata for the theme.  That's a simple text file with at "
+"least the following sections:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1501
+msgid "[Icon Theme]"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1509
+#, no-wrap
+msgid ""
+"[Icon Theme]\n"
+"Name=YOUR_THEME_NAME\n"
+"Comment=A DESCRIPTION OF YOUR THEME\n"
+"Inherits=hicolor\n"
+"Directories=16x16/actions,24x24/actions,32x32/actions,48x48/actions,scalable/actions\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1512
+msgid "Name: The name of your icon theme."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1513
+msgid "Comment: A description of your icon theme."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1514
+msgid ""
+"Inherits: A icon theme can derive from another icon theme, the default is "
+"hicolor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1520
+#, no-wrap
+msgid ""
+"Directories: A comma separated list of all the directories of your icon "
+"theme.\n"
+"Each directory usually contains all the icons of the theme in a specific "
+"size, for example 16x16/actions should contain all icons with the category "
+"\"actions\" in the size 16x16 pixels as pixel-graphics (e.g. png files). A "
+"special case is the directory called \"scalable/actions\", this contains "
+"scalable icons not tied to a specific size (e.g. svg files).\n"
+"By supplying different sized versions of the icons, we can guarantee a nice "
+"looking icon if different sizes and we also have the ability to change the "
+"icon according to its size, for example a 64x64 px sized icon may contain "
+"more details than its 16x16 px version."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1522
+msgid "For each directory we also have to write a section in the index.theme file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1528
+#, no-wrap
+msgid ""
+"[16x16/actions]\n"
+"Size=16\n"
+"Type=Fixed\n"
+"Context=Actions\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1533
+#, no-wrap
+msgid ""
+"[scalable/actions]\n"
+"Size=48\n"
+"Type=Scalable\n"
+"Context=Actions\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1536
+msgid "Size: Nominal icon size in this directory"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1537
+msgid "Type: Fixed, Threshold or Scalable"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1538
+msgid "Context: Intended \"category\" of icons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1540
+msgid "Basically that's everything needed to create a custom icon theme."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1541
+#, no-wrap
+msgid "Symbolic Icons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1547
+msgid ""
+"Symbolic icons are a special type of icon, usually a monochrome image.  The "
+"special feature of symbolic icons is that the icons are automatically "
+"colored at runtime to match the desktop theme.  That way, icon themes can be "
+"created that work well with dark and also light desktop themes (in fact, "
+"that's not always the best option, that's why a dedicated \"material-light\" "
+"theme exists)."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:1548
+#, no-wrap
+msgid "images/gmoccapy_icon_theme_symbolic.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1552
+msgid ""
+"To make use of the symbolic feature, a icon file has to have the suffix "
+".symbolic.$ext (where $ext is the regular file extension like png) for "
+"example \"power_on.symbolic.png\"."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1555
+msgid ""
+"With that name, GTK treats this image as symbolic icon and applies some "
+"recoloring when loading the icon.  There are only four colors allowed to "
+"use:"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1558 src/plasma/qtplasmac.adoc:3042
+#, no-wrap
+msgid "Color"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1558
+#, no-wrap
+msgid "Hex Code"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1559 src/gui/pyvcp.adoc:314
+#, no-wrap
+msgid "black"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1559
+#, no-wrap
+msgid "#000000"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1560
+#, no-wrap
+msgid "Primary color, gets changed to match the desktop themes primary color."
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1560
+#, no-wrap
+msgid "red"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1560
+#, no-wrap
+msgid "#ff0000"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1561
+#, no-wrap
+msgid "Success: this color indicates \"success\" (usually something green'ish)."
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1561
+#, no-wrap
+msgid "green"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1561
+#, no-wrap
+msgid "#00ff00"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1562
+#, no-wrap
+msgid ""
+"Warning: this color indicates \"warning\"  (usually something "
+"yellow/orange'ish)."
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1562
+#, no-wrap
+msgid "blue"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1562
+#, no-wrap
+msgid "#0000ff"
+msgstr ""
+
+#. type: Table
+#: src/gui/gmoccapy.adoc:1563
+#, no-wrap
+msgid "Error: this color indicates \"error\" (usually something red'ish)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1567
+msgid ""
+"Examples of symbolic icons can be found at "
+"`linuxcnc/share/gmoccapy/icons/material`."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:1570
+#, no-wrap
+msgid "Lathe Specific Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1574
+msgid ""
+"If in the INI file `LATHE = 1` is given, the GUI will change its appearance "
+"to the special needs for a lathe.  Mainly the Y axis will be hidden and the "
+"jog buttons will be arranged in a different order."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1575
+#, no-wrap
+msgid "Normal Lathe"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:1576
+#, no-wrap
+msgid "images/gmoccapy_lathe.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/gmoccapy.adoc:1578
+#, no-wrap
+msgid "Back Tool Lathe"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:1579
+#, no-wrap
+msgid "images/gmoccapy_back_tool_lathe.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1584
+msgid ""
+"As you see the R DRO has a black background and the D DRO is gray.  This "
+"will change according to the active G-code G7 or G8.  The active mode is "
+"visible by the black background, meaning in the shown images G8 is active."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1588
+msgid ""
+"The next difference to the standard screen is the location of the jog "
+"buttons.  X and Z have changed places and Y is gone.  You will note that the "
+"X+ and X- buttons changes there places according to normal or back tool "
+"lathe."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1590
+msgid "Also the keyboard behavior will change:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1592
+msgid "Normal Lathe:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1594 src/gui/gmoccapy.adoc:1601
+msgid "_Arrow_Left_ or _NumPad_Left_ - Jog Z minus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1595 src/gui/gmoccapy.adoc:1602
+msgid "_Arrow_Right_ or _NumPad_Right_ - Jog Z plus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1596
+msgid "_Arrow_up_ or _NumPad_Up_ - Jog X minus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1597
+msgid "_Arrow_Down_ or _NumPad_Down_ - Jog X plus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1599
+msgid "Back Tool Lathe:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1603
+msgid "_Arrow_up_ or _NumPad_Up_ - Jog X plus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1604
+msgid "_Arrow_Down_ or _NumPad_Down_ - Jog X minus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1606
+msgid ""
+"The tool information frame will show not only the Z offset, but also the X "
+"offset and the tool table is showing all lathe relevant information."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:1607
+#, no-wrap
+msgid "Plasma Specific Section"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gmoccapy.adoc:1609
+#, no-wrap
+msgid "Plasma GUI"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:1609
+#, no-wrap
+msgid "images/gmoccapy_plasma.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1613
+msgid ""
+"There is a very good WIKI, which is actually growing, maintained by Marius, "
+"see https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Gmoccapy_plasma[Plasma wiki "
+"page]."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:1614
+#, no-wrap
+msgid "Videos on YouTube"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1620
+msgid ""
+"Below is a series of videos that show GMOCCAPY in action.  Unfortunately, "
+"these videos don't show the latest version of GMOCCAPY, but the way to use "
+"it will still be the same as in the current version.  I will update the "
+"videos as soon as possible."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1621
+#, no-wrap
+msgid "Basic Usage"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1624
+msgid "https://youtu.be/O5B-s3uiI6g"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1625
+#, no-wrap
+msgid "Simulated Jog Wheels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1628
+msgid "https://youtu.be/ag34SGxt97o"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1629
+#, no-wrap
+msgid "Settings Page"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1632
+msgid "https://youtu.be/AuwhSHRJoiI"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1633
+#, no-wrap
+msgid "Simulated Hardware Button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1636
+msgid "German: https://youtu.be/DTqhY-MfzDE"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1638
+msgid "English: https://youtu.be/ItVWJBK9WFA"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1639
+#, no-wrap
+msgid "User Tabs"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1642
+msgid "https://youtu.be/rG1zmeqXyZI"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1644
+#, no-wrap
+msgid "Tool Measurement Videos"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1647
+msgid "Auto Tool Measurement Simulation: https://youtu.be/rrkMw6rUFdk"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1649
+msgid "Auto Tool Measurement Screen: https://youtu.be/Z2ULDj9dzvk"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1651
+msgid "Auto Tool Measurement Machine: https://youtu.be/1arucCaDdX4"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gmoccapy.adoc:1652
+#, no-wrap
+msgid "Known problems"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1654
+#, no-wrap
+msgid "Strange numbers in the info area"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1657
+msgid "If you get strange numbers in the info area of GMOCCAPY like:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gmoccapy.adoc:1658
+#, no-wrap
+msgid "Strange numbers"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gmoccapy.adoc:1658
+#, no-wrap
+msgid "images/strange_numbers.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1663
+msgid ""
+"You have made your config file using an older version of StepConfWizard.  It "
+"has made a wrong entry in the INI file under the [TRAJ] named "
+"MAX_LINEAR_VELOCITY = xxx.  Change that entry to MAX_VELOCITY = xxx."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gmoccapy.adoc:1665
+#, no-wrap
+msgid "Not ending macro"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1668
+msgid "If you use a macro without movement, like this one:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1673 src/gui/gmoccapy.adoc:1692
+#, no-wrap
+msgid " o<zeroxy> sub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1677 src/gui/gmoccapy.adoc:1696
+#, no-wrap
+msgid ""
+"G92.1\n"
+"G92.2\n"
+"G40\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1679 src/gui/gmoccapy.adoc:1698
+#, no-wrap
+msgid "G10 L20 P0 X0 Y0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1682 src/gui/gmoccapy.adoc:1703
+#, no-wrap
+msgid ""
+"o<zeroxy> endsub\n"
+"m2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gmoccapy.adoc:1688
+msgid ""
+"GMOCCAPY will not see the end of the macro, because the interpreter needs to "
+"change its state to IDLE, but the macro does not even set the interpreter to "
+"a new state.  To avoid that just add a G4 P0.1 line to get the needed "
+"signal.  The correct macro would be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gmoccapy.adoc:1700
+#, no-wrap
+msgid "G4 P0.1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:18
+msgid ""
+"Gscreen is an infrastructure to display a custom screen to control "
+"LinuxCNC.  Gscreen borrows heavily from GladeVCP. GladeVCP uses the GTK "
+"widget editor GLADE to build virtual control panels (VCP) by point and "
+"click.  Gscreen combines this with Python programming to create a GUI screen "
+"for running a CNC machine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:23
+msgid ""
+"Gscreen is customizable if you want different buttons and status LEDs.  "
+"Gscreen supports GladeVCP which is used to add controls and indicators.  To "
+"customize Gscreen you use the Glade editor.  Gscreen is not restricted to "
+"adding a custom panel on the right or a custom tab it is fully editable."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gscreen.adoc:24
+#, no-wrap
+msgid "Gscreen Default Screen"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gscreen.adoc:25
+#, no-wrap
+msgid "Gscreen Mill Based Screen"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gscreen.adoc:25
+#, no-wrap
+msgid "images/gscreen-mill.png"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gscreen.adoc:27 src/gui/gscreen.adoc:28
+#, no-wrap
+msgid "Gscreen Silverdragon Screen"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gscreen.adoc:28 src/gui/qtdragon.adoc:32 src/gui/qtvcp.adoc:27
+#, no-wrap
+msgid "images/silverdragon.png"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gscreen.adoc:30 src/gui/gscreen.adoc:31
+#, no-wrap
+msgid "Gscreen Spartan Screen"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gscreen.adoc:31
+#, no-wrap
+msgid "images/spartan.png"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gscreen.adoc:33 src/gui/gscreen.adoc:34
+#, no-wrap
+msgid "Gscreen Gaxis Screen"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gscreen.adoc:34
+#, no-wrap
+msgid "images/gaxis.png"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gscreen.adoc:36 src/gui/gscreen.adoc:37
+#, no-wrap
+msgid "Gscreen Industrial Screen"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gscreen.adoc:37
+#, no-wrap
+msgid "images/industrial.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:41
+msgid ""
+"Gscreen is based on 'Glade' (the editor), 'PyGTK' (the widget toolkit), and "
+"'GladeVCP' (LinuxCNC's connection to Glade and PyGTK).  GladeVCP has some "
+"special widgets and actions added just for LinuxCNC A widget is just the "
+"generic name used for the buttons, sliders, labels etc of the PyGTK toolkit."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:42
+#, no-wrap
+msgid "Glade File"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:47
+msgid ""
+"A Glade file is a text file organized in the XML standard that describes the "
+"layout and the widgets of the screen.  PyGTK uses this file to actually "
+"display and react to those widgets.  The Glade editor makes it relatively "
+"easy to build and edit this file You must use the Glade 3.38.2 editor that "
+"uses the GTK3 widgets."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:48
+#, no-wrap
+msgid "PyGTK"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:52
+msgid ""
+"PyGTK is the Python binding to GTK. GTK is the 'toolkit' of visual widgets, "
+"it is programmed in C.  PyGTK uses Python to 'bind' with GTK."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:61
+msgid ""
+"<<cha:glade-vcp,GladeVCP>> binds LinuxCNC, HAL, PyGTK and Glade all "
+"together.  LinuxCNC requires some special widgets so GladeVCP supplies "
+"them.  Many are just HAL extensions to existing PyGTK widgets.  GladeVCP "
+"creates the HAL pins for the special widgets described in the Glade file.  "
+"GladeVCP also allows one to add Python commands to interact with the "
+"widgets, to make them do things not available in their default form.  If you "
+"can build a GladeVCP panel you can customize Gscreen!"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:69
+msgid ""
+"There are two files that can be used, individually or in combination to add "
+"customizations.  Local Glade files and handler files.  Normally Gscreen uses "
+"the stock Glade file and possibly a handler file (if using a sample "
+"'skin').  You can specify Gscreen to use 'local' Glade and handler files.  "
+"Gscreen looks in the folder that holds all the configuration files for the "
+"configuration you selected."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gscreen.adoc:70
+#, no-wrap
+msgid "Local Glade Files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:74
+msgid ""
+"If present, local Glade files in the configuration folder will be loaded "
+"instead of the stock Glade files.  Local Glade files allow you to use your "
+"customized designs rather then the default screens.  There is a switch in "
+"the INI file to set set the base name: -c name so Gscreen looks for "
+"MYNAME.glade and MYNAME_handler.py."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:84
+msgid ""
+"You can tell Gscreen to just load the Glade file and not connect its "
+"internal signals to it.  This allows gscreen to load any GTK builder saved "
+"Glade file.  This means you can display a completely custom screen, but also "
+"requires you to use a handler file.  Gscreen uses the Glade file to define "
+"the widgets, so it can show and interact with them.  Many of them have "
+"specific names, others have Glade given generic names.  If the widget will "
+"be displayed but never changed then a generic name is fine.  If one needs to "
+"control or interact with the widget then a hopefully purposeful name is "
+"given (all names must be unique).  Widgets can also have signals defined for "
+"them in the GLADE editor.  It defines what signal is given and what method "
+"to call."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gscreen.adoc:85
+#, no-wrap
+msgid "Modifying Stock Skins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:91
+msgid ""
+"If you change the name of a widget, Gscreen might not be able to find it.  "
+"If this widget is referenced to from Python code, at best this makes the "
+"widget not work anymore at worst it will cause an error when loading "
+"Gscreen's default screens don't use many signals defined in the editor, it "
+"defines them in the Python code.  If you move (cut and paste) a widget with "
+"signals, the signals will not be copied. You must add them again manually."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:92 src/gui/qtvcp.adoc:151
+#, no-wrap
+msgid "Handler Files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:103
+msgid ""
+"A handler file is a file containing Python code, which Gscreen adds to its "
+"default routines.  A handler file allows one to modify defaults, or add "
+"logic to a Gscreen skin without having to modify Gscreen proper.  You can "
+"combine new functions with Gscreen's function to modify behavior as you "
+"like.  You can completely bypass all of Gscreen's functions and make if work "
+"completely differently.  If present a handler file named gscreen_handler.py "
+"(or MYNAME_handler.py if using the INI switch) will be loaded and registered "
+"only one file is allowed Gscreen looks for the handler file, if found it "
+"will look for specific function names and call them instead of the default "
+"ones.  If adding widgets you can set up signal calls from the Glade editor "
+"to call routines you have written in the handler file.  In this way you can "
+"have custom behavior. Handler routines can call Gscreen's default routines, "
+"either before or after running its own code.  In this way you can tack on "
+"extra behavior such as adding a sound. Please see the "
+"<<cha:glade-vcp,GladeVCP Chapter>> for the basics to GladeVCP handler "
+"files.  Gscreen uses a very similar technique."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:104 src/gui/qtvcp.adoc:180
+#, no-wrap
+msgid "Themes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:127
+msgid ""
+"Gscreen uses the PyGTK toolkit to display the screen.  PyGTK is the Python "
+"language binding to GTK.  GTK supports 'themes'.  Themes are a way to modify "
+"the look and feel of the widgets on the screen.  For instance the color or "
+"size of buttons and sliders can be changed using themes.  There are many GTK "
+"themes available on the web.  Themes can also be customized to modify "
+"visuals of particular named widgets.  This ties the theme file to the Glade "
+"file more tightly.  Some of the sample screen skins allow the user to select "
+"any of the themes on the system.  The sample 'gscreen' is an example.  Some "
+"will load the theme that is the same name in the config file.  The sample "
+"'gscreen-gaxis' is an example.  This is done by putting the theme folder in "
+"the config folder that has the INI and HAL files and naming it: "
+"SCREENNAME_theme (SCREENNAME being the base name of the files "
+"eg. gaxis_theme).  Inside this folder is another folder call gtk-2.0, inside "
+"that is the theme files.  If you add this file, Gscreen will default to this "
+"theme on start up.  gscreen-gaxis has a sample custom theme that looks for "
+"certain named widgets and changes the visual behavior of those specific "
+"widgets.  The Estop and machine-on buttons use different colors then the "
+"rest of the buttons so that they stand out.  This is done in the handler "
+"file by giving them specific names an by adding specific commands in the "
+"theme's gtkrc file.  For some info on GTK theming (the sample theme uses the "
+"pixmap theme engine), see: "
+"https://wiki.gnome.org/Attic/GnomeArt/Tutorials/GtkThemes[GTK Themes], "
+"https://wiki.gnome.org/Attic/GnomeArt/Tutorials/GtkEngines/PixmapEngine[Pixmap "
+"Theme Engine]."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:128
+#, no-wrap
+msgid "Build a GladeVCP Panel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:132
+msgid ""
+"Gscreen is just a big complicated GladeVCP panel, with Python code to "
+"control it.  To customize it we need the Glade file loaded in the Glade "
+"editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:136
+msgid ""
+"If you have LinuxCNC 2.6+ installed on Ubuntu 10.04 just start the Glade "
+"editor from the applications menu or from the terminal.  Newer versions of "
+"Linux will require you to install Glade 3.8.0 - 3.8.6 (you may need to "
+"compile it yourself)."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gscreen.adoc:137
+#, no-wrap
+msgid "RIP compiled commands"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:143
+msgid ""
+"Using a compiled from source version of "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Installing_LinuxCNC[LinuxCNC] open "
+"a terminal and <<faq:cd,cd>> to the top of the LinuxCNC folder.  Set up the "
+"environment by entering '. ./scripts/rip-environment' now enter 'glade', you "
+"see a bunch of warnings in the terminal that you can ignore and the editor "
+"should open.  The stock Gscreen Glade file is in: src/emc/usr_intf/gscreen/ "
+"sample skins are in /share/gscreen/skins/.  This should be copied to a "
+"configuration folder.  Or you can make a clean-sheet Glade file by saving it "
+"in a configuration folder."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:148
+msgid ""
+"Ok you have loaded the stock Glade file and now can edit it.  The first "
+"thing you notice is it does not look in the editor like what it is displayed "
+"like Gscreen uses some tricks, such as hiding all boxes of buttons except "
+"one and changing that one depending on the mode.  The same goes for "
+"notebooks, some screens use notebooks with the tabs not shown.  To change "
+"pages in the editor you need to temporarily show those tabs."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:152
+msgid ""
+"When making changes it is far easier to add widgets then subtract widgets "
+"and still have the screen work properly making objects 'not visible' is one "
+"way to change the display without getting errors.  This won't always work "
+"some widgets will be set visible again.  Changing the names of Gscreen's "
+"regular widgets is probably not gonna work well without changing the Python "
+"code, but moving a widget while keeping the name is usually workable."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:158
+msgid ""
+"Gscreen leverages GladeVCP widgets as much as possible, to avoid adding "
+"Python code.  Learning about <<cha:glade-vcp,GladeVCP>> widgets is a "
+"prerequisite.  If the existing widgets give you the function you want or "
+"need then no Python code needs be added, just save the Glade file in your "
+"configuration folder.  If you need something more custom then you must do "
+"some Python programming.  The name of the parent window needs to be "
+"window1. Gscreen assumes this name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:160
+msgid ""
+"Remember, if you use a custom screen option YOU are responsible for fixing "
+"it (if required) when updating LinuxCNC."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gscreen.adoc:161
+#, no-wrap
+msgid "Building a simple clean-sheet custom screen"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gscreen.adoc:163
+#, no-wrap
+msgid "Gscreen simple usable screen"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gscreen.adoc:163
+#, no-wrap
+msgid "images/tester.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:166
+msgid ""
+"Lets build a simple usable screen. Build this in the Glade editor (if using "
+"a RIP package run it from a terminal after using . scripts/rip-environment "
+")."
+msgstr ""
+
+#. type: Block title
+#: src/gui/gscreen.adoc:167
+#, no-wrap
+msgid "Things to note:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:169
+msgid ""
+"The top level window must be called the default name, 'window1' - Gscreen "
+"relies on this."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:171
+msgid ""
+"Add actions by right clicking, and selecting 'add as toplevel widget' they "
+"don't add anything visual to the window but are added to the right most "
+"action list.  Add all the ones you see on the top right."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:172
+msgid ""
+"After adding the actions we must link the buttons to the actions for them to "
+"work (see below)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:173
+msgid ""
+"The gremlin widget doesn't have a default size so setting a requested size "
+"is helpful (see below)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:174
+msgid ""
+"The sourceview widget will try to use the whole window so adding it to a "
+"scrolled window will cover this. (This is already done in the example.)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:175
+msgid ""
+"The buttons will expand as the window is made larger which is ugly so we "
+"will set the box they are in, to not expand (see below)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:176
+msgid ""
+"The button types to use depend on the VCP_action used -eg vcp_toggle_action "
+"usually require toggle buttons (Follow the example for now)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:177
+msgid ""
+"The buttons in this example are regular buttons not HAL buttons. We don't "
+"need the HAL pins."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/gscreen.adoc:178
+#, no-wrap
+msgid "Glade editor tester.glade"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/gscreen.adoc:178
+#, no-wrap
+msgid "images/tester_editor.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:186
+msgid ""
+"In this screen we are using VCP_actions to communicate to LinuxCNC the "
+"actions we want.  This allows us standard functions without adding Python "
+"code in the handler file.  Let's link the estop toggle button to the estop "
+"action Select the estop toggle button and under the general tab look for "
+"'Related Action' and click the button beside it.  Now select the toggle "
+"estop action.  Now the button will toggle estop on and off when "
+"clicked. Under the general tab you can change the text of the button's label "
+"to describe its function.  Do this for all the buttons."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:188
+msgid ""
+"Select the gremlin widget click the common tab and set the requested height "
+"to 100 and click the checkbox beside it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:191
+msgid ""
+"Click the horizontal box that holds the buttons.  Click the packing tab and "
+"click 'expand' to 'No'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:202
+msgid ""
+"Save it as tester.glade and save it in sim/gscreen/gscreen_custom/ folder.  "
+"Now launch LinuxCNC and click to sim/gscreen/gscreen_custom/tester and start "
+"it.  If all goes well our screen will pop up and the buttons will do their "
+"job.  This works because the tester.ini tells gscreen to look for and load "
+"tester.glade and tester_handler.py.  The tester_handler.py file is included "
+"in that folder and is coded just show the screen and not much else.  Since "
+"the special widgets directly communicate with LinuxCNC you can still do "
+"useful things.  If your screen needs are covered by the available special "
+"widgets then this is as far as you need to go to build a screen.  If you "
+"want something more there are still many tricks available from just adding "
+"'function calls' to get canned behaviour.  To coding your own Python code to "
+"customize exactly what you want.  But that means learning about handler "
+"files."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gscreen.adoc:203
+#, no-wrap
+msgid "Handler file example"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:207
+msgid ""
+"There are special functions Gscreen checks the handler file for.  If you add "
+"these in you handler file Gscreen will call them instead of gscreen's "
+"internal same-named functions."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:209
+msgid "initialize_preferences(self): You can install new preference routines."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:212
+msgid ""
+"initialize_keybindings(self) You can install new keybinding routines.  In "
+"most cases you won't want to do this, you will want to override the "
+"individual keybinding calls.  You can also add more keybindings that will "
+"call an arbitrary function."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:213
+msgid "initialize_pins(self): makes / initializes HAL pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:218
+msgid ""
+"connect_signals(self,handlers): If you are using a completely different "
+"screen the default Gscreen you must add this or gscreen will try to connect "
+"signals to widgets that are not there.  Gscreen's default function is called "
+"with self.gscreen.connect_signals(handlers).  If you wish to just add extra "
+"signals to your screen but still want the default ones call this first then "
+"add more signals.  If you signals are simple (no user data passed) then you "
+"can also use the Glade signal selection in the Glade editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:222
+msgid ""
+"initialize_widgets(self): You can use this to set up any widgets.  Gscreen "
+"usually calls 'self.gscreen.initialize_widgets()' which actually calls many "
+"separate functions.  If you wish to incorporate some of those widgets then "
+"just call those functions directly. Or add self.gscreen.init_show_windows() "
+"so widgets are just shown.  Then if desired, initialize/adjust your new "
+"widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:223
+msgid ""
+"initialize_manual_toolchange(self): allows a complete revamp of the manual "
+"toolchange system."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:224
+msgid "set_restart_line(self.line):"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:226
+msgid ""
+"timer_interrupt(self): allows one to complete redefine the interrupt "
+"routine.  This is used for calling periodic() and checking for errors from "
+"linuxcnc.status."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:228
+msgid ""
+"check_mode(self): used to check what mode the screen is in. Returns a list[] "
+"0 -manual 1- mdi 2- auto 3- jog."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:229
+msgid ""
+"on_tool_change(self,widget): You can use this to override the manual tool "
+"change dialog -this is called when 'gscreen.tool-change' changes state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:231
+msgid ""
+"dialog_return(self,dialog_widget,displaytype,pinname): Use this to override "
+"any user message or manual tool change dialog.  Called when the dialog is "
+"closed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:235
+msgid ""
+"periodic(self): This is called every (default 100) milliseconds.  Use it to "
+"update your widgets/HAL pins. You can call Gscreen regular periodic "
+"afterwards too, self.gscreen.update_position() or just add pass to not "
+"update anything.  Gscreen's update_position() actually calls many separate "
+"functions.  If you wish to incorporate some of those widgets then just call "
+"those functions directly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:238
+msgid ""
+"You can also add you own functions to be called in this file. Usually you "
+"would add a signal to a widget to call your function."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:239
+#, no-wrap
+msgid "Adding Keybindings Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:244
+msgid ""
+"Our tester example would be more useful if it responded to keyboard "
+"commands.  There is a function called keybindings() that tries to set this "
+"up.  While you can override it completely, we didn't - but it assumes some "
+"things:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:246
+msgid ""
+"It assumes the estop toggle button is call 'button_estop' and that F1 key "
+"controls it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:247
+msgid ""
+"It assumes the power button is called 'button_machine_on' and the F2 key "
+"controls it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:250
+msgid ""
+"These are easily fixed by renaming the buttons in the Glade editor to "
+"match.  But instead we are going to override the standard calls and add our "
+"own."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:252
+msgid "Add these command to the handler file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:271
+#, no-wrap
+msgid ""
+"# override Gscreen Functions\n"
+"# keybinding calls\n"
+"def on_keycall_ESTOP(self,state,SHIFT,CNTRL,ALT):\n"
+"  if state: # only if pressed, not released\n"
+"    self.widgets.togglebutton1.emit('activate')\n"
+"    self.gscreen.audio.set_sound(self.data.alert_sound)\n"
+"    self.gscreen.audio.run()\n"
+"    return True # stop progression of signal to other widgets\n"
+"def on_keycall_POWER(self,state,SHIFT,CNTRL,ALT):\n"
+"  if state:\n"
+"    self.widgets.togglebutton2.emit('activate')\n"
+"    return True\n"
+"def on_keycall_ABORT(self,state,SHIFT,CNTRL,ALT):\n"
+"  if state:\n"
+"    self.widgets.button3.emit('activate')\n"
+"    return True\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:278
+msgid ""
+"So now we have overridden Gscreen's function calls of the same name and deal "
+"with them in our handler file We now reference the widgets by the name we "
+"used in the Glade editor.  We also added a built in gscreen function to make "
+"a sound when Estop changes.  Note that we we call Gscreen's built in "
+"functions we must use self.gscreen.[FUNCTION NAME]()  If we used "
+"self.[FUNCTION NAME]() it would call the function in our handler file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:280
+msgid "Lets add another key binding that loads halmeter when F4 is pressed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:282
+msgid "In the handler file under 'def initialize_widgets(self):' change to:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:288
+#, no-wrap
+msgid ""
+"  def initialize_widgets(self):\n"
+"    self.gscreen.init_show_windows()\n"
+"    "
+"self.gscreen.keylookup.add_conversion('F4','TEST','on_keycall_HALMETER')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:291
+msgid "Then add these functions under the 'HandlerClass' class:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:298
+#, no-wrap
+msgid ""
+"  def on_keycall_HALMETER(self,state,SHIFT,CNTRL,ALT):\n"
+"    if state:\n"
+"      self.gscreen.on_halmeter()\n"
+"      return True\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:302
+msgid ""
+"This adds a keybinding conversion that directs gscreen to call "
+"on_keycall_HALMETER when F4 is pressed.  Then we add the function to the "
+"handle file to call a Gscreen builtin function to start halmeter."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:303
+#, no-wrap
+msgid "Linuxcnc State Status"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:310
+msgid ""
+"The module 'Gstat' polls LinuxCNC's state every 100ms and sends callback "
+"messages to user functions when state changes.  You can register messages to "
+"act on specific state changes.  As an example we will register to get "
+"'file-loaded' messages when LinuxCNC loads a new file.  First we must import "
+"the module and instantiate it: In the import section of the handler file "
+"add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:315 src/gui/gstat.adoc:106
+#, no-wrap
+msgid ""
+"from hal_glib import GStat\n"
+"GSTAT = GStat()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:318
+msgid "In the handler file under 'def \\_\\_init__(self):' add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:322
+#, no-wrap
+msgid "GSTAT.connect('file-loaded', self.update_filepath)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:325
+msgid "Then in the 'HandlerClass', add the function:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:330
+#, no-wrap
+msgid ""
+"self.update_filepath(self, obj, path):\n"
+"    self.widgets.my_path_label.set_text(path)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:334
+msgid ""
+"When LinuxCNC loads a new file, Gstat will send a callback message to the "
+"function 'update_filepath'.  In this example we update a label with that "
+"path name (assuming there is a label named 'my_path_label') in the GLADE "
+"file."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:335
+#, no-wrap
+msgid "Jogging Keys"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:339
+msgid ""
+"There are no special widgets to do screen-button jogging, so we must do it "
+"with Python code.  Under the connect_signals function add this code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:348
+#, no-wrap
+msgid ""
+"        for i in('x','y','z'):\n"
+"            self.widgets[i+'neg'].connect(\"pressed\", "
+"self['jog_'+i],0,True)\n"
+"            self.widgets[i+'neg'].connect(\"released\", "
+"self['jog_'+i],0,False)\n"
+"            self.widgets[i+'pos'].connect(\"pressed\", "
+"self['jog_'+i],1,True)\n"
+"            self.widgets[i+'pos'].connect(\"released\", "
+"self['jog_'+i],1,False)\n"
+"        "
+"self.widgets.jog_speed.connect(\"value_changed\",self.jog_speed_changed)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:351
+msgid "Add these functions under the HandlerClass class:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:362
+#, no-wrap
+msgid ""
+"    def jog_x(self,widget,direction,state):\n"
+"        self.gscreen.do_key_jog(_X,direction,state)\n"
+"    def jog_y(self,widget,direction,state):\n"
+"        self.gscreen.do_key_jog(_Y,direction,state)\n"
+"    def jog_z(self,widget,direction,state):\n"
+"        self.gscreen.do_key_jog(_Z,direction,state)\n"
+"    def jog_speed_changed(self,widget,value):\n"
+"        self.gscreen.set_jog_rate(absolute = value)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:367
+msgid ""
+"Finally add two buttons to the GLADE file for each axis - one for positive, "
+"one for negative direction jogging.  Name these buttons xneg, xpos, yneg, "
+"ypos zneg, zpos respectively.  add a SpeedControl widget to the GLADE file "
+"and name it jog_speed."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gscreen.adoc:368
+#, no-wrap
+msgid "Gscreen Start Up"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:372
+msgid ""
+"Gscreen is really just infrastructure to load a custom GladeVCP file and "
+"interact with it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:374
+msgid "Gscreen reads the options it was started with."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:375
+msgid "Gscreen sets the debug mode and set the optional skin name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:377
+msgid ""
+"Gscreen checks to see if there are 'local' XML, handler and/or locale files "
+"in the configuration folder.  It will use them instead of the default ones "
+"(in share/gscreen/skins/) (There can be two separate screens displayed)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:379
+msgid ""
+"The main screen is loaded and translations set up.  If present the second "
+"screen will be loaded and translations set up."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:380
+msgid "Optional Audio is initialized if available."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:381
+msgid ""
+"It reads some of the INI file to initialize the units, and the number/type "
+"of axes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:382
+msgid ""
+"Initializes Python's binding to HAL to build a non-realtime component with "
+"the Gscreen name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:383
+msgid ""
+"GladeVCP's makepins is called to parse the XML file to build HAL pins for "
+"the HAL widgets and register the LinuxCNC connected widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:384
+msgid ""
+"Checks for a 'local' handler file in the configuration folder or else uses "
+"the stock one from the skin folder."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:385
+msgid ""
+"If there is a handler file gscreen parses it, and registers the function "
+"calls into Gscreen's namespace."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:386
+msgid ""
+"Glade matches/registers all signal calls to functions in gscreen and the "
+"handler file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:387
+msgid ""
+"Gscreen checks the INI file for an option preference file name otherwise it "
+"uses '.gscreen_preferences' =."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:388
+msgid ""
+"Gscreen checks to see if there is a preference function call "
+"('initialize_preferences(self)') in the handler file otherwise it uses the "
+"stock Gscreen one."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:389
+msgid "Gscreen checks for ClassicLadder realtime component."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:390
+msgid "Gscreen checks for the system wide GTK theme."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:391
+msgid "Gscreen collects the jogging increments from the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:392
+msgid "Gscreen collects the angular jogging increments from the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:393
+msgid "Gscreen collects the default and max jog rate from the INI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:394
+msgid "Gscreen collects the max velocity of any axes from the INI's TRAJ section."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:395
+msgid ""
+"Gscreen checks to see if there is angular axes then collects the default and "
+"max velocity from the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:396
+msgid "Gscreen collect all the override setting from the INI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:397
+msgid "Gscreen checks if its a lathe configuration from the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:398
+msgid ""
+"Gscreen finds the name of the tool_table,tool editor and param file from the "
+"INI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:399
+msgid ""
+"Gscreen checks the handler file for keybindings function "
+"('initialize_keybindings(self)') or else use Gscreen stock one."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:400
+msgid ""
+"Gscreen checks the handler file for pins function ('initialize_pins(self)') "
+"or else use Gscreen stock one."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:401
+msgid ""
+"Gscreen checks the handler file for manual_toolchange function "
+"('initialize_manual_toolchange(self)') or else use Gscreen stock one."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:402
+msgid ""
+"Gscreen checks the handler file for connect_signals function "
+"('initialize_connect_signals(self)') or else use Gscreen stock one."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:403
+msgid ""
+"Gscreen checka the handler file for widgets function "
+"('initialize_widgets(self)') or else use Gscreen stock one."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:404
+msgid "Gscreen set up messages specified in the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:406
+msgid ""
+"Gscreen tells HAL the Gscreen HAL component is finished making pins and is "
+"ready.  If there is a terminal widget in the screen it will print all the "
+"Gscreen pins to it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:407
+msgid "Gscreen sets the display cycle time based on the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:408
+msgid ""
+"Gscreen checks the handler file for 'timer_interupt(self)' function call "
+"otherwise use Gscreen's default function call."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:412
+msgid "Under the [DISPLAY] heading:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:419
+#, no-wrap
+msgid ""
+"DISPLAY = gscreen -c tester\n"
+"  options:\n"
+"   -d debugging on\n"
+"   -v verbose debugging on\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:426
+msgid ""
+"The -c switch allows one to select a 'skin'. Gscreen assumes the Glade file "
+"and the handler file use this same name.  The optional second screen will be "
+"the same name with a 2 (e.g., tester2.glade).  There is no second handler "
+"file allowed.  It will only be loaded if it is present.  Gscreen will search "
+"the LinuxCNC configuration file that was launched first for the files, then "
+"in the system skin folder."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gscreen.adoc:427
+#, no-wrap
+msgid "User Dialog Messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:431
+msgid ""
+"This function is used to display pop up dialog messages on the screen.  "
+"These are defined in the INI file and controlled by HAL pins:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gscreen.adoc:432
+#, no-wrap
+msgid "MESSAGE_BOLDTEXT"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:433
+msgid "is generally a title."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gscreen.adoc:433
+#, no-wrap
+msgid "MESSAGE_TEXT"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:434
+msgid "is below that and usually longer."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gscreen.adoc:434
+#, no-wrap
+msgid "MESSAGE_DETAILS"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:435
+msgid "is hidden unless clicked on."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gscreen.adoc:435
+#, no-wrap
+msgid "MESSAGE_PINNAME"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:436
+msgid "is the basename of the HAL pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gscreen.adoc:436
+#, no-wrap
+msgid "MESSAGE_TYPE"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:437
+msgid "specifies whether its a yes/no, ok, or status message"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:438
+msgid "Status messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:439
+msgid "will be shown in the status bar and the notify dialog,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:440
+msgid "require no user intervention."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:441
+msgid "ok messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:442
+msgid "require the user to click ok to close the dialog."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:443
+msgid ""
+"have one HAL pin to launch the dialog and one to signify it is waiting for "
+"response."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:444
+msgid "yes/no messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:445
+msgid "require the user to select yes or no buttons to close the dialog."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:446
+msgid "have three HAL pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:447
+msgid "one to show the dialog,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:448
+msgid "one for waiting, and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:449
+msgid "one for the answer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:451
+msgid "Here is a sample INI code. It would be under the [DISPLAY] heading."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:460
+#, no-wrap
+msgid ""
+"# This just shows in the status bar and desktop notify popup.\n"
+"MESSAGE_BOLDTEXT = NONE\n"
+"MESSAGE_TEXT = This is a statusbar test\n"
+"MESSAGE_DETAILS = STATUS DETAILS\n"
+"MESSAGE_TYPE = status\n"
+"MESSAGE_PINNAME = statustest\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:467
+#, no-wrap
+msgid ""
+"# This will pop up a dialog that asks a yes no question\n"
+"MESSAGE_BOLDTEXT = NONE\n"
+"MESSAGE_TEXT = This is a yes no dialog test\n"
+"MESSAGE_DETAILS = Y/N DETAILS\n"
+"MESSAGE_TYPE = yesnodialog\n"
+"MESSAGE_PINNAME = yndialogtest\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:475
+#, no-wrap
+msgid ""
+"# This pops up a dialog that requires an ok response and it shows in the "
+"status bar and\n"
+"# the desktop notify popup.\n"
+"MESSAGE_BOLDTEXT = This is the short text\n"
+"MESSAGE_TEXT = This is the longer text of the both type test. It can be "
+"longer then the status bar text\n"
+"MESSAGE_DETAILS = BOTH DETAILS\n"
+"MESSAGE_TYPE = okdialog status\n"
+"MESSAGE_PINNAME = bothtest\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gscreen.adoc:477
+#, no-wrap
+msgid "Copy the Stock Handler/Glade File For Modification"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:486
+msgid ""
+"If you wish to use a stock screen but modify its handler file, you need to "
+"copy the stock file to your config file folder.  Gscreen will see this and "
+"use the copied file.  But where is the original file? If using a RIP "
+"LinuxCNC the sample skins are in /share/gscreen/skins/'SCREENNAME' Installed "
+"versions of LinuxCNC have them in slightly different places depending on the "
+"distribution used.  An easy way to find the location is to open a terminal "
+"and start the sim screen you wish to use.  In the terminal the file "
+"locations will be printed.  It may help to add the -d switch to the gscreen "
+"load line in the INI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:488
+msgid "Here is a sample:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:503
+#, no-wrap
+msgid ""
+"chris@chris-ThinkPad-T500 ~/emc-dev/src $ linuxcnc\n"
+"LINUXCNC - 2.7.14\n"
+"Machine configuration directory is "
+"'/home/chris/emc-dev/configs/sim/gscreen/gscreen_custom'\n"
+"Machine configuration file is 'industrial_lathe.ini'\n"
+"Starting LinuxCNC...\n"
+"Found file(lib): /home/chris/emc-dev/lib/hallib/core_sim.hal\n"
+"Note: Using POSIX non-realtime\n"
+"Found file(lib): /home/chris/emc-dev/lib/hallib/sim_spindle_encoder.hal\n"
+"Found file(lib): /home/chris/emc-dev/lib/hallib/axis_manualtoolchange.hal\n"
+"Found file(lib): /home/chris/emc-dev/lib/hallib/simulated_home.hal\n"
+"**** GSCREEN WARNING: no audio alerts available - Is python-gst0.10 library "
+"installed?\n"
+"**** GSCREEN INFO ini: "
+"/home/chris/emc-dev/configs/sim/gscreen/gscreen_custom/industrial_lathe.ini\n"
+"**** GSCREEN INFO: Skin name = industrial\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:505
+#, no-wrap
+msgid ""
+"**** GSCREEN INFO:  Using SKIN glade file from "
+"/home/chris/emc-dev/share/gscreen/skins/industrial/industrial.glade ****\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:508
+#, no-wrap
+msgid ""
+"**** GSCREEN INFO:  No Screen 2 glade file present\n"
+"**** GSCREEN INFO: handler file path: "
+"['/home/chris/emc-dev/share/gscreen/skins/industrial/industrial_handler.py']\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:511
+msgid "The line:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gscreen.adoc:514
+#, no-wrap
+msgid ""
+"**** GSCREEN INFO: handler file path: "
+"['/home/chris/emc-dev/share/gscreen/skins/industrial/industrial_handler.py']\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gscreen.adoc:518
+msgid ""
+"shows where the stock file lives. Copy this file to your config folder.  "
+"This works the same for the Glade file."
+msgstr ""
+
+#. type: Title =
+#: src/gui/gstat.adoc:5
+#, no-wrap
+msgid "GStat Python Module"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gstat.adoc:7
+#, no-wrap
+msgid "Intro"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:14
+msgid ""
+"GStat is a Python class used to send messages from LinuxCNC to other Python "
+"programs.  It uses GObject to deliver messages, making it easy to listen for "
+"specific information.  This is referred to as event-driven programming, "
+"which is more efficient then every program polling LinuxCNC at the same "
+"time.  GladeVCP, Gscreen, Gmoccapy and QtVCP use GStat extensively.  GStat "
+"is in the `hal_glib` module."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:17
+msgid "First, a program imports the `hal_glib` module and instantiates GStat."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:18
+msgid "Then it 'connects' to the messages it wishes to monitor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:21
+msgid ""
+"GStat checks LinuxCNC's status every 100 ms and if there are differences "
+"from the last check, it will send a callback message to all the connected "
+"programs with the current status."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:22
+msgid ""
+"When GStat calls the registered function, it sends the GStat object plus any "
+"return codes from the message."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:24
+msgid "Typical code signatures:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:28
+#, no-wrap
+msgid "GSTAT.connect('MESSGAE-TO-LISTEN-FOR', FUNCTION_TO_CALL)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:30
+#, no-wrap
+msgid "def FUNCTION_TO_CALL(gstat_object, return_codes):\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:33
+msgid ""
+"Often LAMBDA is used to strip the GSTAT object and manipulate the return "
+"codes:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:37
+#, no-wrap
+msgid ""
+"GSTAT.connect('MESSGAE-TO-LISTEN-FOR', lambda o, return: "
+"FUNCTION_TO_CALL(not return))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:39
+#, no-wrap
+msgid "def FUNCTION_TO_CALL(return_codes):\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gstat.adoc:41
+#, no-wrap
+msgid "Sample GStat Code"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:47
+msgid ""
+"There are some basic patterns for using GStat, depending on what library you "
+"are using them in.  If using GStat with GladeVCP, Gscreen, or QtVCP, the "
+"GObject library is not needed as those toolkits already set up GObject."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gstat.adoc:48
+#, no-wrap
+msgid "Sample HAL component code pattern"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:51
+msgid "This program creates two HAL pins that output the status of G20/G21."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:63
+#, no-wrap
+msgid ""
+"import gi\n"
+"gi.require_version('Gtk', '3.0')\n"
+"from gi.repository import GObject\n"
+"from gi.repository import GLib\n"
+"import hal\n"
+"from hal_glib import GStat\n"
+"GSTAT = GStat()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:68
+#, no-wrap
+msgid ""
+"# callback to change HAL pin state\n"
+"def mode_changed(obj, data):\n"
+"        h['g20'] = not data\n"
+"        h['g21'] = data\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:74
+#, no-wrap
+msgid ""
+"# Make a component and pins\n"
+"h = hal.component(\"metric_status\")\n"
+"h.newpin(\"g20\", hal.HAL_BIT, hal.HAL_OUT)\n"
+"h.newpin(\"g21\", hal.HAL_BIT, hal.HAL_OUT)\n"
+"h.ready()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:77
+#, no-wrap
+msgid ""
+"# connect a GSTAT message to a callback function\n"
+"GSTAT.connect(\"metric-mode-changed\",mode_changed)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:80
+#, no-wrap
+msgid ""
+"# force GSTAT to initialize states\n"
+"GSTAT.forced_update()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:86
+#, no-wrap
+msgid ""
+"# loop till exit\n"
+"try:\n"
+"    GLib.MainLoop().run()\n"
+"except KeyboardInterrupt:\n"
+"    raise SystemExit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:91
+#, no-wrap
+msgid ""
+"This would be loaded with `loadusr python PATH-TO-FILE/FILENAME.py` or if "
+"you need to wait for the pins to be made before continuing:\n"
+"`loadusr python -Wn metric_status PATH-TO-FILE/FILENAME.py`\n"
+"The pins would be: `metric_status.g20` and `metric_status.g21`."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gstat.adoc:92
+#, no-wrap
+msgid "GladeVCP Python extension code pattern"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:95
+msgid "This file assumes there are three GTK labels named:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:97 src/gui/gstat.adoc:141
+msgid "'state_label'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:98 src/gui/gstat.adoc:142
+msgid "'e_state_label'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:99 src/gui/gstat.adoc:143
+msgid "'interp_state_label'"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:111
+#, no-wrap
+msgid ""
+"    def __init__(self, halcomp, builder, useropts):\n"
+"        self.builder = builder\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:114 src/gui/gstat.adoc:158
+#, no-wrap
+msgid ""
+"        GSTAT.connect(\"state-estop\",lambda w: "
+"self.update_estate_label('ESTOP'))\n"
+"        GSTAT.connect(\"state-estop-reset\",lambda w: "
+"self.update_estate_label('RESET'))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:117 src/gui/gstat.adoc:161
+#, no-wrap
+msgid ""
+"        GSTAT.connect(\"state-on\",lambda w: "
+"self.update_state_label('MACHIBE ON'))\n"
+"        GSTAT.connect(\"state-off\",lambda w: "
+"self.update_state_label('MACHINE OFF'))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:121 src/gui/gstat.adoc:165
+#, no-wrap
+msgid ""
+"        GSTAT.connect(\"interp-paused\",lambda w: "
+"self.update_interp_label('Paused'))\n"
+"        GSTAT.connect(\"interp-run\",lambda w: "
+"self.update_interp_label('Run'))\n"
+"        GSTAT.connect(\"interp-idle\",lambda w: "
+"self.update_interp_label('Idle'))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:124
+#, no-wrap
+msgid ""
+"    def update_state_label(self,text):\n"
+"        self.builder.get_object('state_label').set_label(\"State: %s\" % "
+"(text))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:127
+#, no-wrap
+msgid ""
+"    def update_estate_label(self,text):\n"
+"        self.builder.get_object('e_state_label').set_label(\"E State: %s\" % "
+"(text))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:130
+#, no-wrap
+msgid ""
+"    def update_interp_label(self,text):\n"
+"        "
+"self.builder.get_object('interp_state_label').set_label(\"Interpreter State: "
+"%s\" % (text))\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/gstat.adoc:135
+#, no-wrap
+msgid "QtVCP Python extension code pattern"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:139
+#, no-wrap
+msgid ""
+"QtVCP extends GStat, so must be loaded differently but all the messages are "
+"available in QtVCP.\n"
+"This handler file assumes there are three QLabels named:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:150
+#, no-wrap
+msgid ""
+"from qtvcp.core import Status\n"
+"GSTAT = Status()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:155
+#, no-wrap
+msgid ""
+"    def __init__(self, halcomp,widgets,paths):\n"
+"        self.w = widgets\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:168
+#, no-wrap
+msgid ""
+"    def update_state_label(self,text):\n"
+"        self.w.state_label.setText(\"State: %s\" % (text))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:171
+#, no-wrap
+msgid ""
+"    def update_estate_label(self,text):\n"
+"        self.w.e_state_label.setText(\"E State: %s\" % (text))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:174
+#, no-wrap
+msgid ""
+"    def update_interp_label(self,text):\n"
+"        self.winterp_state_label.setText(\"Interpreter State: %s\" % "
+"(text))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/gstat.adoc:177
+#, no-wrap
+msgid ""
+"def get_handlers(halcomp,builder,useropts):\n"
+"    return [HandlerClass(halcomp,widgets,paths)]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:181
+#, no-wrap
+msgid "*periodic* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:183
+msgid "'(returns nothing)' - sent every 100 ms."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:184
+#, no-wrap
+msgid "*state-estop* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:186
+msgid "'(returns nothing)' - Sent when LinuxCNC is goes into estop."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:187
+#, no-wrap
+msgid "*state-estop-reset*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:189
+msgid "'(returns nothing)' - Sent when LinuxCNC comes out of estop."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:190
+#, no-wrap
+msgid "*state-on* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:192
+msgid "'(returns nothing)' - Sent when LinuxCNC is in machine on state."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:193
+#, no-wrap
+msgid "*state-off*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:195
+msgid "'(returns nothing)' - Sent when LinuxCNC is in machine off state."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:196
+#, no-wrap
+msgid "*homed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:198
+msgid "'(returns string)' - Sent as each joint is homed."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:199
+#, no-wrap
+msgid "*all-homed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:201
+msgid "'(returns nothing)' - Sent when all defined joints are homed."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:202
+#, no-wrap
+msgid "*not-all-homed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:204
+msgid "'(returns string)' - Sends a list of joints not currently homed."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:205
+#, no-wrap
+msgid "*override_limits_changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:207
+msgid ""
+"'(returns string)' - Sent if LinuxCNC has been directed to override its "
+"limits."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:208
+#, no-wrap
+msgid "*hard-limits-tripped* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:211
+msgid ""
+"'(returns bool, Python List)' - Sent when any hard limit is tripped.  bool "
+"indicates if any limit is tripped, the list shows all available joint's "
+"current limit values."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:212
+#, no-wrap
+msgid "*mode-manual* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:214
+msgid "'(returns nothing)' - Sent when LinuxCNC switches to manual mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:215
+#, no-wrap
+msgid "*mode-mdi* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:217
+msgid "'(returns nothing)' - Sent when LinuxCNC switches to MDI mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:218
+#, no-wrap
+msgid "*mode-auto* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:220
+msgid "'(returns nothing)' - Sent when LinuxCNC switches to auto mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:221
+#, no-wrap
+msgid "*command-running* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:223
+msgid "'(returns nothing)' - Sent when running a program or MDI"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:224
+#, no-wrap
+msgid "*command-stopped* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:226
+msgid "'(returns nothing)' - Sent when a program or MDI stopped"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:227
+#, no-wrap
+msgid "*command-error* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:229
+msgid "'(returns nothing)' - Sent when there is a command error"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:230
+#, no-wrap
+msgid "*interp-run* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:232
+msgid ""
+"'(returns nothing)' - Sent when LinuxCNC's interpreter is running an MDI or "
+"program."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:233
+#, no-wrap
+msgid "*interp-idle* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:235
+msgid "'(returns nothing)' - Sent when LinuxCNC's interpreter is idle."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:236
+#, no-wrap
+msgid "*interp-paused* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:238
+msgid "'(returns nothing)' - Sent when LinuxCNC's interpreter is paused."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:239
+#, no-wrap
+msgid "*interp-reading* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:241
+msgid "'(returns nothing)' - Sent when LinuxCNC's interpreter is reading."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:242
+#, no-wrap
+msgid "*interp-waiting* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:244
+msgid "'(returns nothing)' - Sent when LinuxCNC's interpreter is waiting."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:245
+#, no-wrap
+msgid "*jograte-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:250
+#, no-wrap
+msgid ""
+"'(returns float)' - Sent when jog rate has changed.\n"
+"LinuxCNC does not have an internal jog rate.\n"
+"This is GStat's internal jog rate.\n"
+"It is expected to be in the machine's native units regardless of the current "
+"unit mode ."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:251
+#, no-wrap
+msgid "*jograte-angular-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:256
+#, no-wrap
+msgid ""
+"'(returns float)' - Sent when the angular jog rate has changed.\n"
+"LinuxCNC does not have an internal angular jog rate.\n"
+"This is GStat's internal jog rate.\n"
+"It is expected to be in the machine's native units regardless of the current "
+"unit mode ."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:257
+#, no-wrap
+msgid "*jogincrement-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:262
+#, no-wrap
+msgid ""
+"'(returns float, text)' - Sent when jog increment has changed.\n"
+"LinuxCNC does not have an internal jog increment.\n"
+"This is GStat's internal jog increment.\n"
+"It is expected to be in the machine's native units regardless of the current "
+"unit mode ."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:263
+#, no-wrap
+msgid "*jogincrement-angular-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:268
+#, no-wrap
+msgid ""
+"'(returns float, text)' - Sent when angular jog increment has changed.\n"
+"LinuxCNC does not have an internal angular jog increment.\n"
+"This is GStat's internal angular jog increment.\n"
+"It is expected to be in the machine's native units regardless of the current "
+"unit mode ."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:269
+#, no-wrap
+msgid "*program-pause-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:271
+msgid "'(returns bool)' - Sent when program is paused/unpaused."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:272
+#, no-wrap
+msgid "*optional-stop-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:274
+msgid "'(returns bool)' - Sent when optional stop is set/unset"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:275
+#, no-wrap
+msgid "*block-delete-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:277
+msgid "'(returns bool)' - sent when block delete is set/unset."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:278
+#, no-wrap
+msgid "*file-loaded* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:280
+msgid "'(returns string)' - Sent when LinuxCNC has loaded a file"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:281
+#, no-wrap
+msgid "*reload-display* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:283
+msgid "'(returns nothing)' - Sent when there is a request to reload the display"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:284
+#, no-wrap
+msgid "*line-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:287
+#, no-wrap
+msgid ""
+"'(returns integer)' - Sent when LinuxCNC has read a new line.\n"
+"LinuxCNC does not update this for every type of line."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:288
+#, no-wrap
+msgid "*tool-in-spindle-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:290
+msgid "'(returns integer)' - Sent when the tool has changed."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:291
+#, no-wrap
+msgid "*tool-info-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:293
+msgid "'(returns Python object)' - Sent when current tool info changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:294
+#, no-wrap
+msgid "*current-tool-offset* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:296
+msgid "'(returns Python object)' - Sent when the current tool offsets change."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:297
+#, no-wrap
+msgid "*motion-mode-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:299
+msgid "'(returns integer)' - Sent when motion's mode has changed"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:300
+#, no-wrap
+msgid "*spindle-control-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:303
+#, no-wrap
+msgid ""
+"'(returns integer, bool, integer, bool)' - (spindle num, spindle on state, "
+"requested spindle direction & rate, at-speed state)\n"
+"Sent when spindle direction or running status changes or at-speed changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:304
+#, no-wrap
+msgid "*current-feed-rate* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:306
+msgid "'(returns float)' - Sent when the current feed rate changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:307
+#, no-wrap
+msgid "*current-x-rel-position* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:309
+msgid "'(returns float)' - Sent every 100 ms."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:310
+#, no-wrap
+msgid "*current-position* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:314
+#, no-wrap
+msgid ""
+"'(returns pyobject, pyobject, pyobject, pyobject)' - Sent every 100 ms.\n"
+"Returns tuples of position, relative position, distance-to-go and the joint "
+"actual position. Before homing, on multi-joint axes, only joint position is "
+"valid."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:315
+#, no-wrap
+msgid "*current-z-rotation* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:317
+msgid ""
+"'(returns float)' - Sent as the current rotatated angle around the Z axis "
+"changes"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:318
+#, no-wrap
+msgid "*requested-spindle-speed-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:320
+msgid "'(returns float)' - Sent when the current requested RPM changes"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:321
+#, no-wrap
+msgid "*actual-spindle-speed-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:323
+msgid ""
+"'(returns float)' - Sent when the actual RPM changes based on the HAL pin "
+"`spindle.0.speed-in`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:324
+#, no-wrap
+msgid "*spindle-override-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:327
+#, no-wrap
+msgid ""
+"'(returns float)' - Sent when the spindle override value changes\n"
+"in percent"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:328
+#, no-wrap
+msgid "*feed-override-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:331
+#, no-wrap
+msgid ""
+"'(returns float)' - Sent when the feed override value changes\n"
+"in percent"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:332
+#, no-wrap
+msgid "*rapid-override-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:335
+#, no-wrap
+msgid ""
+"'(returns float)' - Sent when the rapid override value changes\n"
+"in percent (0-100)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:336
+#, no-wrap
+msgid "*max-velocity-override-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:339
+#, no-wrap
+msgid ""
+"'(returns float)' - Sent when the maximum velocity override value changes\n"
+"in units per minute"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:340
+#, no-wrap
+msgid "*feed-hold-enabled-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:342
+msgid "'(returns bool)' - Sent when feed hold status changes"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:343
+#, no-wrap
+msgid "*itime-mode* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:346
+#, no-wrap
+msgid ""
+"'(returns bool)' - Sent when G93 status changes\n"
+"(inverse time mode)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:347
+#, no-wrap
+msgid "*fpm-mode* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:350
+#, no-wrap
+msgid ""
+"'(returns bool)' - Sent when G94 status changes\n"
+"(feed per minute mode)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:351
+#, no-wrap
+msgid "*fpr-mode* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:354
+#, no-wrap
+msgid ""
+"'(returns bool)' - Sent when G95 status changes\n"
+"(feed per revolution mode)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:355
+#, no-wrap
+msgid "*css-mode* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:358
+#, no-wrap
+msgid ""
+"'(returns bool)' - Sent when G96 status changes\n"
+"(constant surface feed mode)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:359
+#, no-wrap
+msgid "*rpm-mode* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:362
+#, no-wrap
+msgid ""
+"'(returns bool)' - Sent when G97 status changes\n"
+"(constant RPM mode)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:363
+#, no-wrap
+msgid "*radius-mode* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:366
+#, no-wrap
+msgid ""
+"'(returns bool)' - Sent when G8 status changes\n"
+"display X in radius mode"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:367
+#, no-wrap
+msgid "*diameter-mode* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:370
+#, no-wrap
+msgid ""
+"'(returns bool)' - Sent when G7 status changes\n"
+"display X in Diameter mode"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:371
+#, no-wrap
+msgid "*flood-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:373
+msgid "'(returns bool)' - Sent when flood coolant state changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:374
+#, no-wrap
+msgid "*mist-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:376
+msgid "'(returns bool )' - Sent when mist coolant state changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:377
+#, no-wrap
+msgid "*m-code-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:379
+msgid "'(returns string)' - Sent when active M-codes change"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:380
+#, no-wrap
+msgid "*g-code-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:382
+msgid "'(returns string)' - Sent when active G-code change"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:383
+#, no-wrap
+msgid "*metric-mode-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:385
+msgid "'(returns bool)' - Sent when G21 status changes"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:386
+#, no-wrap
+msgid "*user-system-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:388
+msgid "'(returns string)' - Sent when the reference coordinate system (G5x) changes"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:389
+#, no-wrap
+msgid "*mdi-line-selected* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:392
+#, no-wrap
+msgid ""
+"'(returns string, string)' - intended to be sent when an MDI line is "
+"selected by user.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:393
+#, no-wrap
+msgid "*gcode-line-selected* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:396
+#, no-wrap
+msgid ""
+"'(returns integer)' - intended to be sent when a G-code line is selected by "
+"user.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:397
+#, no-wrap
+msgid "*graphics-line-selected* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:400
+#, no-wrap
+msgid ""
+"'(returns integer)' - intended to be sent when graphics line is selected by "
+"user.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:401
+#, no-wrap
+msgid "*graphics-loading-progress* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:404
+#, no-wrap
+msgid ""
+"'(returns integer)' - intended to return percentage done of loading a "
+"program or running a program.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:405
+#, no-wrap
+msgid "*graphics-gcode-error* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:408
+#, no-wrap
+msgid ""
+"'(returns string)' - intended to be sent when a G-code error is found when "
+"loading.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:409
+#, no-wrap
+msgid "*graphics-gcode-properties* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:412
+#, no-wrap
+msgid ""
+"'(returns Python dict)' - Sent when G-code is loaded.\n"
+"The dict contains the following keys:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:413
+msgid "`name` (_string_): Name of the loaded file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:414
+msgid "`size` (_string_): Size in bytes and lines"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:415
+msgid "`g0` (_string_): Total rapid distance"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:416
+msgid "`g1` (_string_): Total feed distance"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:417
+msgid "`run` (_string_): Estimated program run time"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:418
+msgid "`toollist` (_list_): List of used tools"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:419
+msgid "`x` (_string_): X extents (bounds) ^1^"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:420
+msgid "`x_zero_rxy` (_string_): X extents without rotation around z (bounds) ^1^"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:421
+msgid "`y` (_string_): Y extents (bounds) ^1^"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:422
+msgid "`y_zero_rxy` (_string_): Y extents without rotation around z (bounds) ^1^"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:423
+msgid "`z` (_string_): Z extents (bounds) ^1^"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:424
+msgid "`z_zero_rxy` (_string_): Z extents without rotation around z (bounds) ^1^"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:425
+msgid "`machine_unit_sys` (_string_): Machine units ('Metric' or 'Imperial')"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:426
+msgid "`gcode_units` (_string_): Units in G-code file ('mm' or 'in')"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/gstat.adoc:430
+msgid ""
+"See the images "
+"image:images/gremlin_extents_non-rotated_link.png[align=\"left\",link=\"images/gremlin_extents_non-rotated.png\",alt=\"extends "
+"non-rotated\"] and "
+"image:images/gremlin_extents_rotated_30_link.png[align=\"left\",link=\"images/gremlin_extents_rotated_30.png\",alt=\"extends "
+"rotated 30\"] for a better understanding."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:432
+#, no-wrap
+msgid "*graphics-view-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:435
+#, no-wrap
+msgid ""
+"'(returns string, Python dict or None)' - intended to be sent when graphics "
+"view is changed.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:436
+#, no-wrap
+msgid "*mdi-history-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:439
+#, no-wrap
+msgid ""
+"'(returns None)' - intended to be sent when an MDI history needs to be "
+"reloaded.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:440
+#, no-wrap
+msgid "*machine-log-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:443
+#, no-wrap
+msgid ""
+"'(returns None)' - intended to be sent when machine log has changed.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:444
+#, no-wrap
+msgid "*update-machine-log* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:447
+#, no-wrap
+msgid ""
+"'(returns string, string)' - intended to be sent when updating the "
+"machine.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:448
+#, no-wrap
+msgid "*move-text-lineup* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:451
+#, no-wrap
+msgid ""
+"'(returns None)' - intended to be sent when moving the cursor one line up in "
+"G-code display.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:452
+#, no-wrap
+msgid "*move-text-linedown* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:455
+#, no-wrap
+msgid ""
+"'(returns None)' - intended to be sent when moving the cursor one line down "
+"in G-code display.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:456
+#, no-wrap
+msgid "*dialog-request* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:460
+#, no-wrap
+msgid ""
+"'(returns Python dict)' - intended to be sent when requesting a GUI "
+"dialog.\n"
+"It uses a Python dict for communication. The dict must include the following "
+"keyname pair: +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:464
+#, no-wrap
+msgid ""
+"NAME: 'requested dialog name'\n"
+"The dict usually has several keyname pairs - it depends on the dialog.\n"
+"dialogs return information using a general message\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:465
+#, no-wrap
+msgid "*focus-overlay-changed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:468
+#, no-wrap
+msgid ""
+"'(returns bool, string, Python object)' - intended to be sent when "
+"requesting an overlay to be put over the display.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:469
+#, no-wrap
+msgid "*play-sound* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:472
+#, no-wrap
+msgid ""
+"'(returns string)' - intended to be sent when requesting a specific sound "
+"file to be played.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:473
+#, no-wrap
+msgid "*virtual-keyboard* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:476
+#, no-wrap
+msgid ""
+"'(returns string)' - intended to be sent when requesting a on screen "
+"keyboard.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:477
+#, no-wrap
+msgid "*dro-reference-change-request* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:481
+#, no-wrap
+msgid ""
+"'(returns integer)' - intended to be sent when requesting a DRO widget to "
+"change its reference.\n"
+"0 = machine, 1 = relative, 3 = distance-to-go\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:482
+#, no-wrap
+msgid "*show-preferences* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:485
+#, no-wrap
+msgid ""
+"'(returns None)' - intended to be sent when requesting the screen "
+"preferences to be displayed.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:486 src/gui/gstat.adoc:619
+#, no-wrap
+msgid "*shutdown* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:489
+#, no-wrap
+msgid ""
+"'(returns None)' - intended to be sent when requesting LinuxCNC to "
+"shutdown.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:490
+#, no-wrap
+msgid "*error* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:495
+#, no-wrap
+msgid ""
+"'(returns integer, string)' - intended to be sent when an error has been "
+"reported .\n"
+"integer represents the kind of error. ERROR, TEXT or DISPLAY\n"
+"string is the actual error message.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:496
+#, no-wrap
+msgid "*general* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:501
+#, no-wrap
+msgid ""
+"'(returns Python dict)' - intended to be sent when message must be sent that "
+"is not covered by a more specific message.\n"
+"General message should be used a sparsely as reasonable because all object "
+"connected to it will have to parse it.\n"
+"It uses a Python dict for communication.\n"
+"The dict should include and be checked for a unique id  keyname pair: +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:503
+#, no-wrap
+msgid ""
+"ID: 'UNIQUE_ID_CODE'\n"
+"The dict usually has more keyname pair - it depends on implementation."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:504
+#, no-wrap
+msgid "*forced-update* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:507
+#, no-wrap
+msgid ""
+"'(returns None)' - intended to be sent when one wishes to initialize or "
+"arbitrarily update an object.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:508
+#, no-wrap
+msgid "*progress* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:511
+#, no-wrap
+msgid ""
+"'(returns integer, Python object)' - intended to be sent to indicate the "
+"progress of a filter program.\n"
+"This depends on the widget/libraries used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:512
+#, no-wrap
+msgid "*following-error* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:514
+msgid ""
+"'(returns Python list)' - returns a list of all joints current following "
+"error."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:518
+msgid "These are convenience functions that are commonly used in programming."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:519
+#, no-wrap
+msgid "*set_jograte* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:525
+#, no-wrap
+msgid ""
+"'(float)' - LinuxCNC has no internal concept of jog rate -each GUI has its "
+"own. This is not always convenient.\n"
+"This function allows one to set a jog rate for all objects connected to the "
+"signal `jograte-changed`.\n"
+"It defaults to 15.\n"
+"GSTAT.set_jog_rate(10) would set the jog rate to 10 machine-units-per-minute "
+"and emit the `jograte-changed` signal."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:526
+#, no-wrap
+msgid "*get_jograte()* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:528
+msgid ""
+"'(Nothing)' - x = GSTAT.get_jograte() would return GSTAT's current internal "
+"jograte (float)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:529
+#, no-wrap
+msgid "*set_jograte_angular* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:530
+msgid "'(float)' -"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:531
+#, no-wrap
+msgid "*get_jograte_angular* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:532 src/gui/gstat.adoc:536 src/gui/gstat.adoc:540
+#: src/gui/gstat.adoc:602 src/gui/gstat.adoc:604 src/gui/gstat.adoc:606
+#: src/gui/gstat.adoc:608 src/gui/gstat.adoc:610 src/gui/gstat.adoc:612
+#: src/gui/gstat.adoc:614 src/gui/gstat.adoc:616 src/gui/gstat.adoc:618
+#: src/gui/gstat.adoc:620
+msgid "'(None)' -"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:533
+#, no-wrap
+msgid "*set_jog_increment_angular* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:534 src/gui/gstat.adoc:538
+msgid "'(float, string)' -"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:535
+#, no-wrap
+msgid "*get_jog_increment_angular* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:537
+#, no-wrap
+msgid "*set_jog_increments* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:539
+#, no-wrap
+msgid "*get_jog_increments* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:541
+#, no-wrap
+msgid "*is_all_homed* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:543
+msgid "'(nothing)' - This will return the current state of all_homed (BOOL)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:544
+#, no-wrap
+msgid "*machine_is_on* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:546
+msgid "'(nothing)' - This will return the current state of machine (BOOL)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:547
+#, no-wrap
+msgid "*estop_is_clear* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:549
+msgid "'(nothing)' - This will return the state of Estop (BOOL)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:550
+#, no-wrap
+msgid "*set_tool_touchoff* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:552
+msgid "'(tool,axis,value)' - This command will"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:553 src/gui/gstat.adoc:563
+msgid "record the current mode,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:554 src/gui/gstat.adoc:564
+msgid "switch to MDI mode,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:555
+msgid "invoke the MDI command: G10 L10 P[TOOL] [AXIS] [VALUE],"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:556 src/gui/gstat.adoc:558 src/gui/gstat.adoc:566
+msgid "wait for it to complete,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:557
+msgid "invoke G43,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:559
+msgid "switch back to the original mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:560
+#, no-wrap
+msgid "*set_axis_origin* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:562
+msgid "'(axis,value)' - This command will"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:565
+msgid "invoke the MDI command: G10 L20 P0 [AXIS] [VALUE],"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:567
+msgid "switch back to the original mode,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:568
+msgid "emit a 'reload-display' signal."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:569
+#, no-wrap
+msgid "*do_jog* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:572
+#, no-wrap
+msgid ""
+"'(axis_number,direction, distance)' - This will jog an axis continuously or "
+"at a set distance.\n"
+"You must be in the proper mode to jog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:573
+#, no-wrap
+msgid "*check_for_modes* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:578
+#, no-wrap
+msgid ""
+"'(mode)' - This function checks for required LinuxCNC mode.\n"
+"It returns a Python tuple (state, mode)\n"
+"mode will be set the mode the system is in\n"
+"state will set to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:579
+msgid "false if mode is 0"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:580
+msgid "false if machine is busy"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:581
+msgid "true if LinuxCNC is in the requested mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:582
+msgid "None if possible to change, but not in requested mode"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:583
+#, no-wrap
+msgid "*get_current_mode* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:585
+msgid "'(nothing)' - returns integer: the current LinuxCNC mode. +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:586
+#, no-wrap
+msgid "*set_selected_joint* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:590
+#, no-wrap
+msgid ""
+"'(integer)' - records the selected joint number internally.\n"
+"requests the joint to be selected by emitting the\n"
+"'joint-selection-changed' message."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:591
+#, no-wrap
+msgid "*get_selected_joint* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:593
+msgid "'(None)' - returns integer representing the internal selected joint number."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:594
+#, no-wrap
+msgid "*set_selected_axis* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:597
+#, no-wrap
+msgid ""
+"'(string)' - records the selected axis letter internally.\n"
+"Requests the axis to be selected by emitting the `axis-selection-changed` "
+"message."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:598
+#, no-wrap
+msgid "*get_selected_axis* "
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:600
+msgid "'(None)' - returns string representing the internal selected axis letter."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:601
+#, no-wrap
+msgid "*is_man_mode* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:603
+#, no-wrap
+msgid "*is_mdi_mode* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:605
+#, no-wrap
+msgid "*is_auto_mode* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:607
+#, no-wrap
+msgid "*is_on_and_idle* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:609
+#, no-wrap
+msgid "*is_auto_running* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:611
+#, no-wrap
+msgid "*is_auto_paused* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:613
+#, no-wrap
+msgid "*is_file_loaded* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:615
+#, no-wrap
+msgid "*is_metric_mode* "
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/gstat.adoc:617
+#, no-wrap
+msgid "*is_spindle_on* "
+msgstr ""
+
+#. type: Title ==
+#: src/gui/gstat.adoc:621 src/plasma/qtplasmac.adoc:4604
+#, no-wrap
+msgid "Known Issues"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/gstat.adoc:625
+msgid ""
+"Some status points are reported wrongly during a running program because the "
+"interpreter runs ahead of the current position of a running program.  This "
+"will hopefully be resolved with the merge of state-tags branch."
+msgstr ""
+
+#. type: Title =
+#: src/gui/halui.adoc:6
+#, no-wrap
+msgid "HAL User Interface"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:19
+msgid ""
+"Halui is a HAL based user interface for LinuxCNC, it connects HAL pins to "
+"NML commands. Most of the functionality (buttons, indicators etc.) that is "
+"provided by a traditional GUI (AXIS, GMOCCAPY, QtDragon, etc.), is provided "
+"by HAL pins in Halui."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:22
+msgid ""
+"The easiest way to add halui is to add the following to the [HAL] section of "
+"the INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/halui.adoc:27
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"HALUI = halui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:31
+#, no-wrap
+msgid ""
+"An alternate way to invoke it (specially if you generate the configuration "
+"with StepConf) is to include the following in your `custom.hal` file.\n"
+"Make sure you use the correct path to your INI file."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/halui.adoc:35
+#, no-wrap
+msgid "loadusr halui -ini /path/to/inifile.ini\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:43
+msgid ""
+"Sometimes the user wants to add more complicated tasks to be performed by "
+"the activation of a HAL pin.  This is possible by adding MDI commands to the "
+"INI file in the [HALUI] section.  Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/halui.adoc:52
+#, no-wrap
+msgid ""
+"[HALUI]\n"
+"MDI_COMMAND = G0 X0\n"
+"MDI_COMMAND = G0 G53 Z0\n"
+"MDI_COMMAND = G28\n"
+"MDI_COMMAND = o<mysub>call\n"
+"...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:59
+msgid ""
+"When halui starts it will read the `MDI_COMMAND` fields in the INI and "
+"export pins from 00 to the number of `MDI_COMMAND` 's found in the INI, up "
+"to a maximum of 64 commands. These pins can be connected like any HAL "
+"pins. A common method is to use buttons provided by virtual control panels "
+"like shown in the example <<code:Example-HAL-file-connections, Example for "
+"MDI_COMMAND connections>>."
+msgstr ""
+
+#. type: Block title
+#: src/gui/halui.adoc:62
+#, no-wrap
+msgid "Example for MDI_COMMAND connections"
+msgstr ""
+
+#. type: Block title
+#: src/gui/halui.adoc:64
+#, no-wrap
+msgid "HAL file"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/halui.adoc:70
+#, no-wrap
+msgid ""
+"net quill-up      halui.mdi-command-00 <= pyvcp.quillup\n"
+"net reference-pos halui.mdi-command-01 <= pyvcp.referencepos\n"
+"net call-mysub    halui.mdi-command-02 <= pyvcp.callmysub\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/halui.adoc:71
+#, no-wrap
+msgid "Nets connecting the `halui.mdi-command-NN` pins provided by halui."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/halui.adoc:81
+#, no-wrap
+msgid ""
+"$ halcmd show pin halui.mdi\n"
+"Component Pins:\n"
+"Owner  Type  Dir Value  Name\n"
+"   10  bit   IN  FALSE  halui.mdi-command-00 <== quill-up\n"
+"   10  bit   IN  FALSE  halui.mdi-command-01 <== reference-pos\n"
+"   10  bit   IN  FALSE  halui.mdi-command-02 <== call-mysub\n"
+"    ...\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/halui.adoc:88
+msgid ""
+"When a halui MDI pin is set (pulsed) true, halui will send the MDI command "
+"defined in the INI.  This will not always succeed depending on the current "
+"operating mode (e.g., while in AUTO halui can't successfully send MDI "
+"commands)."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/halui.adoc:89
+#, no-wrap
+msgid "Example Configuration"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/halui.adoc:93
+msgid ""
+"An example sim config (`configs/sim/axis/halui_pyvcp/halui.ini`)  is "
+"included in the distribution."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/halui.adoc:94
+#, no-wrap
+msgid "Halui Pin Reference"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/halui.adoc:97
+msgid "All halui pins are also documented in the halui man page:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/halui.adoc:101
+#, no-wrap
+msgid "$ man halui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:103
+msgid "Or see http://linuxcnc.org/docs/stable/html/man/man1/halui.1.html"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:104 src/gui/tklinuxcnc.adoc:86
+#: src/man/man1/halui.1.adoc:34
+#, no-wrap
+msgid "Abort"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:107
+msgid ""
+"'halui.abort' (bit, in) - pin to send an abort message (clears out most "
+"errors)"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:108
+#, no-wrap
+msgid "E-Stop"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:111
+msgid "'halui.estop.activate' (bit, in) - pin for requesting E-Stop"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:112
+msgid "'halui.estop.is-activated' (bit, out) - indicates E-stop reset"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:113
+msgid "'halui.estop.reset' (bit, in) - pin for requesting E-Stop reset"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:117
+msgid ""
+"'halui.feed-override.count-enable' (bit, in) - must be true for 'counts' or "
+"'direct-value' to work."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:118
+msgid ""
+"'halui.feed-override.counts' (s32, in) - counts * scale = FO percentage. Can "
+"be used with an encoder or 'direct-value'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:119
+msgid ""
+"'halui.feed-override.decrease' (bit, in) - pin for decreasing the FO "
+"(-=scale)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:120
+msgid ""
+"'halui.feed-override.increase' (bit, in) - pin for increasing the FO "
+"(+=scale)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:121
+msgid "'halui.feed-override.reset' (bit, in) - pin for resetting the FO (scale=1.0)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:122
+msgid ""
+"'halui.feed-override.direct-value' (bit, in) - false when using encoder to "
+"change counts, true when setting counts directly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:123
+msgid ""
+"'halui.feed-override.scale' (float, in) - pin for setting the scale for "
+"increase and decrease of 'feed-override'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:124
+msgid "'halui.feed-override.value' (float, out) - current FO value"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:125
+#, no-wrap
+msgid "Mist"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:128
+msgid "'halui.mist.is-on' (bit, out) - indicates mist is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:129
+msgid "'halui.mist.off' (bit, in) - pin for requesting mist off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:130
+msgid "'halui.mist.on' (bit, in) - pin for requesting mist on"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:131
+#, no-wrap
+msgid "Flood"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:134
+msgid "'halui.flood.is-on' (bit, out) - indicates flood is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:135
+msgid "'halui.flood.off' (bit, in) - pin for requesting flood off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:136
+msgid "'halui.flood.on' (bit, in) - pin for requesting flood on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:141
+msgid ""
+"'halui.home-all' (bit, in) - pin for requesting all axis to home. This pin "
+"will only be there if HOME_SEQUENCE is set in the INI file."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/halui.adoc:142 src/man/man1/halui.1.adoc:214
+#: src/man/man1/xhc-whb04b-6.1.adoc:150
+#, no-wrap
+msgid "Machine"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:146
+msgid ""
+"'halui.machine.units-per-mm' (float out) - pin for machine units-per-mm "
+"(inch:1/25.4, mm:1) according to inifile setting: [TRAJ]LINEAR_UNITS"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:147
+msgid "'halui.machine.is-on' (bit, out) - indicates machine on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:148
+msgid "'halui.machine.off' (bit, in) - pin for requesting machine off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:149
+msgid "'halui.machine.on' (bit, in) - pin for requesting machine on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:154
+msgid ""
+"The maximum linear velocity can be adjusted from 0 to the MAX_VELOCITY that "
+"is set in the [TRAJ] section of the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:156
+msgid ""
+"'halui.max-velocity.count-enable' (bit, in) - must be true for 'counts' or "
+"'direct-value' to work."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:157
+msgid ""
+"'halui.max-velocity.counts' (s32, in) - counts * scale = MV percentage. Can "
+"be used with an encoder or 'direct-value'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:158
+msgid ""
+"'halui.max-velocity.direct-value' (bit, in) - false when using encoder to "
+"change counts, true when setting counts directly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:159
+msgid "'halui.max-velocity.decrease' (bit, in) - pin for decreasing max velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:160
+msgid "'halui.max-velocity.increase' (bit, in) - pin for increasing max velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:161
+msgid ""
+"'halui.max-velocity.scale' (float, in) - the amount applied to the current "
+"maximum velocity with each transition from off to on of the increase or "
+"decrease pin in machine units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:162
+msgid ""
+"'halui.max-velocity.value' (float, out) - is the maximum linear velocity in "
+"machine units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:170
+#, no-wrap
+msgid ""
+"'halui.mdi-command-_<nn>_' (bit, in) - halui will try to send the MDI "
+"command defined in the INI. _<nn>_ is a two  digit number  starting  at "
+"00.\n"
+"If the command succeeds then it will place LinuxCNC in the MDI mode and then "
+"back to Manual mode.\n"
+"If no [HALUI]MDI_COMMAND variables are set in the  ini  file, no "
+"halui.mdi-command-<nn> pins will be exported by halui."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:173
+msgid ""
+"'halui.halui-mdi-is-running' (bit, out) - execution status of MDI commands "
+"sent by halui. The status is active even during mode switching.  If no "
+"[HALUI]MDI_COMMAND variables are set in the ini file, this pins will not be "
+"exported by halui."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:174 src/man/man1/halui.1.adoc:225
+#, no-wrap
+msgid "Joint"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:178
+#, no-wrap
+msgid ""
+"_N_ = joint number (0 ... num_joints-1)\n"
+"Example:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:180
+msgid "'halui.joint._N_.select' (bit in) - pin for selecting joint _N_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:181
+msgid ""
+"'halui.joint._N_.is-selected' (bit out) - status pin that joint _N_ is "
+"selected"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:182
+msgid ""
+"'halui.joint._N_.has-fault' (bit out) - status pin telling that joint _N_ "
+"has a fault"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:183
+msgid "'halui.joint._N_.home' (bit in) - pin for homing joint _N_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:184
+msgid ""
+"'halui.joint._N_.is-homed' (bit out) - status pin telling that joint _N_ is "
+"homed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:185
+msgid ""
+"'halui.joint._N_.on-hard-max-limit' (bit out) - status pin telling that "
+"joint _N_ is on the positive hardware limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:186
+msgid ""
+"'halui.joint._N_.on-hard-min-limit' (bit out) - status pin telling that "
+"joint _N_ is on the negative hardware limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:187
+msgid ""
+"'halui.joint._N_.on-soft-max-limit' (bit out) - status pin telling that "
+"joint _N_ is on the positive software limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:188
+msgid ""
+"'halui.joint._N_.on-soft-min-limit' (bit out) - status pin telling that "
+"joint _N_ is on the negative software limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:189
+msgid ""
+"'halui.joint._N_.override-limits' (bit out) - status pin telling that joint "
+"_N_'s limits are temporarily overridden"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:190
+msgid "'halui.joint._N_.unhome' (bit in) - pin for unhoming joint _N_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:191
+msgid ""
+"'halui.joint.selected' (u32 out) - selected joint number (0 "
+"... num_joints-1)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:192
+msgid ""
+"'halui.joint.selected.has-fault' (bit out) - status pin selected joint is "
+"faulted"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:193
+msgid "'halui.joint.selected.home' (bit in) - pin for homing the selected joint"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:194
+msgid ""
+"'halui.joint.selected.is-homed' (bit out) - status pin telling that the "
+"selected joint is homed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:195
+msgid ""
+"'halui.joint.selected.on-hard-max-limit' (bit out) - status pin telling that "
+"the selected joint is on the positive hardware limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:196
+msgid ""
+"'halui.joint.selected.on-hard-min-limit' (bit out) - status pin telling that "
+"the selected joint is on the negative hardware limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:197
+msgid ""
+"'halui.joint.selected.on-soft-max-limit' (bit out) - status pin telling that "
+"the selected joint is on the positive software limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:198
+msgid ""
+"'halui.joint.selected.on-soft-min-limit' (bit out) - status pin telling that "
+"the selected joint is on the negative software limit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:199
+msgid ""
+"'halui.joint.selected.override-limits' (bit out) - status pin telling that "
+"the selected joint's limits are temporarily overridden"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:200
+msgid "'halui.joint.selected.unhome' (bit in) - pin for unhoming the selected joint"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:201
+#, no-wrap
+msgid "Joint Jogging"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:204 src/man/man1/halui.1.adoc:228
+msgid "_N_ = joint number (0 ... num_joints-1)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:206
+msgid ""
+"'halui.joint.jog-deadband' (float in) - pin for setting jog analog deadband "
+"(jog analog inputs smaller/slower than this - in absolute value - are "
+"ignored)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:207
+msgid ""
+"'halui.joint.jog-speed' (float in) - pin for setting jog speed for "
+"plus/minus jogging."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:208
+msgid ""
+"'halui.joint._N_.analog' (float in) - pin for jogging the joint _N_ using a "
+"float value (e.g.  joy-stick).  The value, typically set between 0.0 and "
+"±1.0, is used as a jog-speed multiplier."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:209
+msgid ""
+"'halui.joint._N_.increment' (float in) - pin for setting the jog increment "
+"for joint _N_ when using increment-plus/minus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:210
+msgid ""
+"'halui.joint._N_.increment-minus' (bit in) - a rising edge will will make "
+"joint _N_ jog in the negative direction by the increment amount"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:211
+msgid ""
+"'halui.joint._N_.increment-plus' (bit in) - a rising edge will will make "
+"joint _N_ jog in the positive direction by the increment amount"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:212
+msgid ""
+"'halui.joint._N_.minus' (bit in) - pin for jogging joint _N_ in negative "
+"direction at the halui.joint.jog-speed velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:213
+msgid ""
+"'halui.joint._N_.plus' (bit in) - pin for jogging joint _N_ in positive "
+"direction at the halui.joint.jog-speed velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:214
+msgid ""
+"'halui.joint.selected.increment' (float in) - pin for setting the jog "
+"increment for the selected joint when using increment-plus/minus"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:215
+msgid ""
+"'halui.joint.selected.increment-minus' (bit in) - a rising edge will will "
+"make the selected joint jog in the negative direction by the increment "
+"amount"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:216
+msgid ""
+"'halui.joint.selected.increment-plus' (bit in) - a rising edge will will "
+"make the selected joint jog in the positive direction by the increment "
+"amount"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:217
+msgid ""
+"'halui.joint.selected.minus' (bit in) - pin for jogging the selected joint "
+"in negative direction at the halui.joint.jog-speed velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:218
+msgid ""
+"'halui.joint.selected.plus' (bit in) - pin for jogging the selected joint in "
+"positive direction at the halui.joint.jog-speed velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:222 src/gui/halui.adoc:232 src/man/man1/halui.1.adoc:314
+#: src/man/man1/halui.1.adoc:329
+msgid "_L_ = axis letter (xyzabcuvw)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:224
+msgid "'halui.axis._L_.select' (bit) - pin for selecting axis by letter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:225
+msgid ""
+"'halui.axis._L_.is-selected' (bit out) - status pin that axis _L_ is "
+"selected"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:226
+msgid ""
+"'halui.axis._L_.pos-commanded' (float out) - Commanded axis position in "
+"machine coordinates"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:227
+msgid ""
+"'halui.axis._L_.pos-feedback' float out) - Feedback axis position in machine "
+"coordinates"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:228
+msgid ""
+"'halui.axis._L_.pos-relative' (float out) - Feedback axis position in "
+"relative coordinates"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:229 src/man/man1/halui.1.adoc:326
+#, no-wrap
+msgid "Axis Jogging"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:234
+#, no-wrap
+msgid ""
+"'halui.axis.jog-deadband' (float in) - pin  for  setting  jog  analog  "
+"deadband  (jog   analog   inputs smaller/slower than this (in absolute "
+"value) are ignored)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:235
+#, no-wrap
+msgid ""
+"'halui.axis.jog-speed' (float in) - pin for setting jog speed for plus/minus "
+"jogging.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:236
+#, no-wrap
+msgid ""
+"'halui.axis._L_.analog' (float in) - pin for jogging the axis _L_ using an "
+"float value (e.g. joystick). The value, typically set between 0.0 and  ±1.0,  "
+"is  used as a jog-speed multiplier.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:237
+#, no-wrap
+msgid ""
+"'halui.axis._L_.increment' (float in) - pin  for  setting the jog increment "
+"for axis _L_ when using increment-plus/minus\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:238
+#, no-wrap
+msgid ""
+"'halui.axis._L_.increment-minus' (bit in) - a rising edge will will make "
+"axis _L_ jog in the  negative  direction by the increment amount\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:239
+#, no-wrap
+msgid ""
+"'halui.axis._L_.increment-plus' (bit in) - a  rising  edge will will make "
+"axis _L_ jog in the positive direction by the increment amount\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:240
+#, no-wrap
+msgid ""
+"'halui.axis._L_.minus' (bit in) - pin  for  jogging  axis  _L_  in   "
+"negative   direction   at   the halui.axis.jog-speed velocity\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:241
+#, no-wrap
+msgid ""
+"'halui.axis._L_.plus' (bit in) - pin   for   jogging   axis   _L_  in  "
+"positive  direction  at  the halui.axis.jog-speed velocity\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:242
+#, no-wrap
+msgid ""
+"'halui.axis.selected' (u32 out) - selected axis (by index: 0:x 1:y 2:z 3:a "
+"4:b 5:cr 6:u 7:v 8:w)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:243
+#, no-wrap
+msgid ""
+"'halui.axis.selected.increment' (float in) - pin for setting the jog "
+"increment for  the  selected  axis  when using increment-plus/minus\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:244
+#, no-wrap
+msgid ""
+"'halui.axis.selected.increment-minus' (bit in) - a  rising edge will will "
+"make the selected axis jog in the negative direction by the increment "
+"amount\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:245
+#, no-wrap
+msgid ""
+"'halui.axis.selected.increment-plus' (bit in) - a rising edge will will make "
+"the selected axis jog in the  positive direction by the increment amount\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:246
+#, no-wrap
+msgid ""
+"'halui.axis.selected.minus' (bit in) - pin  for  jogging the selected axis "
+"in negative direction at the halui.axis.jog-speed velocity\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:247
+#, no-wrap
+msgid ""
+"'halui.axis.selected.plus' (pin in) - for jogging the selected axis bit in "
+"in positive  direction at the halui.axis.jog-speed velocity\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:251
+msgid "'halui.mode.auto' (bit, in) - pin for requesting auto mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:252
+msgid "'halui.mode.is-auto' (bit, out) - indicates auto mode is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:253
+msgid "'halui.mode.is-joint' (bit, out) - indicates joint by joint jog mode is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:254
+msgid "'halui.mode.is-manual' (bit, out) - indicates manual mode is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:255
+msgid "'halui.mode.is-mdi' (bit, out) - indicates MDI mode is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:256
+msgid "'halui.mode.is-teleop' (bit, out) - indicates coordinated jog mode is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:257
+msgid "'halui.mode.joint' (bit, in) - pin for requesting joint by joint jog mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:258
+msgid "'halui.mode.manual' (bit, in) - pin for requesting manual mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:259
+msgid "'halui.mode.mdi' (bit, in) - pin for requesting MDI mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:260
+msgid "'halui.mode.teleop' (bit, in) - pin for requesting coordinated jog mode"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/halui.adoc:261 src/man/man1/halui.1.adoc:111
+#: src/man/man1/xhc-whb04b-6.1.adoc:222
+#, no-wrap
+msgid "Program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:264
+msgid ""
+"'halui.program.block-delete.is-on' (bit, out) - status pin telling that "
+"block delete is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:265
+msgid ""
+"'halui.program.block-delete.off' (bit, in) - pin for requesting that block "
+"delete is off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:266
+msgid ""
+"'halui.program.block-delete.on' (bit, in) - pin for requesting that block "
+"delete is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:267
+msgid ""
+"'halui.program.is-idle' (bit, out) - status pin telling that no program is "
+"running"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:268
+msgid ""
+"'halui.program.is-paused' (bit, out) - status pin telling that a program is "
+"paused"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:269
+msgid ""
+"'halui.program.is-running' (bit, out) - status pin telling that a program is "
+"running"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:270
+msgid ""
+"'halui.program.optional-stop.is-on' (bit, out) - status pin telling that the "
+"optional stop is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:271
+msgid ""
+"'halui.program.optional-stop.off' (bit, in) - pin requesting that the "
+"optional stop is off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:272
+msgid ""
+"'halui.program.optional-stop.on' (bit, in) - pin requesting that the "
+"optional stop is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:273
+msgid "'halui.program.pause' (bit, in) - pin for pausing a program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:274
+msgid "'halui.program.resume' (bit, in) - pin for resuming a paused program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:275
+msgid "'halui.program.run' (bit, in) - pin for running a program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:276
+msgid "'halui.program.step' (bit, in) - pin for stepping in a program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:277
+msgid "'halui.program.stop' (bit, in) - pin for stopping a program"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:278 src/man/man1/halui.1.adoc:397
+#, no-wrap
+msgid "Rapid Override"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:281
+msgid ""
+"'halui.rapid-override.count-enable' (bit in (default: TRUE)) - When TRUE, "
+"modify Rapid Override when counts changes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:282
+msgid ""
+"'halui.rapid-override.counts' (s32 in) - counts X scale = Rapid Override "
+"percentage. Can be used with an encoder or 'direct-value'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:283
+msgid ""
+"'halui.rapid-override.decrease' (bit in) - pin for decreasing the Rapid "
+"Override (-=scale)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:284
+msgid ""
+"'halui.rapid-override.direct-value' (bit in) - pin to enable direct value "
+"Rapid Override input"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:285
+msgid ""
+"'halui.rapid-override.increase' (bit in) - pin for increasing the Rapid "
+"Override (+=scale)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:286
+msgid ""
+"'halui.rapid-override.scale' (float in) - pin for setting the scale on "
+"changing the Rapid Override"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:287
+msgid "'halui.rapid-override.value' (float out) - current Rapid Override value"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:288
+msgid ""
+"'halui.rapid-override.reset' (bit, in) - pin for resetting the Rapid "
+"Override value (scale=1.0)"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:289 src/man/man1/halui.1.adoc:91
+#, no-wrap
+msgid "Spindle Override"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:292
+msgid ""
+"'halui.spindle._N_.override.count-enable' (bit, in) - must be true for "
+"'counts' or 'direct-value' to work."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:293
+msgid ""
+"'halui.spindle._N_.override.counts' (s32, in) - counts * scale = SO "
+"percentage.  Can be used with an encoder or 'direct-value'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:294
+msgid ""
+"'halui.spindle._N_.override.decrease' (bit, in) - pin for decreasing the SO "
+"(-=scale)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:295
+msgid ""
+"'halui.spindle._N_.override.direct-value' (bit, in) - false when using "
+"encoder to change counts, true when setting counts directly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:296
+msgid ""
+"'halui.spindle._N_.override.increase' (bit, in) - pin for increasing the SO "
+"(+=scale)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:297
+msgid ""
+"'halui.spindle._N_.override.scale' (float, in) - pin for setting the scale "
+"on changing the SO"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:298
+msgid "'halui.spindle._N_.override.value' (float, out) - current SO value"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:299
+msgid ""
+"'halui.spindle._N_.override.reset' (bit, in) - pin for resetting the SO "
+"value (scale=1.0)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:303
+msgid "'halui.spindle._N_.brake-is-on' (bit, out) - indicates brake is on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:304
+msgid "'halui.spindle._N_.brake-off' (bit, in) - pin for deactivating spindle/brake"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:305
+msgid "'halui.spindle._N_.brake-on' (bit, in) - pin for activating spindle-brake"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:306
+msgid "'halui.spindle._N_.decrease' (bit, in) - decreases spindle speed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:307
+msgid "'halui.spindle._N_.forward' (bit, in) - starts the spindle with CW motion"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:308
+msgid "'halui.spindle._N_.increase' (bit, in)- increases spindle speed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:309
+msgid ""
+"'halui.spindle._N_.is-on' (bit, out) - indicates spindle is on (either "
+"direction)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:310
+msgid "'halui.spindle._N_.reverse' (bit, in)- starts the spindle with a CCW motion"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:311
+msgid ""
+"'halui.spindle._N_.runs-backward' (bit, out) - indicates spindle is on, and "
+"in reverse"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:312
+msgid ""
+"'halui.spindle._N_.runs-forward' (bit, out) - indicates spindle is on, and "
+"in forward"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:313
+msgid "'halui.spindle._N_.start' (bit, in) - starts the spindle"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:314
+msgid "'halui.spindle._N_.stop' (bit, in) - stops the spindle"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/halui.adoc:315 src/man/man1/halui.1.adoc:39
+#, no-wrap
+msgid "Tool"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:318
+msgid ""
+"'halui.tool.length-offset.a' (float out) - current applied tool length "
+"offset for the A axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:319
+msgid ""
+"'halui.tool.length-offset.b' (float out) - current applied tool length "
+"offset for the B axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:320
+msgid ""
+"'halui.tool.length-offset.c' (float out) - current applied tool length "
+"offset for the C axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:321
+msgid ""
+"'halui.tool.length-offset.u' (float out) - current applied tool length "
+"offset for the U axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:322
+msgid ""
+"'halui.tool.length-offset.v' (float out) - current applied tool length "
+"offset for the V axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:323
+msgid ""
+"'halui.tool.length-offset.w' (float out) - current applied tool length "
+"offset for the W axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:324
+msgid ""
+"'halui.tool.length-offset.x' (float out) - current applied tool length "
+"offset for the X axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:325
+msgid ""
+"'halui.tool.length-offset.y' (float out) - current applied tool length "
+"offset for the Y axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:326
+msgid ""
+"'halui.tool.length-offset.z' (float out) - current applied tool length "
+"offset for the Z axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:327
+msgid ""
+"'halui.tool.diameter' (float out) - Current tool diameter, or 0 if no tool "
+"is loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/halui.adoc:328
+msgid "'halui.tool.number' (u32, out) - indicates current selected tool"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/image-to-gcode.adoc:5 src/gui/image-to-gcode.adoc:13
+#, no-wrap
+msgid "Image to G-Code"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/image-to-gcode.adoc:13
+#, no-wrap
+msgid "images/image-to-gcode.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/image-to-gcode.adoc:15
+#, no-wrap
+msgid "What is a depth map?"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:19
+msgid ""
+"A depth map is a greyscale image where the brightness of each pixel "
+"corresponds to the depth (or height) of the object at each point."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/image-to-gcode.adoc:20
+#, no-wrap
+msgid "Integrating image-to-gcode with the AXIS user interface"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:25
+msgid ""
+"Add the following lines to the '[FILTER]' section of your INI file to make "
+"AXIS automatically invoke image-to-gcode when you open a PNG, GIF, or JPEG "
+"image:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/image-to-gcode.adoc:32
+#, no-wrap
+msgid ""
+"PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image\n"
+"png = image-to-gcode\n"
+"gif = image-to-gcode\n"
+"jpg = image-to-gcode\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:36
+msgid "The standard 'sim/axis.ini' configuration file is already prepared this way."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/image-to-gcode.adoc:37
+#, no-wrap
+msgid "Using `image-to-gcode`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:41
+msgid ""
+"Start image-to-gcode either by opening an image file in AXIS, or by invoking "
+"image-to-gcode from the terminal, as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/image-to-gcode.adoc:44
+#, no-wrap
+msgid "image-to-gcode torus.png > torus.ngc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:52
+msgid ""
+"Verify all the settings in the right-hand column, then press OK to create "
+"the G-code. Depending on the image size and options chosen, this may take "
+"from a few seconds to a few minutes. If you are loading the image in AXIS, "
+"the G-code will automatically be loaded and previewed once image-to-gcode "
+"completes. In AXIS, hitting reload will show the image-to-gcode option "
+"screen again, allowing you to tweak them."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/image-to-gcode.adoc:53
+#, no-wrap
+msgid "Option Reference"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:59
+msgid ""
+"Specifies whether to use G20 (inches) or G21 (mm) in the generated G-code "
+"and as the units for each option labeled '(units)'."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:60
+#, no-wrap
+msgid "Invert Image"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:65
+msgid ""
+"If \"no\", the black pixel is the lowest point and the white pixel is the "
+"highest point. If \"yes\", the black pixel is the highest point and the "
+"white pixel is the lowest point."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:66
+#, no-wrap
+msgid "Normalize Image"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:70
+msgid ""
+"If 'yes', the darkest pixel is remapped to black, the lightest pixel is "
+"remapped to white."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:71
+#, no-wrap
+msgid "Expand Image Border"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:77
+msgid ""
+"If 'None', the input image is used as-is, and details which are at the very "
+"edges of the image may be cut off. If 'White' or 'Black', then a border of "
+"pixels equal to the tool diameter is added on all sides, and details which "
+"are at the very edges of the images will not be cut off."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:78
+#, no-wrap
+msgid "Tolerance (units)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:84
+msgid ""
+"When a series of points are within 'tolerance' of being a straight line, "
+"they are output as a straight line.  Increasing tolerance can lead to better "
+"contouring performance in LinuxCNC, but can also remove or blur small "
+"details in the image."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:85
+#, no-wrap
+msgid "Pixel Size (units)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:91
+msgid ""
+"One pixel in the input image will be this many units--usually this number is "
+"much smaller than 1.0. For instance, to mill a 2.5x2.5-inch object from a "
+"400x400 image file, use a pixel size of .00625, because 2.5 / 400 = .00625."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:92
+#, no-wrap
+msgid "Plunge Feed Rate (units per minute)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:95
+msgid "The feed rate for the initial plunge movement."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:96
+#, no-wrap
+msgid "Feed Rate (units per minute)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:99
+msgid "The feed rate for other parts of the path."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:100
+#, no-wrap
+msgid "Spindle Speed (RPM)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:103
+msgid "The spindle speed S-code that should be put into the G-code file."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:104
+#, no-wrap
+msgid "Scan Pattern"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:107
+msgid "Possible scan patterns are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:109
+msgid "Rows"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:110
+msgid "Columns"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:111
+msgid "Rows, then Columns"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:112
+msgid "Columns, then Rows"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:113
+#, no-wrap
+msgid "Scan Direction"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:116
+msgid "Possible scan directions are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:119
+msgid ""
+"Positive: Start milling at a low X or Y axis value, and move towards a high "
+"X or Y axis value."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:121
+msgid ""
+"Negative: Start milling at a high X or Y axis value, and move towards a low "
+"X or Y axis value."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:123
+msgid ""
+"Alternating: Start on the same end of the X or Y axis travel that the last "
+"move ended on. This reduces the amount of traverse movements."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:124
+msgid "Up Milling: Start milling at low points, moving towards high points."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:125
+msgid "Down Milling: Start milling at high points, moving towards low points."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:126
+#, no-wrap
+msgid "Depth (units)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:130
+msgid ""
+"The top of material is always at 'Z = 0'.  The deepest cut into the material "
+"is at _Z = -depth_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:131
+#, no-wrap
+msgid "Step Over (pixels)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:138
+msgid ""
+"The distance between adjacent rows or columns. To find the number of pixels "
+"for a given units distance, compute 'distance/pixel size' and round to the "
+"nearest whole number. For example, if 'pixel size=.006' and the desired step "
+"over 'distance=.015', then use a Step Over of 2 or 3 pixels, because "
+"'.015/.006=2.5'."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:139
+#, no-wrap
+msgid "Tool Diameter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:142
+msgid "The diameter of the cutting part of the tool."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:143
+#, no-wrap
+msgid "Safety Height"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:147
+msgid ""
+"The height to move to for traverse movements. image-to-gcode always assumes "
+"the top of material is at 'Z=0'."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:148
+#, no-wrap
+msgid "Tool Type"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:151
+msgid "The shape of the cutting part of the tool. Possible tool shapes are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:153
+msgid "Ball End"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:154
+msgid "Flat End"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:155
+msgid "45 degree \"vee\""
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:156
+msgid "60 degree \"vee\""
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:157
+#, no-wrap
+msgid "Lace bounding"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:162
+msgid ""
+"This controls whether areas that are relatively flat along a row or column "
+"are skipped. This option only makes sense when both rows and columns are "
+"being milled. Possible bounding options are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:164
+msgid "None: Rows and columns are both fully milled."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:166
+msgid ""
+"Secondary: When milling in the second direction, areas that do not strongly "
+"slope in that direction are skipped."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:170
+msgid ""
+"Full: When milling in the first direction, areas that strongly slope in the "
+"second direction are skipped. When milling in the second direction, areas "
+"that do not strongly slope in that direction are skipped."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:171
+#, no-wrap
+msgid "Contact angle"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:176
+msgid ""
+"When 'Lace bounding' is not 'None', slopes greater than 'Contact angle' are "
+"considered to be 'strong' slopes, and slopes less than that angle are "
+"considered to be weak slopes."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/image-to-gcode.adoc:177
+#, no-wrap
+msgid "Roughing offset and depth per pass"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/image-to-gcode.adoc:188
+msgid ""
+"Image-to-gcode can optionally perform roughing passes. The depth of "
+"successive roughing passes is given by 'Roughing depth per pass'. For "
+"instance, entering 0.2 will perform the first roughing pass with a depth of "
+"0.2, the second roughing pass with a depth of 0.4, and so on until the full "
+"Depth of the image is reached. No part of any roughing pass will cut closer "
+"than Roughing Offset to the final part. The following figure shows a tall "
+"vertical feature being milled.  In this image, Roughing depth per pass is "
+"0.2 inches and roughing offset is 0.1 inches."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/image-to-gcode.adoc:189 src/gui/image-to-gcode.adoc:190
+#, no-wrap
+msgid "Roughing passes and final pass"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/image-to-gcode.adoc:190
+#, no-wrap
+msgid "images/i2g-roughing.png"
+msgstr ""
+
+#. type: Title =
+#: src/gui/mdro.adoc:5
+#, no-wrap
+msgid "MDRO GUI(((mdro GUI)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:21
+msgid ""
+"MDRO is a simple graphical front-end for LinuxCNC providing a display of "
+"data from Digital Read Out (DRO) scales. It provides functionality similar "
+"to a normal machinist's DRO display, allowing the user to use the DRO scales "
+"on the machine when operating in a manual-only (hand-cranked) mode. It is "
+"most useful for manual machines such as DRO equipped Bridgeport style mills "
+"that have been converted to CNC but still have the manual controls."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:23
+msgid "MDRO is mouse and touch screen friendly."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/mdro.adoc:25 src/gui/mdro.adoc:26 src/gui/mdro.adoc:91
+#, no-wrap
+msgid "MDRO Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/mdro.adoc:26
+#, no-wrap
+msgid "images/mdro.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:37
+msgid ""
+"If your configuration is not currently set up to use MDRO, you can change it "
+"by editing the INI file. In the `[DISPLAY]` section, change the `DISPLAY =` "
+"line to read `DISPLAY = mdro`. MDRO defaults to XYZ for the axes but that "
+"can be changed.  Set `[DISPLAY]` section `GEOMETRY = XYZ` for a 3 axis "
+"mill. A lathe with with DRO scales on the X and Z axes might use `GEOMETRY = "
+"XZ`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:40
+msgid ""
+"When MDRO starts, a window like the one in the figure <<fig:mdro-window>> "
+"above opens."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/mdro.adoc:41
+#, no-wrap
+msgid "INI File Options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:44
+msgid "Other options that can be included on the `[DISPLAY]` section include:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:46
+msgid "`MDRO_VAR_FILE = <file.var>` - preload G54 - G57 coordinate system data."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:48
+msgid ""
+"Preload a .var file. This is typically the .var file used by the operational "
+"code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:49
+msgid "`POINT_SIZE = <n>` - Set text point size."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:52
+msgid ""
+"This option sets the size of the font used which sets the overall size of "
+"the window. The default point size is 20, Typical sizes are 20 to 30."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:53
+msgid "`MM = 1` Set this if the DRO scales provide data scaled in millimeters."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:58
+msgid ""
+"MDRO can be started by a `loadusr` command in a HAL file. Options equivalent "
+"to those in the INI file can be set on the command line:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:60
+msgid "`-l <file.var>` - preload G54 - G57 coordinate system data."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:61
+msgid "`-p <n>` - Set text point size."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:62
+msgid "`-m` - Set this if the DRO scales provide data scaled in millimeters."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:63
+msgid "`<axes>` - axes to display. See `GEOMETRY` above."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:68
+msgid ""
+"Using an example of \"XYZA\" for an AXES argument, these pins will be "
+"created when MDRO starts:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/mdro.adoc:79
+#, no-wrap
+msgid ""
+"mdro.axis.0\n"
+"mdro.axis.1\n"
+"mdro.axis.2\n"
+"mdro.axis.3\n"
+"mdro.index-enable.0\n"
+"mdro.index-enable.1\n"
+"mdro.index-enable.2\n"
+"mdro.index-enable.3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:85
+msgid ""
+"In this example, the first row of the display will be labeled `X` and will "
+"show the data from the DRO scale connected to pin `mdro.axis.0`. The "
+"`mdro.index-enable.n` pins should be connected to the index pins of the DRO "
+"if the DRO supports them."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:90
+msgid ""
+"The pins must be connected in the file specified in the `POSTGUI_HALFILE` "
+"entry of the INI file when the program is started from an INI file. They can "
+"be set directly after the loadusr command if the program is started in a HAL "
+"file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:94
+msgid "The MDRO window contains the following elements:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:96
+msgid "A row for each axis. Each row includes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:97
+msgid "the name of the axis,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:98
+msgid "the current value,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:99
+msgid "a \"z\" button that zeros the value,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:100
+msgid "a \"1/2\" button that halves the value,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:102
+msgid ""
+"a entry field that can be used to set a user-defined value. This field can "
+"be set from the keyboard or from the on-screen keypad."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:103
+msgid "A \"I\" button that starts an index operation (see below),"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:105
+msgid "a keypad used to set values in the entry field via a mouse or touchscreen,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:106
+msgid "coordinate system selection buttons:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:109
+msgid ""
+"The \"mcs\" button selects the machine coordinate system. These are the raw "
+"values from the encoders connected to the `mdro.axis.n` pins."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:115
+msgid ""
+"The \"cs1\" - \"cs4\" buttons allow the user to select among one of four "
+"user-defined coordinate systems. If the program is started with the "
+"`MDRO_VAR_FILE =` option, the labels will be changed to \"g54\" - \"g57\" "
+"and the values from the specified .var file will be preloaded. Note that any "
+"changes to the values are not persistent: the .var file is never changed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:116
+msgid "Inch/Millimeter selection buttons."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/mdro.adoc:117
+#, no-wrap
+msgid "Index operations"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:123
+msgid ""
+"`MDRO` supports DRO scales with index marks. Hit the \"I\" button on the "
+"axis row then crank the axis to the index position. The machine coordinate "
+"will be zeroed. This is easiest to see at startup or when the \"mcs\" "
+"coordinate system has been selected."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/mdro.adoc:124
+#, no-wrap
+msgid "Simulation"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/mdro.adoc:129
+msgid ""
+"The easiest way to see how `MDRO` works is to try it in a simulation "
+"environment.  Add this section to the end of your simulation HAL file, "
+"usually \"hallib/core_sim.hal\":"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/mdro.adoc:136
+#, no-wrap
+msgid ""
+"loadusr -W mdro -l sim.var XYZ\n"
+"net x-pos-fb  => mdro.axis.0\n"
+"net y-pos-fb  => mdro.axis.1\n"
+"net z-pos-fb  => mdro.axis.2\n"
+msgstr ""
+
+#. type: Title =
+#: src/gui/ngcgui.adoc:5
+#, no-wrap
+msgid "NGCGUI(((NGCGUI)))"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:13
+#, no-wrap
+msgid "NGCGUI embedded into AXIS"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/ngcgui.adoc:14
+#, no-wrap
+msgid "images/ngcgui.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:22
+msgid ""
+"'NGCGUI' is a Tcl application to work with subroutines. It allows you to "
+"have a conversational interface with LinuxCNC. You can organize the "
+"subroutines in the order you need them to run and concatenate the "
+"subroutines into one file for a complete part program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:24
+msgid ""
+"'NGCGUI' can run as a standalone application or can be embedded in multiple "
+"tab pages in the AXIS GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:25
+msgid "'PyNGCGUI' is an alternate, Python implementation of NGCGUI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:29
+msgid ""
+"'PyNGCGUI' can run as a standalone application or can be embedded as a tab "
+"page (with its own set of multiple subroutine tabs) in any GUI that supports "
+"embedding of GladeVCP applications AXIS, Touchy, Gscreen and GMOCCAPY."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:31
+msgid "Using NGCGUI or PyNGCGUI:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:33
+msgid "Tab pages are provided for each subroutine specified in the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:35
+msgid ""
+"New subroutines tab pages can be added on the fly using the "
+"<<ngcgui-ini,custom tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:36
+msgid "Each subroutine tab page provides entry boxes for all subroutine parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:38
+msgid ""
+"The entry boxes can have a default value and an label that are identified by "
+"special comments in the subroutine file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:40
+msgid ""
+"Subroutine invocations can be concatenated together to form a multiple step "
+"program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:41
+msgid ""
+"Any single-file G-code subroutine that conforms to NGCGUI conventions can be "
+"used."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:44
+msgid ""
+"Any gcmc (G-code-meta-compiler) program that conforms to NGCGUI conventions "
+"for tagging variables can be used. (The gcmc executable must be installed "
+"separately, see: https://www.vagrearg.org/content/gcmc)"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:50
+msgid ""
+"NGCGUI and PyNGCGUI implement the same functions and both process .ngc and "
+".gcmc files that conform to a few NGCGUI-specific conventions.  In this "
+"document, the term 'NGCGUI' generally refers to either application."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/ngcgui.adoc:52
+#, no-wrap
+msgid "Demonstration Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:57
+msgid ""
+"A number of demonstration configurations are located in the sim directory of "
+"the Sample Configurations offered by the LinuxCNC configuration picker. The "
+"configuration picker is on the system's main menu: Applications > CNC > "
+"LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:65
+msgid ""
+"Examples are included for the AXIS, Touchy, gscreen, and GMOCCAPY.  These "
+"examples demonstrate both 3-axis (XYZ) cartesian configurations (like mills) "
+"and lathe (XZ) setups.  Some examples show the use of a pop up keyboard for "
+"touch screen systems and other examples demonstrate the use of files created "
+"for the gcmc (G-code Meta Compiler) application.  The touchy examples also "
+"demonstrate incorporation of a GladeVCP back plot viewer (gremlin_view)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:67
+msgid "The simplest application is found as:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:69
+#, no-wrap
+msgid "  Sample Configurations/sim/axis/ngcgui/ngcgui_simple\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:71
+msgid "A comprehensive example showing gcmc compatibility is at:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:73
+#, no-wrap
+msgid "  Sample Configurations/sim/axis/ngcgui/ngcgui_gcmc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:75
+msgid "A comprehensive example embedded as a GladeVCP app and using gcmc is at:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:77
+#, no-wrap
+msgid "  Sample Configurations/sim/gscreen/ngcgui/pyngcgui_gcmc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:80
+msgid ""
+"The example sim configurations make use of library files that provide "
+"example G-code subroutine (.ngc) files and G-code-meta-compiler (.gcmc) "
+"files:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:82
+msgid "'nc_files/ngcgui_lib'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:83
+msgid "'ngcgui.ngc' - An easy to understand example using subroutines"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:84
+msgid "'arc1.ngc' - basic arc using cutter radius compensation"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:85
+msgid "'arc2.ngc' - arc speced by center, offset, width, angle (calls arc1)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:86
+msgid "'backlash.ngc' - routine to measure an axis backlash with dial indicator"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:87
+msgid "'db25.ngc' - creates a DB25 plug cutout"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:88
+msgid "'gosper.ngc' - a recursion demo (flowsnake)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:89
+msgid "'helix.ngc' - helix or D-hole cutting"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:90
+msgid "'helix_rtheta.ngc' - helix or D-hole positioned by radius and angle"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:91
+msgid "'hole_circle.ngc' - equally spaced holes on a circle"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:92
+msgid "'ihex.ngc' - internal hexagon"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:93
+msgid "'iquad.ngc' - internal quadrilateral"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:94
+msgid "'ohex.ngc' - outside hexagon"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:95
+msgid "'oquad.ngc' - outside quadrilateral"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:96
+msgid "'qpex_mm.ngc' - demo of qpockets (mm based)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:97
+msgid "'qpex.ngc' - demo of qpockets (inch based)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:98
+msgid "'qpocket.ngc' - quadrilateral pocket"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:99
+msgid "'rectangle_probe.ngc' - probe a rectangular area"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:100
+msgid "'simp.ngc' - a simple subroutine example that creates two circles"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:101
+msgid "'slot.ngc' - slot from connecting two endpoints"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:102
+msgid "'xyz.ngc' - machine exerciser constrained to a box shape"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:103 src/gui/ngcgui.adoc:113
+msgid "'Custom' - Creates custom tabs"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:104
+msgid "'ttt' - True Type Tracer, to create texts to be engraved"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:106
+msgid "'nc_files/ngcgui_lib/lathe'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:107
+msgid "'ngcgui-lathe' - Example lathe subroutine"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:108
+msgid "'g76base.ngc' - GUI for G76 threading"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:109
+msgid "'g76diam.ngc' - threading speced by major, minor diameters"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:110
+msgid "'id.ngc' - bores the inside diameter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:111
+msgid "'od.ngc' - turns the outside diameter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:112
+msgid "'taper-od.ngc' - turns a taper on the outside diameter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:115
+msgid "'nc_files/gcmc_lib'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:116
+msgid "'drill.gcmc' - drill holes in rectangle pattern"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:117
+msgid "'square.gcmc' - simple demo of variable tags for gcmc files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:118
+msgid "'star.gcmc' - gcmc demo illustrating functions and arrays"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:119
+msgid "'wheels.gcmc' - gcmc demo of complex patterns"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:122
+msgid ""
+"To try a demonstration, select a sim configuration and start the LinuxCNC "
+"program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:130
+msgid ""
+"If using the AXIS GUI, press the 'E-Stop' image:images/tool_estop.png[] then "
+"'Machine Power' image:images/tool_power.png[] then 'Home All'. Pick a NGCGUI "
+"tab, fill in any empty blanks with sensible values and press 'Create "
+"Feature' then 'Finalize'. Finally press the 'Run' "
+"image:images/tool_run.png[] button to watch it run. Experiment by creating "
+"multiple features and features from different tab pages."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:135
+msgid ""
+"To create several subroutines concatenated into a single file, go to each "
+"tab fill in the blanks, press 'Create Feature' then using the arrow keys "
+"move any tabs needed to put them in order. Now press 'Finalize' and answer "
+"the prompt to create"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:138
+msgid ""
+"Other GUIs will have similar functionality but the buttons and names may be "
+"different."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:145
+msgid ""
+"The demonstration configs create tab pages for just a few of the provided "
+"examples. Any GUI with a <<ngcgui-ini,custom tab>> can open any of the "
+"library example subroutines or any user file if it is in the LinuxCNC "
+"subroutine path."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:148
+msgid ""
+"To see special key bindings, click inside an NGCGUI tab page to get focus "
+"and then press Control-k."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:153
+msgid ""
+"The demonstration subroutines should run on the simulated machine "
+"configurations included in the distribution.  A user should always "
+"understand the behavior and purpose of a program before running on a real "
+"machine."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/ngcgui.adoc:155
+#, no-wrap
+msgid "Library Locations"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:159
+msgid ""
+"In LinuxCNC installations installed from deb packages, the simulation "
+"configs for NGCGUI use symbolic links to non-user-writable LinuxCNC "
+"libraries for:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:161
+#, no-wrap
+msgid "'nc_files/ngcgui_lib'             NGCGUI-compatible subfiles\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:162
+#, no-wrap
+msgid "'nc_files/ngcgui_lib/lathe'       NGCGUI-compatible lathe subfiles\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:163
+#, no-wrap
+msgid "'nc_files/gcmc_lib'               NGCGUI-gcmc-compatible programs\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:164
+#, no-wrap
+msgid "'nc_files/ngcgui_lib/utilitysubs' Helper subroutines\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:165
+#, no-wrap
+msgid "'nc_files/ngcgui_lib/mfiles'      User M files\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:168
+msgid ""
+"These libraries are located by INI file items that specify the search paths "
+"used by LinuxCNC (and NGCGUI):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:174
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"SUBROUTINE_PATH = "
+"../../nc_files/ngcgui_lib:../../nc_files/gcmc_lib:../../nc_files/ngcgui_lib/utilitysubs\n"
+"USER_M_PATH     = ../../nc_files/ngcgui_lib/mfiles\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:182
+msgid ""
+"These are long lines (not continued on multiple lines)  that specify the "
+"directories used in a search patch.  The directory names are separated by "
+"colons (:). No spaces should occur between directory names."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:186
+msgid ""
+"A user can create new directories for their own subroutines and M-files and "
+"add them to the search path(s)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:188
+msgid ""
+"For example, a user could create directories from the terminal with the "
+"commands:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:192
+#, no-wrap
+msgid ""
+"mkdir /home/myusername/mysubs\n"
+"mkdir /home/myusername/mymfiles\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:196
+msgid ""
+"And then create or copy system-provided files to these user-writable "
+"directories.  For instance, a user might create a NGCGUI-compatible subfile "
+"named:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:199
+#, no-wrap
+msgid "/home/myusername/mysubs/example.ngc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:203
+msgid ""
+"To use files in new directories, the INI file must be edited to include the "
+"new subfiles and to augment the search path(s).  For this example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:210
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"...\n"
+"SUBROUTINE_PATH = "
+"/home/myusername/mysubs:../../nc_files/ngcgui_lib:../../nc_files/gcmc_lib:../../nc_files/ngcgui_lib/utilitysubs\n"
+"USER_M_PATH     = "
+"/home/myusername/mymfiles:../../nc_files/ngcgui_lib/mfiles\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:215
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"...\n"
+"NGCGUI_SUBFILE = example.ngc\n"
+"...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:223
+msgid ""
+"LinuxCNC (and NGCGUI) use the first file found when searching directories in "
+"the search path.  With this behavior, you can supersede an ngcgui_lib "
+"subfile by placing a subfile with an identical name in a directory that is "
+"found earlier in the path search. More information can be found in the INI "
+"chapter of the Integrators Manual."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/ngcgui.adoc:224 src/man/man1/xhc-hb04.1.adoc:43
+#: src/man/man1/xhc-whb04b-6.1.adoc:78
+#, no-wrap
+msgid "Standalone Usage"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:226
+#, no-wrap
+msgid "Standalone NGCGUI"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:229 src/gui/ngcgui.adoc:264
+msgid "For usage, type in a terminal:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:237
+#, no-wrap
+msgid ""
+"ngcgui --help\n"
+"Usage:\n"
+"  ngcgui --help | -?\n"
+"  ngcgui [Options] -D <nc files directory name>\n"
+"  ngcgui [Options] -i <LinuxCNC INI file name>\n"
+"  ngcgui [Options]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:252
+#, no-wrap
+msgid ""
+"Options:\n"
+"  [-S subroutine_file]\n"
+"  [-p preamble_file]\n"
+"  [-P postamble_file]\n"
+"  [-o output_file]\n"
+"  [-a autosend_file]            (autosend to AXIS default:auto.ngc)\n"
+"  [--noauto]                    (no autosend to AXIS)\n"
+"  [-N | --nom2]                 (no m2 terminator (use %))\n"
+"  [--font [big|small|fontspec]] (default: \"Helvetica -10 normal\")\n"
+"  [--horiz|--vert]              (default: --horiz)\n"
+"  [--cwidth comment_width]      (width of comment field)\n"
+"  [--vwidth varname_width]      (width of varname field)\n"
+"  [--quiet]                     (fewer comments in outfile)\n"
+"  [--noiframe]                  (default: frame displays image)\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:259
+msgid ""
+"As a standalone application, NGCGUI handles a single subroutine file which "
+"can be invoked multiple times.  Multiple standalone NGCGUI applications can "
+"be started independently."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:261
+#, no-wrap
+msgid "Standalone PyNGCGUI"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:294
+#, no-wrap
+msgid ""
+"pyngcgui --help\n"
+"Usage:\n"
+"pyngcgui [Options] [<sub_filename>]\n"
+"Options requiring values:\n"
+"    [-d | --demo] [0|1|2] (0: DEMO standalone toplevel)\n"
+"                          (1: DEMO embed new notebook)\n"
+"                          (2: DEMO embed within existing notebook)\n"
+"    [-S | --subfile       <sub file name>]\n"
+"    [-p | --preamble      <preamble file name>]\n"
+"    [-P | --postamble     <postamble file name>]\n"
+"    [-i | --ini           <INI file name>]\n"
+"    [-a | --autofile      <auto file name>]\n"
+"    [-t | --test          <testno>]\n"
+"    [-K | --keyboardfile  <glade_file>] (use custom popupkeyboard glade "
+"file)\n"
+"Solo Options:\n"
+"    [-v | --verbose]\n"
+"    [-D | --debug]\n"
+"    [-N | --nom2]         (no m2 terminator (use %))\n"
+"    [-n | --noauto]       (save but do not automatically send result)\n"
+"    [-k | --keyboard]     (use default popupkeybaord)\n"
+"    [-s | --sendtoaxis]   (send generated NGC file to AXIS GUI)\n"
+"Notes:\n"
+"      A set of files is comprised of a preamble, subfile, postamble.\n"
+"      The preamble and postamble are optional.\n"
+"      One set of files can be specified from cmdline.\n"
+"      Multiple sets of files can be specified from an INI file.\n"
+"      If --ini is NOT specified:\n"
+"         search for a running LinuxCNC and use its INI file.\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:301
+msgid ""
+"As a standalone application, PyNGCGUI can read an INI file (or a running "
+"LinuxCNC application) to create tab pages for multiple subfiles."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/ngcgui.adoc:303
+#, no-wrap
+msgid "Embedding NGCGUI"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:305
+#, no-wrap
+msgid "Embedding NGCGUI in AXIS"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:309
+msgid ""
+"The following INI file items go in the [DISPLAY] section. (See additional "
+"sections below for additional items needed)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:311
+msgid "'TKPKG = Ngcgui 1.0' - the NGCGUI package"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:313
+msgid ""
+"'TKPKG = Ngcguittt 1.0' - the True Type Tracer package for generating text "
+"for engraving (optional, must follow TKPKG = Ngcgui)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:314
+msgid "'NGCGUI_FONT = Helvetica -12 normal' - Sets the font used"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:317
+msgid ""
+"'NGCGUI_PREAMBLE = in_std.ngc' - The preamble file to be added at the "
+"beginning of the subroutine. When several subroutines are concatenated, it "
+"is only added once."
+msgstr ""
+
+#. FIXME * 'NGCGUI_SUBFILE = "" - Creates a custom tab ?
+#. type: Plain text
+#: src/gui/ngcgui.adoc:318
+msgid "'NGCGUI_SUBFILE = simp.ngc' - Creates a tab from the named subroutine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:320
+msgid "'NGCGUI_SUBFILE = \"\"' - Creates a custom tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:321
+msgid "'#NGCGUI_OPTIONS = opt1 opt2 ...' - NGCGUI options:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:322
+#, no-wrap
+msgid "'nonew'    -- Prohibits creation of new custom tab\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:323
+#, no-wrap
+msgid "'noremove' -- Prohibits deleting a tab page\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:324
+#, no-wrap
+msgid "'noauto'   -- Do not run automatically (makeFile, then manual run)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:325
+#, no-wrap
+msgid "'noiframe' -- No internal image, image on separate top level\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:326
+#, no-wrap
+msgid ""
+"'TTT = truetype-tracer' - name of the truetype tracer program (it must be in "
+"user PATH)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:328
+#, no-wrap
+msgid ""
+"'TTT_PREAMBLE = in_std.ngc' - Optional, specifies filename for preamble used "
+"for\n"
+"ttt created subfiles. (alternate: mm_std.ngc)\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:334
+msgid ""
+"The optional truetype tracer items are used to specify an NGCGUI-compatible "
+"tab page that uses the application truetype-tracer.  The truetype-tracer "
+"application must be installed independently and located in the user PATH."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:336
+#, no-wrap
+msgid "Embedding PyNGCGUI as a GladeVCP tab page in a GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:341
+msgid ""
+"The following INI file items go in the [DISPLAY] section for use with the "
+"AXIS, Gscreen, or Touchy GUIs.  (See additional sections below for "
+"additional items needed)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:342
+#, no-wrap
+msgid "EMBED_ Items"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:344
+msgid "`EMBED_TAB_NAME = PyNGCGUI` - name to appear on embedded tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:345
+msgid "`EMBED_TAB_COMMAND = gladevcp -x {XID} pyngcgui_axis.ui` - invokes GladeVCP"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:346
+msgid "`EMBED_TAB_LOCATION = name_of_location` - where the embedded page is located"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:354
+msgid ""
+"The EMBED_TAB_LOCATION specifier is not used for the AXIS GUI.  While "
+"PyNGCGUI can be embedded in AXIS, integration is more complete when using "
+"NGCGUI (using TKPKG = Ngcgui 1.0).  To specify the EMBED_TAB_LOCATION for "
+"other GUIs, see the <<sub:ini:sec:display,DISPLAY Section>> of the INI "
+"Configuration Chapter."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:360
+msgid ""
+"The truetype tracer GUI front-end is not currently available for GladeVCP "
+"applications."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:363
+#, no-wrap
+msgid "Additional INI File items required for NCGUI or PyNGCGUI"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:367
+msgid ""
+"The following INI file items go in the [DISPLAY] section for any GUI that "
+"embeds either NGCGUI or PyNGCGUI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:369
+msgid ""
+"'NGCGUI_FONT = Helvetica -12 normal' - specifies the font name,size, "
+"normal|bold"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:372
+msgid ""
+"'NGCGUI_PREAMBLE = in_std.ngc' - the preamble file to be added in front of "
+"the subroutines. When concatenating several common subroutine invocations, "
+"this preamble is only added once.  For mm-based machines, use mm_std.ngc"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:373
+msgid ""
+"'NGCGUI_SUBFILE = filename1.ngc' - creates a tab from the filename1 "
+"subroutine"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:374
+msgid ""
+"'NGCGUI_SUBFILE = filename2.ngc' - creates a tab from the filename2 "
+"subroutine"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:375 src/gui/ngcgui.adoc:378
+msgid "'... etc.'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:376
+msgid "'NGCGUI_SUBFILE = gcmcname1.gcmc' - creates a tab from the gcmcname1 file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:377
+msgid "'NGCGUI_SUBFILE = gcmcname2.gcmc' - creates a tab from the gcmcname2 file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:379
+msgid ""
+"'NGCGUI_SUBFILE = \"\"' - creates a custom tab that can open any subroutine "
+"in the search path"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:380
+msgid "'NGCGUI_OPTIONS = opt1 opt2 ...' - NGCGUI options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:381
+msgid "'nonew' - disallow making a new custom tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:382
+msgid "'noremove' - disallow removing any tab page"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:383
+msgid "'noauto' - no autosend (use makeFile, then save or manually send)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:384
+msgid "'noiframe' - no internal image, display images on separate top level widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:386
+msgid ""
+"'nom2' - do not terminate with m2, use % terminator.  This option eliminates "
+"all the side effects of m2 termination"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:387
+msgid ""
+"'GCMC_INCLUDE_PATH = dirname1:dirname2' - search directories for gcmc "
+"include files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:394
+msgid ""
+"This is an example of embedding NGCGUI into AXIS. The subroutines need to be "
+"in a directory specified by the [RS274NGC]SUBROUTINE_PATH.  Some example "
+"subroutines use other subroutines so check to be sure you have the "
+"dependences, if any, in a SUBROUTINE_PATH directory.  Some subroutines may "
+"use custom M-files which must be in a directory specified by the "
+"[RS274NGC]USER_M_PATH."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:396
+msgid "The G-code-meta-compiler (gcmc) can include statements like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:399
+#, no-wrap
+msgid "include(\"filename.inc.gcmc\");\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:404
+msgid ""
+"By default, gcmc includes the current directory which, for LinuxCNC, will be "
+"the directory containing the LinuxCNC INI file. Additional directories can "
+"be prepended to the gcmc search order with the GCMC_INCLUDE_PATH item."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:405
+#, no-wrap
+msgid "Sample AXIS-GUI-based INI"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:412
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"...\n"
+"SUBROUTINE_PATH   = ../../nc_files/ngcgui_lib:../../ngcgui_lib/utilitysubs\n"
+"USER_M_PATH       = ../../nc_files/ngcgui_lib/mfiles\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:417
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"TKPKG             = Ngcgui    1.0\n"
+"TKPKG             = Ngcguittt 1.0\n"
+"# Ngcgui must precede Ngcguittt\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:440
+#, no-wrap
+msgid ""
+"NGCGUI_FONT       = Helvetica -12 normal\n"
+"# specify filenames only, files must be in [RS274NGC]SUBROUTINE_PATH\n"
+"NGCGUI_PREAMBLE   = in_std.ngc\n"
+"NGCGUI_SUBFILE    = simp.ngc\n"
+"NGCGUI_SUBFILE    = xyz.ngc\n"
+"NGCGUI_SUBFILE    = iquad.ngc\n"
+"NGCGUI_SUBFILE    = db25.ngc\n"
+"NGCGUI_SUBFILE    = ihex.ngc\n"
+"NGCGUI_SUBFILE    = gosper.ngc\n"
+"# specify \"\" for a custom tab page\n"
+"NGCGUI_SUBFILE    = \"\"\n"
+"#NGCGUI_SUBFILE   = \"\" use when image frame is specified if\n"
+"#                      opening other files is required\n"
+"#                      images will be put in a top level window\n"
+"NGCGUI_OPTIONS    =\n"
+"#NGCGUI_OPTIONS   = opt1 opt2 ...\n"
+"# opt items:\n"
+"#   nonew      -- disallow making a new custom tab\n"
+"#   noremove   -- disallow removing any tab page\n"
+"#   noauto     -- no auto send (makeFile, then manually send)\n"
+"#   noiframe   -- no internal image, image on separate top level\n"
+"GCMC_INCLUDE_PATH = /home/myname/gcmc_includes\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:443
+#, no-wrap
+msgid ""
+"TTT               = truetype-tracer\n"
+"TTT_PREAMBLE      = in_std.ngc\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:445
+#, no-wrap
+msgid "PROGRAM_PREFIX    = ../../nc_files\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/ngcgui.adoc:452
+msgid ""
+"The above is not a complete AXIS GUI INI -- the items show are those used by "
+"NGCGUI.  Many additional items are required by LinuxCNC to have a complete "
+"INI file."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:454
+#, no-wrap
+msgid "Truetype Tracer"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:460
+msgid ""
+"Ngcgui_ttt provides support for truetype-tracer (v4).  It creates an AXIS "
+"tab page which allows a user to create a new NGCGUI tab page after entering "
+"text and selecting a font and other parameters.  (Truetype-tracer must be "
+"installed independently)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:463
+msgid ""
+"To embed ngcgui_ttt in AXIS, specify the following items in addition to "
+"NGCGUI items:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:469
+#, no-wrap
+msgid ""
+"Item:    [DISPLAY]TKPKG = Ngcgui_ttt version_number\n"
+"Example: [DISPLAY]TKPKG = Ngcgui_ttt 1.0\n"
+"Note:    Mandatory, specifies loading of ngcgui_ttt in an AXIS tab page "
+"named ttt.\n"
+"         Must follow the TKPKG = Ngcgui item.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:475
+#, no-wrap
+msgid ""
+"Item:    [DISPLAY]TTT = path_to_truetype-tracer\n"
+"Example: [DISPLAY]TTT = truetype-tracer\n"
+"Note:    Optional, if not specified, attempt to use "
+"/usr/local/bin/truetype-tracer.\n"
+"         Specify with absolute pathname or as a simple executable name,\n"
+"         in which case the user PATH environment will used to find the "
+"program.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:479
+#, no-wrap
+msgid ""
+"Item:    [DISPLAY]TTT_PREAMBLE = preamble_filename\n"
+"Example: [DISPLAY]TTT_PREAMBLE = in_std.ngc\n"
+"Note:    Optional, specifies filename for preamble used for ttt created "
+"subfiles.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:481
+#, no-wrap
+msgid "INI File Path Specifications"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:485
+msgid ""
+"NGCGUI uses the LinuxCNC search path to find files.  The search path begins "
+"with the standard directory specified by:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:489
+#, no-wrap
+msgid "[DISPLAY]PROGRAM_PREFIX = directory_name\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:492
+msgid "followed by multiple directories specified by:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:496
+#, no-wrap
+msgid ""
+"[RS274NGC]SUBROUTINE_PATH = directory1_name:directory1_name:directory3_name "
+"...\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:498
+#, no-wrap
+msgid "Directories"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:501
+msgid "Directories may be specified as absolute paths or relative paths."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:503
+msgid "Example: `[DISPLAY]PROGRAM_PREFIX = /home/myname/linuxcnc/nc_files`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:504
+msgid "Example: `[DISPLAY]PROGRAM_PREFIX = ~/linuxcnc/nc_files`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:505
+msgid "Example: `[DISPLAY]PROGRAM_PREFIX = ../../nc_files`"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:506
+#, no-wrap
+msgid "Absolute Paths"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:512
+msgid ""
+"An absolute path beginning with a \"/\" specifies a complete filesystem "
+"location.  A path beginning with a \"\\~/\" specifies a path starting from "
+"the user's home directory.  A path beginning with \"~username/\" specifies a "
+"path starting in username's home directory."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:517
+msgid ""
+"Relative paths are based on the startup directory which is the directory "
+"containing the INI file.  Using relative paths can facilitate relocation of "
+"configurations but requires a good understanding of Linux path specifiers."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:519
+#, no-wrap
+msgid ""
+"`./d0`        is the same as d0, e.g., a directory named d0 in the startup "
+"directory\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:520
+#, no-wrap
+msgid "`../d1`       refers to a directory d1 in the parent directory\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:521
+#, no-wrap
+msgid ""
+"`../../d2`    refers to a directory d2 in the parent of the parent "
+"directory\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:522
+#, no-wrap
+msgid "`../../../d3` etc.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:525
+msgid ""
+"Multiple directories can be specified with [RS274NGC]SUBROUTINE_PATH by "
+"separating them with colons.  The following example illustrates the format "
+"for multiple directories and shows the use of relative and absolute paths."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:526
+#, no-wrap
+msgid "Multiple Directories Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:530
+#, no-wrap
+msgid ""
+"[RS274NGC]SUBROUTINE_PATH = "
+"../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs:/tmp/tmpngc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:534
+msgid ""
+"This is one long line, do not continue on multiple lines.  When LinuxCNC "
+"and/or NGCGUI searches for files, the first file found in the search is "
+"used."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:537
+msgid ""
+"LinuxCNC (and NGCGUI) must be able to find all subroutines including helper "
+"routines that are called from within NGCGUI subfiles.  It is convenient to "
+"place utility subs in a separate directory as indicated in the example "
+"above."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:542
+msgid ""
+"The distribution includes the ngcgui_lib directory and demo files for "
+"preambles, subfiles, postambles and helper files.  To modify the behavior of "
+"the files, you can copy any file and place it in an earlier part of the "
+"search path.  The first directory searched is [DISPLAY]PROGRAM_PREFIX.  You "
+"can use this directory but it is better practice to create dedicated "
+"directory(ies) and put them at the beginning of the "
+"[RS274NGC]SUBROUTINE_PATH."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:544
+msgid ""
+"In the following example, files in /home/myname/linuxcnc/mysubs will be "
+"found before files in ../../nc_files/ngcgui_lib."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:545
+#, no-wrap
+msgid "Adding User Directory Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:549
+#, no-wrap
+msgid ""
+"[RS274NGC]SUBROUTINE_PATH = "
+"/home/myname/linuxcnc/mysubs:../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs`\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:556
+msgid ""
+"New users may inadvertently try to use files that are not structured to be "
+"compatible with NGCGUI requirements.  NGCGUI will likely report numerous "
+"errors if the files are not coded per its conventions.  Good practice "
+"suggests that NGCGUI-compatible subfiles should be placed in a directory "
+"dedicated to that,purpose and that preamble, postamble, and helper files "
+"should be in separate directory(ies) to discourage attempts to use them as "
+"subfiles.  Files not intended for use as subfiles can include a special "
+"comment: \"(not_a_subfile)\" so that NGCGUI will reject them automatically "
+"with a relevant message."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:557
+#, no-wrap
+msgid "Summary of INI File item details for NGCGUI usage"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:559
+#, no-wrap
+msgid "[RS274NGC]SUBROUTINE_PATH = dirname1:dirname2:dirname3 ..."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:562
+#, no-wrap
+msgid ""
+"_Example_: `[RS274NGC]SUBROUTINE_PATH = "
+"../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs` +\n"
+"_Note_:    Optional, but very useful to organize subfiles and utility "
+"files.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:563
+#, no-wrap
+msgid "[RS274NGC]USER_M_PATH = dirname1:dirname2:dirname3 ..."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:566
+#, no-wrap
+msgid ""
+"_Example_: `[RS274NGC]USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles` +\n"
+"_Note_:    Optional, needed to locate custom user M-files.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:567
+#, no-wrap
+msgid "[DISPLAY]EMBED_TAB_NAME = name to display on embedded tab page"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:571
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]EMBED_TAB_NAME = Pyngcgui` +\n"
+"_Note_:    The entries: `EMBED_TAB_NAME`, `EMBED_TAB_COMMAND`, "
+"`EMBED_TAB_LOCATION`\n"
+"define an embedded application for several LinuxCNC GUIs.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:572
+#, no-wrap
+msgid "[DISPLAY]EMBED_TAB_COMMAND = programname followed by arguments"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:575
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]EMBED_TAB_COMMAND = gladevcp -x {XID} pyngcgui_axis.ui` "
+"+\n"
+"_Note_:    For GladeVCP applications, see the <<cha:glade-vcp,GladeVCP "
+"Chapter>>.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:576
+#, no-wrap
+msgid "[DISPLAY]EMBED_TAB_LOCATION = name_of_location"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:580
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]EMBED_TAB_LOCATION = notebook_main` +\n"
+"_Note_:    See example INI files for possible locations. +\n"
+"Not required for the AXIS GUI.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:581
+#, no-wrap
+msgid "[DISPLAY]PROGRAM_PREFIX = dirname"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:585
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]PROGRAM_PREFIX = ../../nc_files` +\n"
+"_Note_:    Mandatory and needed for numerous LinuxCNC functions. +\n"
+"It is the first directory used in the search for files.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:586
+#, no-wrap
+msgid "[DISPLAY]TKPKG = NGCGUI version_number"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:590
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]TKPKG = Ngcgui 1.0` +\n"
+"_Note_:    Required only for AXIS GUI embedding. +\n"
+"Specifies loading of NGCGUI AXIS tab pages.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:591
+#, no-wrap
+msgid "[DISPLAY]NGCGUI_FONT = font_descriptor"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:597
+#, no-wrap
+msgid ""
+"_Example_: [DISPLAY]NGCGUI_FONT = Helvetica -12 normal +\n"
+"_Note_:    Optional, font_descriptor is a tcl-compatible font specifier with "
+"items for fonttype -fontsize fontweight. +\n"
+"Default is: Helvetica -10 normal. +\n"
+"Smaller font sizes may be useful for small screens. +\n"
+"Larger font sizes may be helpful for touch screen applications .\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:598
+#, no-wrap
+msgid "[DISPLAY]NGCGUI_SUBFILE = subfile_filename"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:605
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]NGCGUI_SUBFILE = simp.ngc` +\n"
+"_Example_: `[DISPLAY]NGCGUI_SUBFILE = square.gcmc` +\n"
+"_Example_: `[DISPLAY]NGCGUI_SUBFILE = \"\"` +\n"
+"_Note_:    Use one or more items to specify NGCGUI-compatible subfiles or "
+"gcmc programs that require a tab page on startup. +\n"
+"A \"Custom\" tab will be created when the filename is \"\". +\n"
+"A user can use a \"Custom\" tab to browse the file system and identify "
+"preamble, subfile, and postamble files.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:606
+#, no-wrap
+msgid "[DISPLAY]NGCGUI_PREAMBLE = preamble_filename"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:610
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]NGCGUI_PREAMBLE = in_std.ngc` +\n"
+"_Note_:    Optional, when specified, the file is prepended to a subfile. +\n"
+"Files created with \"Custom\" tab pages use the preamble specified with the "
+"page.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:611
+#, no-wrap
+msgid "[DISPLAY]NGCGUI_POSTAMBLE = postamble_filename"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:615
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]NGCGUI_POSTAMBLE = bye.ngc` +\n"
+"_Note_:    Optional, when specified, the file is appended to a subfiles. +\n"
+"Files created with \"Custom\" tab pages use the postamble specified with the "
+"page.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:616
+#, no-wrap
+msgid "[DISPLAY]NGCGUI_OPTIONS = opt1 opt2 ..."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:620
+#, no-wrap
+msgid ""
+"_Example_: [DISPLAY]NGCGUI_OPTIONS = nonew noremove +\n"
+"_Note_:    Multiple options are separated by blanks. +\n"
+"By default, NGCGUI configures tab pages so that: +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:621
+#, no-wrap
+msgid "a user can make new tabs; +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:622
+#, no-wrap
+msgid "a user can remove tabs (except for the last remaining one); +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:623
+#, no-wrap
+msgid "finalized files are automatically sent to LinuxCNC; +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:624
+#, no-wrap
+msgid ""
+"an image frame (iframe) is made available to display an image for the "
+"subfile (if an image is provided); +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:625
+#, no-wrap
+msgid ""
+"the NGCGUI result file sent to LinuxCNC is terminated with an M2 (and incurs "
+"M2 side-effects). +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:628
+msgid ""
+"The options `nonew`, `noremove`, `noauto`, `noiframe`, `nom2` respectively "
+"disable these default behaviors."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:636
+#, no-wrap
+msgid ""
+"By default, if an image (.png,.gif,jpg,pgm) file is found in the same "
+"directory as the subfile, the image is displayed in the iframe.\n"
+"Specifying the `noiframe` option makes available additional buttons for "
+"selecting a preamble, subfile, and postamble and additional checkboxes.\n"
+"Selections of the checkboxes are always available with special keys: +\n"
+"  `Ctrl-R` Toggle \"Retain values on Subfile read\", +\n"
+"  `Ctrl-E` Toggle \"Expand subroutine\", +\n"
+"  `Ctrl-a` Toggle \"Autosend\", +\n"
+"  `Ctrl-k` lists all keys and functions. +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:640
+msgid ""
+"If `noiframe` is specified and an image file is found, the image is "
+"displayed in a separate window and all functions are available on the tab "
+"page.  The `NGCGUI_OPTIONS` apply to all NGCGUI tabs except that the "
+"`nonew`, `noremove`, and `noiframe` options are not applicable for "
+"\"Custom\" tabs.  Do not use \"Custom\" tabs if you want to limit the user's "
+"ability to select subfiles or create additional tab pages."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/ngcgui.adoc:641
+#, no-wrap
+msgid "[DISPLAY]GCMC_INCLUDE_PATH = dirname1:dirname2:..."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:644
+#, no-wrap
+msgid ""
+"_Example_: `[DISPLAY]GCMC_INCLUDE_PATH = "
+"/home/myname/gcmc_includes:/home/myname/gcmc_includes2` +\n"
+"_Note_:    Optional, each directory will be included when gcmc is invoked "
+"using the option: `--include dirname`.\n"
+msgstr ""
+
+#.  FIXME Keyboard shortcuts do not work in version _fr.
+#. type: Title ==
+#: src/gui/ngcgui.adoc:648
+#, no-wrap
+msgid "File Requirements for NGCGUI Compatibility"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:650
+#, no-wrap
+msgid "Single-File Gcode (.ngc) Subroutine Requirements"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:655
+msgid ""
+"An NGCGUI-compatible subfile contains a single subroutine definition.  The "
+"name of the subroutine must be the same as the filename (not including the "
+".ngc suffix).  LinuxCNC supports named or numbered subroutines, but only "
+"named subroutines are compatible with NGCGUI. For more information see the "
+"<<cha:o-codes,O-Codes>> chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:658
+#, no-wrap
+msgid ""
+"The first non-comment line should be a `sub` statement.\n"
+"The last non-comment line should be a `endsub` statement."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:659
+#, no-wrap
+msgid "examp.ngc:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:669
+#, no-wrap
+msgid ""
+"(info: info_text_to_appear_at_top_of_tab_page)\n"
+"; comment line beginning with semicolon\n"
+"( comment line using parentheses)\n"
+"o<examp> sub\n"
+"  BODY_OF_SUBROUTINE\n"
+"o<examp> endsub\n"
+"; comment line beginning with semicolon\n"
+"( comment line using parentheses)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:674
+msgid ""
+"The body of the subroutine should begin with a set of statements that define "
+"local named parameters for each positional parameter expected for the "
+"subroutine call.  These definitions must be consecutive beginning with #1 "
+"and ending with the last used parameter number.  Definitions must be "
+"provided for each of these parameters (no omissions)."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:675
+#, no-wrap
+msgid "Parameter Numbering"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:680
+#, no-wrap
+msgid ""
+"#<xparm> = #1\n"
+"#<yparm> = #2\n"
+"#<zparm> = #3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:685
+msgid ""
+"LinuxCNC considers all numbered parameters in the range #1 thru #30 to be "
+"calling parameters, so NGCGUI provides entry boxes for any occurrence of "
+"parameters in this range.  It is good practice to avoid use of numbered "
+"parameters #1 through #30 anywhere else in the subroutine.  Using local, "
+"named parameters is recommended for all internal variables."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:687
+msgid ""
+"Each defining statement may optionally include a special comment and a "
+"default value for the parameter."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:688
+#, no-wrap
+msgid "Statement Prototype"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:695
+#, no-wrap
+msgid ""
+"#<vname> = #n (=default_value)\n"
+"or\n"
+"#<vname> = #n (comment_text)\n"
+"or\n"
+"#<vname> = #n (=default_value comment_text)\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:697
+#, no-wrap
+msgid "Parameter Examples"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:702
+#, no-wrap
+msgid ""
+"#<xparm> = #1 (=0.0)\n"
+"#<yparm> = #2 (Ystart)\n"
+"#<zparm> = #3 (=0.0 Z start setting)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:706
+msgid ""
+"If a default_value is provided, it will be entered in the entry box for the "
+"parameter on startup.  If comment_text is included, it will be used to "
+"identify the input instead of the parameter name."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:707
+#, no-wrap
+msgid "Global Named Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:710
+msgid "Notes on global named parameters and NGCGUI:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:712
+msgid ""
+"(global named parameters have a leading underscore in the name, like "
+"#<_someglobalname>)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:715
+msgid ""
+"As in many programming languages, use of globals is powerful but can often "
+"lead to unexpected consequences.  In LinuxCNC, existing global named "
+"parameters will be valid at subroutine execution and subroutines can modify "
+"or create global named parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:719
+msgid ""
+"Passing information to subroutines using global named parameters is "
+"discouraged since such usage requires the establishment and maintenance of a "
+"well-defined global context that is difficult to maintain.  Using numbered "
+"parameters #1 thru #30 as subroutine inputs should be sufficient to satisfy "
+"a wide range of design requirements."
+msgstr ""
+
+#. FIXME are input global named parameters supported or not ?
+#. type: Plain text
+#: src/gui/ngcgui.adoc:722
+msgid ""
+"NGCGUI supports some input global named parameter but their usage is "
+"obsolete and not documented here."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:727
+msgid ""
+"While input global named parameters are discouraged, LinuxCNC subroutines "
+"must use global named parameters for returning results.  Since "
+"NGCGUI-compatible subfiles are aimed at GUI usage, return values are not a "
+"common requirement.  However, NGCGUI is useful as a testing tool for "
+"subroutines which do return global named parameters and it is common for "
+"NGCGUI-compatible subfiles to call utility subroutine files that return "
+"results with global named parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:730
+msgid ""
+"To support these usages, NGCGUI ignores global named parameters that include "
+"a colon (:) character in their name.  Use of the colon (:) in the name "
+"prevents NGCGUI from making entryboxes for these parameters."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:731
+#, no-wrap
+msgid "Global Named Parameters Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:742
+#, no-wrap
+msgid ""
+"o<examp> sub\n"
+"...\n"
+"#<_examp:result> = #5410       (return the current tool diameter)\n"
+"...\n"
+"o<helper> call [#<x1>] [#<x2>] (call a subroutine)\n"
+"#<xresult> = #<_helper:answer> (immediately localize the helper global "
+"result)\n"
+"#<_helper:answer> = 0.0        (nullify global named parameter used by "
+"subroutine)\n"
+"...\n"
+"o<examp> endsub\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:746
+msgid ""
+"In the above example, the utility subroutine will be found in a separate "
+"file named helper.ngc.  The helper routine returns a result in a global "
+"named parameter named #<_helper:answer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:750
+msgid ""
+"For good practice, the calling subfile immediately localizes the result for "
+"use elsewhere in the subfile and the global named parameter used for "
+"returning the result is nullified in an attempt to mitigate its inadvertent "
+"use elsewhere in the global context.  A nullification value of 0.0 may not "
+"always be a good choice."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:755
+msgid ""
+"NGCGUI supports the creation and concatenation of multiple features for a "
+"subfile and for multiple subfiles.  It is sometimes useful for subfiles to "
+"determine their order at runtime, so NGCGUI inserts a special global "
+"parameter that can be tested within subroutines.  The parameter is named "
+"#<_feature:>.  Its value begins with a value of 0 and is incremented for "
+"each added feature."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:756
+#, no-wrap
+msgid "Additional Features"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:759
+msgid ""
+"A special 'info' comment can be included anywhere in an NGCGUI-compatible "
+"subfile. The format is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:763
+#, no-wrap
+msgid "(info: info_text)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:766
+msgid "The info_text is displayed near the top of the NGCGUI tab page in AXIS."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:768
+msgid ""
+"Files not intended for use as subfiles can include a special comment so that "
+"NGCGUI will reject them automatically with a relevant message."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:772
+#, no-wrap
+msgid "(not_a_subfile)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:779
+msgid ""
+"An optional image file (.png,.gif,.jpg,.pgm) can accompany a subfile.  The "
+"image file can help clarify the parameters used by the subfile.  The image "
+"file should be in the same directory as the subfile and have the same name "
+"with an appropriate image suffix, e.g. the subfile example.ngc could be "
+"accompanied by an image file examp.png.  NGCGUI attempts to resize large "
+"images by subsampling to a size with maximum width of 320 and maximum height "
+"of 240 pixels."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:781
+msgid ""
+"None of the conventions required for making an NGCGUI-compatible subfile "
+"preclude its use as general purpose subroutine file for LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:785
+msgid ""
+"The LinuxCNC distribution includes a library (ngcgui_lib directory)  that "
+"includes both example NGCGUI-compatible subfiles and utility files to "
+"illustrate the features of LinuxCNC subroutines and NGCGUI usage.  Another "
+"library (gcmc_lib) provides examples for subroutine files for the G-code "
+"meta compiler (gcmc)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:787
+msgid ""
+"Additional user sumitted subroutines can be found on the Forum in the "
+"Subroutines Section."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/ngcgui.adoc:788
+#, no-wrap
+msgid "Gcode-meta-compiler (.gcmc) file requirements"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:794
+msgid ""
+"Files for the Gcode-meta-compiler (gcmc) are read by NGCGUI and it creates "
+"entry boxes for variables tagged in the file.  When a feature for the file "
+"is finalized, NGCGUI passes the file as input to the gcmc compiler and, if "
+"the compile is successful, the resulting G-code file is sent to LinuxCNC for "
+"execution.  The resulting file is formatted as single-file subroutine; .gcmc "
+"files and .ngc files can be intermixed by NGCGUI."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:796
+msgid ""
+"The variables identified for inclusion in NGCGUI are tagged with lines that "
+"will appear as comments to the gcmc compiler."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:797
+#, no-wrap
+msgid "Variable Tags Formats"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:802
+#, no-wrap
+msgid ""
+"//ngcgui: varname1 =\n"
+"//ngcgui: varname2 = value2\n"
+"//ngcgui: varname3 = value3, label3;\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:804
+#, no-wrap
+msgid "Variable Tags Examples"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:809
+#, no-wrap
+msgid ""
+"//ngcgui: zsafe =\n"
+"//ngcgui: feedrate = 10\n"
+"//ngcgui: xl = 0, x limit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:814
+msgid ""
+"For these examples, the entry box for varname1 will have no default, the "
+"entry box for varname2 will have a default of value2, and the entry box for "
+"varname 3 will have a default of value 3 and a label label3 (instead of "
+"varname3).  The default values must be numbers."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:818
+msgid ""
+"To make it easier to modify valid lines in a gcmc file, alternate tag line "
+"formats accepted.  The alternate formats ignore trailing semicolons (;) and "
+"trailing comment markers (//).  With this provision, it is often makes it "
+"possible to just add the //ngcgui: tag to existing lines in a .gcmc file."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:819
+#, no-wrap
+msgid "Alternate Variable Tags Formats"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:823
+#, no-wrap
+msgid ""
+"//ngcgui: varname2 = value2;\n"
+"//ngcgui: varname3 = value3; //, label3;\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:825
+#, no-wrap
+msgid "Alternate Variable Tags Examples"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:829
+#, no-wrap
+msgid ""
+"//ngcgui: feedrate = 10;\n"
+"//ngcgui: xl = 0; //, x limit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:832
+msgid ""
+"An info line that will appear at the top of a tab page may be optionally "
+"included with a line tagged as:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:833
+#, no-wrap
+msgid "Info tag"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:836
+#, no-wrap
+msgid "//ngcgui: info: text_to_appear_at_top_of_tab_page\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:839
+msgid ""
+"When required, options can be passed to the gcmc compiler with a line "
+"tagged:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:840
+#, no-wrap
+msgid "Option line tag format"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:843
+#, no-wrap
+msgid "//ngcgui: -option_name [ [=] option_value]\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:845
+#, no-wrap
+msgid "Option line tag Examples"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:851
+#, no-wrap
+msgid ""
+"//ngcgui: -I\n"
+"//ngcgui: --imperial\n"
+"//ngcgui: --precision 5\n"
+"//ngcgui: --precision=6\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:854
+msgid "Options for gcmc are available with the terminal command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:857
+#, no-wrap
+msgid "gcmc --help\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:861
+msgid ""
+"A gcmc program by default uses metric mode.  The mode can be set to inches "
+"with the option setting:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:864
+#, no-wrap
+msgid "//ngcgui: --imperial\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:868
+msgid ""
+"A preamble file, if used, can set a mode (g20 or g21) that conflicts with "
+"the mode used by a gcmc file.  To ensure that the gcmc program mode is in "
+"effect, include the following statement in the .gcmc file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:871
+#, no-wrap
+msgid "include(\"ensure_mode.gcmc\")\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:874
+msgid ""
+"and provide a proper path for gcmc include_files in the INI file, for "
+"example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:879
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"GCMC_INCLUDE_PATH = ../../nc_files/gcmc_lib\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/ngcgui.adoc:881
+#, no-wrap
+msgid "DB25 Example"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:885
+msgid ""
+"The following shows the DB25 subroutine.  In the first photo you see where "
+"you fill in the blanks for each variable."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/ngcgui.adoc:886
+#, no-wrap
+msgid "images/ngcgui-db25-1.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:889
+msgid "This photo shows the backplot of the DB25 subroutine."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/ngcgui.adoc:890
+#, no-wrap
+msgid "images/ngcgui-db25-2.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:893
+msgid ""
+"This photo shows the use of the new button and the custom tab to create "
+"three DB25 cutouts in one program."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/ngcgui.adoc:894
+#, no-wrap
+msgid "images/ngcgui-db25-3.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/ngcgui.adoc:896
+#, no-wrap
+msgid "Creating a subroutine"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:899 src/gui/qtvcp-widgets.adoc:3143
+msgid ""
+"For creating a subroutine for use with NGCGUI, the filename and the "
+"subroutine name must be the same."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:900
+msgid "The file must be placed in the subdirectory pointed to in the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:901
+msgid "On the first line there may be a comment of type `info:`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:902
+msgid "The subroutine must be surrounded by the `sub` and `endsub` tags."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:903 src/gui/qtvcp-widgets.adoc:3147
+msgid "The variables used must be numbered variables and must not skip number."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/ngcgui.adoc:904 src/gui/qtvcp-widgets.adoc:3148
+msgid "Comments and presets may be included."
+msgstr ""
+
+#. type: Block title
+#: src/gui/ngcgui.adoc:905
+#, no-wrap
+msgid "Subroutine Skeleton Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/ngcgui.adoc:916
+#, no-wrap
+msgid ""
+"(info: simp -- simple exemple de sous-programme -- Ctrl-U pour éditer)\n"
+"o<simp> sub\n"
+"  #<ra>       = #1 (=.6 Rayon A) ;Example de paramètre avec un commentaire\n"
+"  #<radius_b> = #2 (=0.4)         ;Example de paramètre sans commentaire\n"
+"  #<feedrate> = #3 (Feedrate)     ;Example de paramètre sans preset\n"
+"  g0x0y0z1\n"
+"  g3 i#<ra> f#<feedrate>\n"
+"  g3 i[0-#<radius_b>]\n"
+"o<simp> endsub\n"
+msgstr ""
+
+#. type: Title =
+#: src/gui/panelui.adoc:5
+#, no-wrap
+msgid "Panelui(((Panelui)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:14
+msgid "Panelui is a non-realtime component to interface buttons to LinuxCNC or HAL:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:16
+msgid "It decodes MESA 7I73 style key-scan codes and calls the appropriate routine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:17
+msgid ""
+"It gets input from a realtime component - sampler.  Sampler gets its input "
+"from either the MESA 7I73 or sim_matrix_kb component."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:18
+msgid ""
+"Panelui is configurable using an INI style text file to define button types, "
+"HAL pin types, and/or commands."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:19
+msgid "It can be extended using a Python based 'handler' file to add functions."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:21
+msgid ""
+"While actual input buttons are required to be momentary, Panelui will use "
+"this input to make toggle, radio, or momentary button output."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/panelui.adoc:22
+#, no-wrap
+msgid "Loading Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:25
+msgid "The command used to load panelui (with optional -d debug switch):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:29
+#, no-wrap
+msgid "loadusr -W panelui -d\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:33
+msgid ""
+"This will initialize panelui, which will look for the INI file panelui.ini "
+"in the config folder or user folder."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:35
+msgid "One can validate the INI file with this command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:39
+#, no-wrap
+msgid "loadusr pyui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:43 src/man/man1/pyui.1.adoc:17
+msgid ""
+"This will read, try to correct, then save the panelui.ini file.  It will "
+"print errors to the terminal if found."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:45
+msgid "A typical HAL file will have these commands added:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:53
+#, no-wrap
+msgid ""
+"# commands needed for panelui loading\n"
+"#\n"
+"# sampler is needed for panelui\n"
+"# cfg= must always be u for panelui. depth sets the available buffer\n"
+"loadrt sampler cfg=u depth=1025\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:56
+#, no-wrap
+msgid ""
+"#uncomment to validate the panelui INI file\n"
+"#loadusr pyui\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:61
+#, no-wrap
+msgid ""
+"# -d = debug, -v = verbose debug\n"
+"# -d will show you keypress identification and commands called\n"
+"# -v is for develeper info\n"
+"loadusr -W panelui -d\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:65
+#, no-wrap
+msgid ""
+"# using simulated buttons instead of the MESA 7I73 card\n"
+"# so we load the sim_matrix_kb component to convert HAL pins to keyscan "
+"codes\n"
+"loadrt sim_matrix_kb\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:70
+#, no-wrap
+msgid ""
+"# connect the components together.\n"
+"# sampler talks to panelui internally\n"
+"net key-scan    sim-matrix-kb.0.out\n"
+"net key-scan    sampler.0.pin.0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:72
+#, no-wrap
+msgid "# add panelui components to a thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:75
+#, no-wrap
+msgid ""
+"addf sim-matrix-kb.0    servo-thread\n"
+"addf sampler.0          servo-thread\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/panelui.adoc:77
+#, no-wrap
+msgid "panelui.ini file reference"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:79
+#, no-wrap
+msgid "*Key words*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:82
+msgid ""
+"KEY= This is used to designate the key that the button responds to. It can "
+"be NONE or ROW number and column number eg R1C2. A row and column can only "
+"be used once."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:83
+msgid ""
+"OUTPUT= This sets the Button's output type, eg S32, U32, FLOAT, BIT, NONE, "
+"COMMAND, ZMQ."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:84
+msgid "DEFAULT= This sets the starting output of the group or button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:85
+msgid "GROUP= In radiobuttons, designates the group the button interacts with."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:86
+msgid ""
+"GROUP_OUTPUT= sets the output the group pin will be, if this button is "
+"active."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:87
+msgid ""
+"STATUS_PIN= If TRUE, a HAL pin will be added that reflects the current state "
+"of button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:88
+msgid "TRUE_STATE= sets the output the HAL pin will be, if button is TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:89
+msgid "FALSE_STATE= sets the OUTPUT the HAL pin will be, if the button is FALSE."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:90
+msgid ""
+"TRUE_COMMAND= sets the command and arguments to be called when the button is "
+"TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:91
+msgid ""
+"FALSE_COMMAND= sets the command and arguments to be called when the button "
+"is FALSE."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:92
+msgid ""
+"TRUE_FUNCTION= sets the ZMQ message function and arguments to be called when "
+"the button is TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:93
+msgid ""
+"FALSE_FUNCTION= sets the ZMQ message function and arguments to be called "
+"when the button is FALSE."
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:94
+#, no-wrap
+msgid "*HAL Prefix*"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:99
+#, no-wrap
+msgid ""
+"[HAL_PREFIX]\n"
+"    NAME= Yourname\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:102
+msgid ""
+"This allows one to change the prefix of the HAL pins from 'panelui' to an "
+"arbitrary name."
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:103
+#, no-wrap
+msgid "*ZMQ Messaging Setup*"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:110
+#, no-wrap
+msgid ""
+"[ZMQ_SETUP]\n"
+"  TOPIC = 'QTVCP'\n"
+"  SOCKET = 'tcp://127.0.0.1:5690'\n"
+"  ENABLE = True\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:114
+msgid ""
+"This sets up and enables ZMQ based messaging.  TOPIC and SOCKET must match "
+"the listening program."
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:115
+#, no-wrap
+msgid "*Radio Buttons*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:119
+msgid ""
+"Radiobutons allow only one button in the group to be active at a time.  Each "
+"group has its own output pin, separate from each button in the group.  Radio "
+"button definitions start with the text 'RADIO_BUTTON' inside single "
+"brackets."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:169
+#, no-wrap
+msgid ""
+"[RADIO_BUTTONS]\n"
+"  # The double bracket section(s) define the group(s) of radio buttons.\n"
+"  # The group name must be unique and is case sensitive.\n"
+"  # Groups output is controlled by what button is active not directly by "
+"keycode.\n"
+"  # DEFAULT references a button in the group by name and is case "
+"sensitive.\n"
+"  [[group1_name]]\n"
+"    KEY = NONE\n"
+"    OUTPUT = FLOAT\n"
+"    DEFAULT = small\n"
+"    # The triple bracket sections define the buttons in this group.\n"
+"    # button names must be unique and are case sensitive.\n"
+"    # There must be at least two buttons in a group.\n"
+"    #\n"
+"    # This button, named 'small'is controller by the row 0 column 1 key.\n"
+"    # It will cause the group output to be .0001 when it is pressed.\n"
+"    # It has no output of its own, but has a status\n"
+"    # pin which will follow its current state.\n"
+"    # since this button is in a group, DEFAULT has no bearing.\n"
+"    # since OUTPUT in not 'COMMAND' _COMMAND entries are ignored.\n"
+"    [[[small]]]\n"
+"      KEY = R0C1\n"
+"      GROUP = group1_name\n"
+"      GROUP_OUTPUT = .0001\n"
+"      OUTPUT = NONE\n"
+"      STATUS_PIN = True\n"
+"      TRUE_STATE = TRUE\n"
+"      FALSE_STATE = FALSE\n"
+"      TRUE_COMMAND = NONE, NONE\n"
+"      FALSE_COMMAND = NONE, NONE\n"
+"      DEFAULT = false\n"
+"    # This button, named 'large' is controller by the row 0 column 2 key.\n"
+"    # It will cause the group output to be 1000 when it is pressed.\n"
+"    # It has a S32 output of its own, will be 20 on true and 0 on false.\n"
+"    # It also has a status pin which will follow its current state.\n"
+"    # since this button is in a group, DEFAULT has no bearing.\n"
+"    # since OUTPUT in not 'COMMAND' _COMMAND entries are ignored.\n"
+"    [[[large]]]\n"
+"      KEY = R0C2\n"
+"      GROUP = group1_name\n"
+"      GROUP_OUTPUT = 1000\n"
+"      OUTPUT = S32\n"
+"      STATUS_PIN = True\n"
+"      TRUE_STATE = 20\n"
+"      TRUE_COMMAND = NONE, NONE\n"
+"      FALSE_COMMAND = NONE, NONE\n"
+"      FALSE_STATE = 0\n"
+"      DEFAULT = false\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:171
+#, no-wrap
+msgid "*Toggle Buttons*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:174
+msgid ""
+"Togglebuttons only change state on each press of the button.  Toggle button "
+"definitions start with the text 'TOGGLE_BUTTON' inside single brackets."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:194
+#, no-wrap
+msgid ""
+"[TOGGLE_BUTTONS]\n"
+"  # Each button name inside double brackets, must be unique and is case "
+"sensitive.\n"
+"  # This button, named 'tool_change'is controller by the row 2 column 5 "
+"key.\n"
+"  # It has a BIT output, will output 1 on true state and 0 on false state.\n"
+"  # It also has a status pin which will follow its current state.\n"
+"  # DEFAULT sets this to true when first initialized.\n"
+"  # The _COMMAND are not used since OUTPUT is not set to COMMAND but "
+"validation will\n"
+"  # add the lines regardless\n"
+"  [[tool_change]]\n"
+"    KEY = R2C5\n"
+"    OUTPUT = BIT\n"
+"    TRUE_COMMAND = NONE, NONE\n"
+"    FALSE_COMMAND = NONE, NONE\n"
+"    STATUS_PIN = True\n"
+"    DEFAULT = TRUE\n"
+"    TRUE_STATE = 1\n"
+"    FALSE_STATE = 0\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:196
+#, no-wrap
+msgid "*Momentary Buttons*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:199
+msgid ""
+"Momentary buttons are true when pressed and false when released.  Momentary "
+"button definitions start with the text 'MOMENTARY_BUTTON' inside single "
+"brackets."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:222
+#, no-wrap
+msgid ""
+"[MOMENTARY_BUTTONS]\n"
+"  # Each button name inside double brackets, must be unique and is case "
+"sensitive.\n"
+"  # This button, named 'spindle_rev'is controller by the row 2 column 3 "
+"key.\n"
+"  # It has a COMMAND output, so will use TRUE_COMMAND and FALSE_COMMAND.\n"
+"  # It also has a status pin which will follow its current state.\n"
+"  # COMMANDs will have a command name and then any required arguments\n"
+"  # This TRUE_COMMAND calls an internal command to start the spindle in "
+"reverse at 200 rpm\n"
+"  # If the spindle is already started, it will increase the rpm.\n"
+"  # DEFAULT is not used with Momentary buttons.\n"
+"  # The _STATE are not used since OUTPUT is set to COMMAND but validation "
+"will\n"
+"  # add the lines regardless\n"
+"  [[spindle_rev]]\n"
+"    KEY = R2C3\n"
+"    OUTPUT = COMMAND\n"
+"    TRUE_COMMAND = SPINDLE_REVERSE_INCREASE, 200\n"
+"    FALSE_COMMAND = None, NONE\n"
+"    STATUS_PIN = True\n"
+"    DEFAULT = FALSE\n"
+"    TRUE_STATE = 1\n"
+"    FALSE_STATE = 0\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/panelui.adoc:224
+#, no-wrap
+msgid "Internal Command reference"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:227
+msgid "There are a number of internal commands you may use."
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:228
+#, no-wrap
+msgid "*mist_on*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:230
+#, no-wrap
+msgid "*mist_off*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:232
+#, no-wrap
+msgid "*flood_on*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:234
+#, no-wrap
+msgid "*flood_off*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:238
+#, no-wrap
+msgid "*estop_reset*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:240
+#, no-wrap
+msgid "*machine_off*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:242
+#, no-wrap
+msgid "*machine_on*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:244
+#, no-wrap
+msgid "*home_all*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:246
+#, no-wrap
+msgid "*unhome_all*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:248
+#, no-wrap
+msgid "*home_selected*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:250 src/gui/panelui.adoc:253
+msgid "required argument: axis number (int)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:251
+#, no-wrap
+msgid "*unhome_selected*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:256
+#, no-wrap
+msgid "*spindle_forward_adjust*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:258 src/gui/panelui.adoc:263 src/gui/panelui.adoc:268
+#: src/gui/panelui.adoc:271
+msgid "optional argument: starting RPM (int) - default 100"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:260
+msgid ""
+"Description: If the spindle is stopped it will start in the forward "
+"direction.  If it is already running it will increase or decrease the rpm "
+"depending on what direction the spindle is running in."
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:261
+#, no-wrap
+msgid "*spindle_forward*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:264
+#, no-wrap
+msgid "*spindle_stop*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:266
+#, no-wrap
+msgid "*spindle_reverse*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:269
+#, no-wrap
+msgid "*spindle_reverse_adjust*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:273
+msgid ""
+"Description: If the spindle is stopped it will start in the reverse "
+"direction.  If it is already running it will increase or decrease the rpm "
+"depending on what direction the spindle is running in."
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:274
+#, no-wrap
+msgid "*spindle_faster*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:276
+msgid "Description: increases spindle speed by 100 RPM"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:277
+#, no-wrap
+msgid "*spindle_slower*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:279
+msgid "Description: decreases spindle speed by 100 RPM, until RPM is 100"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:280
+#, no-wrap
+msgid "*set_linear_jog_velocity*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:282
+msgid "required argument: velocity in inches per minute (float)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:283
+msgid "description: sets the jog velocity on axis 0,1,2,6,7,8 (X,Y,Z,U,V,W)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:284
+#, no-wrap
+msgid "*set_angular_jog_velocity*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:286
+msgid "required argument: velocity in degrees per minute (float)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:287
+msgid "description: sets the jog velocity on axis 3,4,5 (A.B.C)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:288
+#, no-wrap
+msgid "*continuous_jog*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:290
+msgid "required arguments: axis number (int), direction (int)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:291
+#, no-wrap
+msgid "*incremental_jog*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:293
+msgid "required arguments: axis number (int), direction (int), distance (float)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:294
+#, no-wrap
+msgid "*quill_up*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:296
+msgid "optional arguments: machine Z axis absolute position (float)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:297
+msgid "Description: Move Z axis to the given machine position"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:298
+#, no-wrap
+msgid "*feed_hold*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:300 src/gui/panelui.adoc:317 src/gui/panelui.adoc:320
+#: src/gui/panelui.adoc:329
+msgid "required argument: state (bool 0 or 1)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:301
+#, no-wrap
+msgid "*feed_override*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:303 src/gui/panelui.adoc:309 src/gui/panelui.adoc:312
+msgid "required argument: rate (float)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:304
+#, no-wrap
+msgid "*rapid_override*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:306
+msgid "required argument: rate (float 0-1)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:307
+#, no-wrap
+msgid "*spindle_override*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:313
+#, no-wrap
+msgid "*reload_tooltable*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/panelui.adoc:321 src/man/man1/linuxcncrsh.1.adoc:367
+#, no-wrap
+msgid "*abort*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/panelui.adoc:323 src/man/man1/linuxcncrsh.1.adoc:361
+#, no-wrap
+msgid "*pause*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/panelui.adoc:325 src/man/man1/linuxcncrsh.1.adoc:364
+#, no-wrap
+msgid "*resume*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:327
+#, no-wrap
+msgid "*single_block*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:330
+#, no-wrap
+msgid "*smart_cycle_start*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:332
+msgid "Description: If idle, starts G-code program, if paused runs one line."
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:333
+#, no-wrap
+msgid "*re_start line*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:335
+msgid "required argument: line number (int)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:336
+#, no-wrap
+msgid "*mdi_and_return*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:338 src/gui/panelui.adoc:343
+msgid "required argument: G-code command(s)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:340
+msgid ""
+"Description: records the current mode, calls commands and then returns to "
+"mode."
+msgstr ""
+
+#. type: Block title
+#: src/gui/panelui.adoc:341
+#, no-wrap
+msgid "*mdi*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:344
+msgid "Description: sets mode to MDI, calls commands."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/panelui.adoc:345
+#, no-wrap
+msgid "ZMQ Messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:349
+#, no-wrap
+msgid ""
+"Panelui can send ZMQ based messages on button presses.\n"
+"In this way panelui can interact will other programs such as QtVCP "
+"screens. +"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:362
+#, no-wrap
+msgid ""
+"[TOGGLE_BUTTONS]\n"
+"  [[zmq_test]]\n"
+"    KEY = R2C3\n"
+"    OUTPUT = ZMQ\n"
+"    TRUE_FUNCTION = ZMQ_BUTTON, 200\n"
+"    FALSE_FUNCTION = ZMQ_BUTTON, 0\n"
+"    STATUS_PIN = False\n"
+"    DEFAULT = FALSE\n"
+"    TRUE_STATE = 1\n"
+"    FALSE_STATE = 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:365
+msgid ""
+"Here is a sample program that will receive the message and print it to the "
+"terminal. +"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:370 src/gui/qtvcp-code-snippets.adoc:779
+#: src/gui/qtvcp-code-snippets.adoc:868
+#, no-wrap
+msgid ""
+"import zmq\n"
+"import json\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:373 src/gui/qtvcp-code-snippets.adoc:871
+#, no-wrap
+msgid ""
+"# ZeroMQ Context\n"
+"context = zmq.Context()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:376 src/gui/qtvcp-code-snippets.adoc:874
+#, no-wrap
+msgid ""
+"# Define the socket using the \"Context\"\n"
+"sock = context.socket(zmq.SUB)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:381 src/gui/qtvcp-code-snippets.adoc:879
+#, no-wrap
+msgid ""
+"# Define subscription and messages with topic to accept.\n"
+"topic = \"\" # all topics\n"
+"sock.setsockopt(zmq.SUBSCRIBE, topic)\n"
+"sock.connect(\"tcp://127.0.0.1:5690\")\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:385 src/gui/qtvcp-code-snippets.adoc:883
+#, no-wrap
+msgid ""
+"while True:\n"
+"    topic, message = sock.recv_multipart()\n"
+"    print('{} sent message:{}'.format(topic,json.loads(message)))\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/panelui.adoc:387
+#, no-wrap
+msgid "Handler File Extension"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui.adoc:393
+msgid ""
+"A special file can be used to add custom python code that will be available "
+"as commands.  panelui_handler.py must be written in python and be placed in "
+"the configuration folder.  If panelui finds a file there it will add its "
+"function calls to the available commands.  Here is an example of a handler "
+"file that adds two functions - hello_world and cycle_mode:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/panelui.adoc:397
+#, no-wrap
+msgid "include::panelui_handler.py[]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:18
+msgid ""
+"PyVCP, **Py**thon **V**irtual **C**ontrol **P**anel, is designed to give the "
+"integrator the ability to customize the AXIS interface with buttons and "
+"indicators to do special tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:22
+msgid ""
+"Hardware machine control panels can use up a lot of I/O pins and can be "
+"expensive. That is where Virtual Control Panels have the advantage as well "
+"as it cost nothing to build a PyVCP."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:27
+msgid ""
+"Virtual Control Panels can be used for testing or monitoring things to "
+"temporarily replace real I/O devices while debugging ladder logic, or to "
+"simulate a physical panel before you build it and wire it to an I/O board."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:29
+msgid "The following graphic displays many of the PyVCP widgets."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:30
+#, no-wrap
+msgid "PyVCP Widgets Showcase"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:31
+#, no-wrap
+msgid "images/pyvcp_group.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp.adoc:33
+#, no-wrap
+msgid "Panel Construction"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:37
+msgid ""
+"The layout of a PyVCP panel is specified with an XML file that contains "
+"widget tags between <pyvcp> and </pyvcp>. For example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:44
+#, no-wrap
+msgid ""
+"<pyvcp>\n"
+"    <label text=\"This is a LED indicator\"/>\n"
+"    <led/>\n"
+"</pyvcp>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:46
+#, no-wrap
+msgid "Simple PyVCP LED Panel Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:47
+#, no-wrap
+msgid "images/pyvcp_mypanel.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:50
+msgid "If you place this text in a file called tiny.xml, and run"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:53
+#, no-wrap
+msgid "halcmd loadusr pyvcp -c mypanel tiny.xml\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:62
+msgid ""
+"PyVCP will create the panel for you, which includes two widgets, a Label "
+"with the text 'This is a LED indicator', and a LED, used for displaying the "
+"state of a HAL BIT signal. It will also create a HAL component named "
+"'mypanel' (all widgets in this panel are connected to pins that start with "
+"'mypanel.'). Since no <halpin> tag was present inside the <led> tag, PyVCP "
+"will automatically name the HAL pin for the LED widget mypanel.led.0"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:65
+msgid ""
+"For a list of widgets and their tags and options, see the "
+"<<sec:pyvcp:widgets,widget reference>> below."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:68
+msgid ""
+"Once you have created your panel, connecting HAL signals to and from the "
+"PyVCP pins is done with the halcmd:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:72
+#, no-wrap
+msgid "net <signal-name> <pin-name> <opt-direction> <opt-pin-name>signal-name\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:76
+msgid ""
+"If you are new to HAL, the HAL basics chapter in the Integrator Manual is a "
+"good place to start."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp.adoc:77
+#, no-wrap
+msgid "Security"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:81
+msgid ""
+"Parts of PyVCP files are evaluated as Python code, and can take any action "
+"available to Python programs.  Only use PyVCP XML files from a source that "
+"you trust."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp.adoc:83
+#, no-wrap
+msgid "AXIS(((PyVCP with AXIS)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:89
+msgid ""
+"Since AXIS uses the same GUI toolkit (Tkinter) as PyVCP, it is possible to "
+"include a PyVCP panel at either the right side or the bottom of the AXIS "
+"user interface.  It is not possible to display a panel in both of these "
+"positions simultaneously.  A typical example is explained below."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:93
+msgid ""
+"In addition to or instead of displaying a PyVCP panel as described above, it "
+"is possible to display one or more PyVCP panels as embedded tabs in the AXIS "
+"GUI.  This is achieved by the following in the `[DISPLAY]` section of the "
+"INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:98
+#, no-wrap
+msgid ""
+"EMBED_TAB_NAME    = Spindle\n"
+"EMBED_TAB_COMMAND = pyvcp spindle.xml\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:101
+msgid "The text label of the AXIS tab will display `Spindle`."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp.adoc:102
+#, no-wrap
+msgid "Example Panel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:107
+msgid ""
+"Place your PyVCP XML file describing the panel in the same directory where "
+"your INI file is.  Say we we want to display the current spindle speed using "
+"a Bar widget.  Place the following in a file called spindle.xml:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:119
+#, no-wrap
+msgid ""
+"<pyvcp>\n"
+"    <label>\n"
+"        <text>\"Spindle speed:\"</text>\n"
+"    </label>\n"
+"    <bar>\n"
+"        <halpin>\"spindle-speed\"</halpin>\n"
+"        <max_>5000</max_>\n"
+"    </bar>\n"
+"</pyvcp>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:126
+msgid ""
+"Here we've made a panel with a Label and a Bar widget, specified that the "
+"HAL pin connected to the Bar should be named 'spindle-speed', and set the "
+"maximum value of the bar to 5000 (see <<sec:pyvcp:widgets,widget reference>> "
+"below for all options).  To make AXIS aware of this file, and call it at "
+"start up, we need to specify the following in the `[DISPLAY]` section of the "
+"INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:130
+#, no-wrap
+msgid "PYVCP = spindle.xml\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:134
+msgid ""
+"If the panel should appear at the bottom of the AXIS user interface then we "
+"need to specify the following in the `[DISPLAY]` section of the INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:138
+#, no-wrap
+msgid "PYVCP_POSITION = BOTTOM\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:141
+msgid ""
+"Anything other than BOTTOM or omitting this variable will place the PYVCP "
+"panel at the right."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:144
+msgid ""
+"To make our widget actually display the spindle-speed it needs to be hooked "
+"up to the appropriate HAL signal.  A HAL file that will be run once AXIS and "
+"PyVCP have started can be specified in the [HAL] section of the INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:148
+#, no-wrap
+msgid "POSTGUI_HALFILE = spindle_to_pyvcp.hal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:152
+msgid ""
+"This change will run the HAL commands specified in 'spindle_to_pyvcp.hal'.  "
+"In our example the contents could look like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:156
+#, no-wrap
+msgid "net spindle-rpm-filtered => pyvcp.spindle-speed\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:161
+msgid ""
+"assuming that a signal called 'spindle-rpm-filtered' already exists.  Note "
+"that when running together with AXIS, all PyVCP panel widget HAL pins have "
+"names that start with 'pyvcp.', all PyVCP embedded tab widget HAL pins start "
+"with the name specified as EMBED_TAB_NAME converted to lower case."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:162
+#, no-wrap
+msgid "images/pyvcp_axis_lathe.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:166
+msgid ""
+"This is what the newly created PyVCP panel should look like in AXIS.  The "
+"'sim/lathe' configuration is already configured this way."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:167 src/gui/tooledit.adoc:85
+#, no-wrap
+msgid "Stand Alone"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:170
+msgid ""
+"This section describes how PyVCP panels can be displayed on their own with "
+"or without LinuxCNC's machine controller."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:172
+msgid "To load a stand alone PyVCP panel with LinuxCNC use these commands:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:176
+#, no-wrap
+msgid "loadusr -Wn mypanel pyvcp -g WxH+X+Y -c mypanel <path/>panel_file.xml\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:180
+msgid ""
+"You would use this if you wanted a floating panel or a panel with a GUI "
+"other than AXIS."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:186
+msgid ""
+"'-Wn panelname' - makes HAL wait for the component 'panelname' to finish "
+"loading ('become ready' in HAL speak) before processing more HAL commands.  "
+"This is important because PyVCP panels export HAL pins, and other HAL "
+"components will need them present to connect to them.  Note the capital W "
+"and lowercase n.  If you use the -Wn option you must use the -c option to "
+"name the panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:191
+msgid ""
+"'pyvcp < -g> < -c> panel.xml' - builds the panel with the optional geometry "
+"and/or panelname from the XML panel file.  The panel.xml can be any name "
+"that ends in .xml.  The .xml file is the file that describes how to build "
+"the panel.  You must add the path name if the panel is not in the directory "
+"that the HAL script is in."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:197
+msgid ""
+"'-g <WxH><+X+Y>' - specifies the geometry to be used when constructing the "
+"panel.  The syntax is 'Width x Height + X Anchor + Y Anchor'.  You can set "
+"the size or position or both.  The anchor point is the upper left corner of "
+"the panel.  An example is -g 250x500+800+0 This sets the panel at 250 pixels "
+"wide, 500 pixels tall, and anchors it at X800 Y0."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:200
+msgid ""
+"'-c panelname' - tells PyVCP what to call the component and also the title "
+"of the window.  The panelname can be any name without spaces."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:202
+msgid "To load a 'stand alone' PyVCP panel without LinuxCNC use this command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:206
+#, no-wrap
+msgid "loadusr -Wn mypanel pyvcp -g 250x500+800+0 -c mypanel mypanel.xml\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:209
+msgid "The minimum command to load a PyVCP panel is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:213
+#, no-wrap
+msgid "loadusr pyvcp mypanel.xml\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:217
+msgid ""
+"You would use this if you want a panel without LinuxCNC's machine controller "
+"such as for testing or a standalone DRO."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:226
+msgid ""
+"The loadusr command is used when you also load a component that will stop "
+"HAL from closing until it's done.  If you loaded a panel and then loaded "
+"Classic Ladder using 'loadusr -w classicladder', CL would hold HAL open (and "
+"the panel)  until you closed CL.  The '-Wn' above means wait for the "
+"component '-Wn \"name\"' to become ready.  ('name' can be any name. Note the "
+"capital W and lowercase n.)  The -c tells PyVCP to build a panel with the "
+"name 'panelname' using the info in 'panel_file_name.xml'.  The name "
+"'panel_file_name.xml' can be any name but must end in .xml - it is the file "
+"that describes how to build the panel.  You must add the path name if the "
+"panel is not in the directory that the HAL script is in."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:229
+msgid ""
+"An optional command to use if you want the panel to stop HAL from continuing "
+"commands / shutting down.  After loading any other components you want the "
+"last HAL command to be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:233
+#, no-wrap
+msgid "waitusr panelname\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:237
+msgid ""
+"This tells HAL to wait for component 'panelname' to close before continuing "
+"HAL commands.  This is usually set as the last command so that HAL shuts "
+"down when the panel is closed."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp.adoc:239
+#, no-wrap
+msgid "Widgets(((PyVCP Widgets Reference)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:248
+msgid ""
+"HAL signals come in two variants, bits and numbers.  Bits are off/on "
+"signals. Numbers can be 'float', 's32', 'u32', 's64' or 'u64'.  For more "
+"information on HAL data types see the <<sec:hal-data,HAL Data>> section.  "
+"The PyVCP widget can either display the value of the signal with an "
+"indicator widget, or modify the signal value with a control widget.  Thus "
+"there are four classes of PyVCP widgets that you can connect to a HAL "
+"signal.  A fifth class of helper widgets allow you to organize and label "
+"your panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:250
+msgid "Widgets for indicating 'bit' signals: `led`, `rectled`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:251
+msgid ""
+"Widgets for controlling 'bit' signals: `button`, `checkbutton`, "
+"`radiobutton`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:252
+msgid ""
+"Widgets for indicating 'number' signals: `number`, `s32`, `u32`, `bar`, "
+"`meter`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:253
+msgid "Widgets for controlling 'number' signals: `spinbox`, `scale`, `jogwheel`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:254
+msgid "Helper widgets: `hbox`, `vbox`, `table`, `label`, `labelframe`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:259
+msgid ""
+"Each widget is described briefly, followed by the markup used, and a screen "
+"shot.  All tags inside the main widget tag are optional."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp.adoc:260
+#, no-wrap
+msgid "General Notes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:264
+msgid ""
+"At the present time, both a tag-based and an attribute-based syntax are "
+"supported.  For instance, the following XML fragments are treated "
+"identically:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:268
+#, no-wrap
+msgid "<led halpin=\"my-led\"/>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:275
+#, no-wrap
+msgid "<led><halpin>\"my-led\"</halpin></led>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:279
+msgid ""
+"When the attribute-based syntax is used, the following rules are used to "
+"turn the attributes value into a Python value:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:282
+msgid ""
+"If the first character of the attribute is one of the following, it is "
+"evaluated as a Python expression: `{([\"'` ."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:283
+msgid "If the string is accepted by int(), the value is treated as an integer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:284
+msgid ""
+"If the string is accepted by float(), the value is treated as "
+"floating-point."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:285
+msgid "Otherwise, the string is accepted as a string."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:287
+msgid ""
+"When the tag-based syntax is used, the text within the tag is always "
+"evaluated as a Python expression."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:289
+msgid "The examples below show a mix of formats."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:293
+msgid "To add a comment use the xml syntax for a comment."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:297
+#, no-wrap
+msgid "<!-- My Comment -->\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:299
+#, no-wrap
+msgid "Editing the XML file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:303
+msgid ""
+"Edit the XML file with a text editor.  In most cases you can right click on "
+"the file and select 'open with text editor' or similar."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:305
+#, no-wrap
+msgid "Colors"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:309
+msgid ""
+"Colors can be specified using the X11 rgb colors by name 'gray75' or hex "
+"'#0000ff'.  A complete list is located here "
+"https://sedition.com/perl/rgb.html[https://sedition.com/perl/rgb.html]."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:311
+msgid "Common Colors (colors with numbers indicate shades of that color)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:313
+msgid "white"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:315
+msgid "blue and blue1 - 4"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:316
+msgid "cyan and cyan1 - 4"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:317
+msgid "green and green1 - 4"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:318
+msgid "yellow and yellow1 - 4"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:319
+msgid "red and red1 - 4"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:320
+msgid "purple and purple1 - 4"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:321
+msgid "gray and gray0 - 100"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:328
+msgid ""
+"HAL pins provide a means to 'connect' the widget to something. Once you "
+"create a HAL pin for your widget you can 'connect' it to another HAL pin "
+"with a 'net' command in a .hal file. For more information on the 'net' "
+"command see the <<sec:hal-commands,HAL Commands>> section."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:332
+msgid "A label is a way to add text to your panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:334
+msgid "'<label></label>' - creates a label."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:336
+msgid ""
+"'<text>\"text\"</text>' - the text to put in your label, a blank label can "
+"be used as a spacer to align other objects."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:337
+msgid "'<font>(\"Helvetica\",20)</font>' - specify the font and size of the text."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:338
+msgid ""
+"'<relief>FLAT</relief>' - specify the border around the label ('FLAT', "
+"'RAISED', 'SUNKEN') default is 'FLAT'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:339
+msgid ""
+"'<bd>_n_</bd>' - where _n_ is the border width when 'RAISED' or 'SUNKEN' "
+"borders are used."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:340
+msgid ""
+"'<padx>_n_</padx>' - where _n_ is the amount of extra horizontal extra "
+"space."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:341
+msgid "'<pady>_n_</pady>' - where _n_ is the amount of extra vertical extra space."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:344
+msgid ""
+"The label has an optional disable pin that is created when you add "
+"'<disable_pin>True</disable_pin>'."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:351
+#, no-wrap
+msgid ""
+"<label>\n"
+"    <text>\"This is a Label:\"</text>\n"
+"    <font>(\"Helvetica\",20)</font>\n"
+"</label>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:354 src/gui/pyvcp.adoc:424 src/gui/pyvcp.adoc:487
+#: src/gui/pyvcp.adoc:521 src/gui/pyvcp.adoc:544 src/gui/pyvcp.adoc:577
+#: src/gui/pyvcp.adoc:608 src/gui/pyvcp.adoc:655 src/gui/pyvcp.adoc:680
+#: src/gui/pyvcp.adoc:708 src/gui/pyvcp.adoc:747 src/gui/pyvcp.adoc:784
+#: src/gui/pyvcp.adoc:811 src/gui/pyvcp.adoc:922 src/gui/pyvcp.adoc:970
+#: src/gui/pyvcp.adoc:995 src/gui/pyvcp.adoc:1023 src/gui/pyvcp.adoc:1064
+msgid "The above code produced this example:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:355
+#, no-wrap
+msgid "Simple Label Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:356
+#, no-wrap
+msgid "images/pyvcp_label.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp.adoc:358
+#, no-wrap
+msgid "Multi_Label"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:361
+msgid "An extension of the text label."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:363
+msgid ""
+"Selectable text label, can display up to 6 label legends when associated bit "
+"pin is activated."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:365
+msgid ""
+"Attach each legend pin to a signal and get a descriptive label when the "
+"signal is TRUE."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:367
+msgid ""
+"If more than one legend pin is TRUE, the highest numbered 'TRUE' legend will "
+"be displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:369
+msgid ""
+"If a disable pin is created with '<disable_pin>True</disable_pin>' and that "
+"pin is set to true the label changes to a grayed out state."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:377
+#, no-wrap
+msgid ""
+"<multilabel>\n"
+"    <legends>[\"Label1\", \"Label2\", \"Label3\", \"Label4\", \"Label5\", "
+"\"Label6\"]</legends>\n"
+"    <font>(\"Helvetica\",20)</font>\n"
+"    <disable_pin>True</disable_pin>\n"
+"</multilabel>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:380
+msgid "The above example would create the following pins."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:389
+#, no-wrap
+msgid ""
+"pyvcp.multilabel.0.disable\n"
+"pyvcp.multilabel.0.legend0\n"
+"pyvcp.multilabel.0.legend1\n"
+"pyvcp.multilabel.0.legend2\n"
+"pyvcp.multilabel.0.legend3\n"
+"pyvcp.multilabel.0.legend4\n"
+"pyvcp.multilabel.0.legend5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:392
+msgid ""
+"If you have more than one multilabel the pins created would increment the "
+"number like this 'pyvcp.multilabel.1.legend1'."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp.adoc:393
+#, no-wrap
+msgid "LEDs"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:397
+msgid ""
+"A LED is used to indicate the status of a 'bit' halpin.  The LED color will "
+"be on_color when the halpin is true, and off_color otherwise."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:399
+msgid "'<led></led>' - makes a round LED"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:400
+msgid "'<rectled></rectled>' - makes a rectangle LED"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:401
+msgid ""
+"'<halpin>__name__</halpin>' - _name_ of the pin, default is 'led.__n__', "
+"where _n_ is an integer that is incremented for each LED."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:402
+msgid "'<size>__n__</size>' - _n_ is the size of the led in pixels, default is 20."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:404
+msgid ""
+"'<on_color>__color__</on_color>' - sets the color of the LED to _color_ when "
+"the pin is true.  Default is 'green'. See section on <<pyvcp:colors,colors>> "
+"for more info."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:406
+msgid ""
+"'<off_color>__color__</off_color>' - sets the color of the LED to _color_ "
+"when the pin is false. Default is 'red'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:407
+msgid "'<height>__n__</height>' - sets the height of the LED in pixels."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:408
+msgid "'<width>__n__</width>' - sets the width of the LED in pixels."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:409
+msgid ""
+"'<disable_pin>false</disable_pin>' - when true adds a disable pin to the "
+"led."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:410
+msgid ""
+"'<disabled_color>__color__</disabled_color>' - sets the color of the LED to "
+"_color_ when the pin is disabled."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:411
+#, no-wrap
+msgid "Round LED"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:421
+#, no-wrap
+msgid ""
+"<led>\n"
+"    <halpin>\"my-led\"</halpin>\n"
+"    <size>50</size>\n"
+"    <on_color>\"green\"</on_color>\n"
+"    <off_color>\"red\"</off_color>\n"
+"</led>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:425
+#, no-wrap
+msgid "Round LED Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:426
+#, no-wrap
+msgid "images/pyvcp_led.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:428
+#, no-wrap
+msgid "Rectangle LED"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:431
+msgid "This is a variant of the 'led' widget."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:445
+#, no-wrap
+msgid ""
+"<vbox>\n"
+"    <relief>RIDGE</relief>\n"
+"    <bd>6</bd>\n"
+"    <rectled>\n"
+"        <halpin>\"my-led\"</halpin>\n"
+"        <height>\"50\"</height>\n"
+"        <width>\"100\"</width>\n"
+"        <on_color>\"green\"</on_color>\n"
+"        <off_color>\"red\"</off_color>\n"
+"    </rectled>\n"
+"</vbox>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:449
+msgid ""
+"The above code produced this example.  Also showing a vertical box with "
+"relief."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:450
+#, no-wrap
+msgid "Simple Rectangle LED Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:451
+#, no-wrap
+msgid "images/pyvcp_rectled.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:458
+msgid ""
+"A button is used to control a BIT pin.  The pin will be set True when the "
+"button is pressed and held down, and will be set False when the button is "
+"released.  Buttons can use the following optional options."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:460
+msgid ""
+"'<padx>__n__</padx>' - where _n_ is the amount of extra horizontal extra "
+"space."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:461
+msgid ""
+"'<pady>__n__</pady>' - where _n_ is the amount of extra vertical extra "
+"space."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:462
+msgid ""
+"'<activebackground>\"__color__\"</activebackground>' - the cursor over color "
+"set to _color_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:463
+msgid "'<fg>\"__color__\"</fg>' - the foreground color set to _color_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:464
+msgid "'<bg>\"__color__\"</bg>' - the background color set to _color_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:465
+msgid "'<disable_pin>True</disable_pin>' - disable pin."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:466
+#, no-wrap
+msgid "Text Button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:471
+msgid ""
+"A text button controls a 'bit' halpin.  The halpin is false until the button "
+"is pressed then it is true.  The button is a momentary button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:473
+msgid ""
+"The text button has an optional disable pin that is created when you add "
+"<disable_pin>True</disable_pin>."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:484
+#, no-wrap
+msgid ""
+"<button>\n"
+"    <halpin>\"ok-button\"</halpin>\n"
+"    <text>\"OK\"</text>\n"
+"</button>\n"
+"<button>\n"
+"    <halpin>\"abort-button\"</halpin>\n"
+"    <text>\"Abort\"</text>\n"
+"</button>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:488
+#, no-wrap
+msgid "Simple Buttons Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:489
+#, no-wrap
+msgid "images/pyvcp_button.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:491
+#, no-wrap
+msgid "Checkbutton"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:498
+msgid ""
+"A checkbutton controls a bit halpin.  The halpin will be set True when the "
+"button is checked, and false when the button is unchecked.  The checkbutton "
+"is a toggle type button.  The checkbuttons may be set initially as TRUE or "
+"FALSE the initval field A pin called changepin is also created "
+"automatically, which can toggle the Checkbutton via HAL, if the value linked "
+"is changed, to update the display remotely."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:499
+#, no-wrap
+msgid "Unchecked button"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:500
+#, no-wrap
+msgid "images/pyvcp_checkbutton1.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:502
+#, no-wrap
+msgid "Checked button"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:503
+#, no-wrap
+msgid "images/pyvcp_checkbutton2.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:505
+#, no-wrap
+msgid "Checkbutton Code Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:518
+#, no-wrap
+msgid ""
+"<checkbutton>\n"
+"    <halpin>\"coolant-chkbtn\"</halpin>\n"
+"    <text>\"Coolant\"</text>\n"
+"    <initval>1</initval>\n"
+"</checkbutton>\n"
+"<checkbutton>\n"
+"    <halpin>\"chip-chkbtn\"</halpin>\n"
+"    <text>\"Chips    \"</text>\n"
+"    <initval>0</initval>\n"
+"</checkbutton>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:522
+#, no-wrap
+msgid "Simple Checkbutton Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:523
+#, no-wrap
+msgid "images/pyvcp_checkbutton.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:527
+#, no-wrap
+msgid ""
+"The coolant checkbutton is checked.\n"
+"Notice the extra spaces in the \"Chips\" text to keep the checkbuttons "
+"aligned."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:528
+#, no-wrap
+msgid "Radiobutton"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:533
+msgid ""
+"A radiobutton will set one of the halpins true. The other pins are set "
+"false.  The initval field may be set to choose the default selection when "
+"the panel displays.  Only one radio button may be set to TRUE (1) or only "
+"the highest number pin set TRUE will have that value."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:541
+#, no-wrap
+msgid ""
+"<radiobutton>\n"
+"    <choices>[\"one\",\"two\",\"three\"]</choices>\n"
+"    <halpin>\"my-radio\"</halpin>\n"
+"    <initval>0</initval>\n"
+"</radiobutton>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:545
+#, no-wrap
+msgid "Simple Radiobutton Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:546
+#, no-wrap
+msgid "images/pyvcp_radiobutton.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:552
+msgid ""
+"Note that the HAL pins in the example above will be named my-radio.one, "
+"my-radio.two, and my-radio.three.  In the image above, 'one' is the selected "
+"value.  Use the tag `<orient>HORIZONTAL</orient>` to display horizontally."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp.adoc:553
+#, no-wrap
+msgid "Number Displays"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:556
+msgid "Number displays can use the following formatting options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:558
+msgid "`<font>(\"Font Name\",n)</font>`, where _n_ is the font size."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:559
+msgid "`<width>_n_</width>`, where _n_ is the overall width of the space used."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:560
+msgid ""
+"`<justify>_pos_</justify>`, where _pos_ is LEFT, CENTER, or RIGHT (doesn't "
+"work)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:561
+msgid "`<padx>_n_</padx>`, where _n_ is the amount of extra horizontal extra space."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:562
+msgid "`<pady>_n_</pady>`, where _n_ is the amount of extra vertical extra space."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:563
+#, no-wrap
+msgid "Number"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:566
+msgid "The number widget displays the value of a float signal."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:574
+#, no-wrap
+msgid ""
+"<number>\n"
+"    <halpin>\"my-number\"</halpin>\n"
+"    <font>(\"Helvetica\",24)</font>\n"
+"    <format>\"+4.4f\"</format>\n"
+"</number>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:578
+#, no-wrap
+msgid "Simple Number Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:579
+#, no-wrap
+msgid "images/pyvcp_number.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:584
+msgid ""
+"_<font>_ - is a Tkinter font type and size specification.  One font that "
+"will show up to at least size 200 is 'courier 10 pitch', so for a really big "
+"Number widget you could specify:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:588
+#, no-wrap
+msgid "<font>(\"courier 10 pitch\",100)</font>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:591
+msgid ""
+"_<format>_ - is a 'C-style' format specified that determines how the number "
+"is displayed."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:592
+#, no-wrap
+msgid "s32 Number"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:596
+msgid ""
+"The s32 number widget displays the value of a s32 number.  The syntax is the "
+"same as 'number' except the name which is <s32>.  Make sure the width is "
+"wide enough to cover the largest number you expect to use."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:605
+#, no-wrap
+msgid ""
+"<s32>\n"
+"    <halpin>\"my-number\"</halpin>\n"
+"    <font>(\"Helvetica\",24)</font>\n"
+"    <format>\"6d\"</format>\n"
+"    <width>6</width>\n"
+"</s32>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:609
+#, no-wrap
+msgid "Simple s32 Number Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:610
+#, no-wrap
+msgid "images/pyvcp_s32.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:612
+#, no-wrap
+msgid "u32 Number"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:615
+msgid ""
+"The u32 number widget displays the value of a u32 number.  The syntax is the "
+"same as 'number' except the name which is <u32>."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:616
+#, no-wrap
+msgid "Bar"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:620
+msgid ""
+"A bar widget displays the value of a FLOAT signal both graphically using a "
+"bar display and numerically.  The color of the bar can be set as one color "
+"throughout its range (default using fillcolor) or set to change color, "
+"dependent upon the value of the halpin (range1, range2 range3 must all be "
+"set, if you only want 2 ranges, set 2 of them to the same color)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:622
+msgid ""
+"`<halpin>\"my-bar\"</halpin>` (text), derives and sets the pin name: "
+"`pyvcp.my-bar`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:623
+msgid "`<min_>0</min_>` (number), sets the minimum scale."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:624
+msgid "`<max_>140</max_>` (number), sets the maximum scale."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:625
+msgid ""
+"`<format>\"3.1f\"</format>` (text), sets the number format using Python "
+"number formatting."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:626
+msgid "`<bgcolor>\"grey\"</bgcolor>` (text), sets the background color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:627
+msgid "`<fillcolor>\"red\"</fillcolor>` (text), sets the fill color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:628
+msgid ""
+"`<range1>0,100,\"green\"</range1>` (number, number, text), sets the first "
+"range and color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:629
+msgid ""
+"`<range2>101,135,\"orange\"</range2>` (number, number, text), sets the first "
+"range and color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:630
+msgid ""
+"`<range3>136, 150,\"red\"</range3>` number, number, text), sets the first "
+"range and color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:631
+msgid "`<canvas_width>200</canvas_width>` (number), sets the overall width."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:632
+msgid "`<canvas_height>50</canvas_height>` (number), sets the overall height."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:633
+msgid ""
+"`<bar_height>30</bar_height>` (number), sets the bar height, must be less "
+"than canvas_height."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:634
+msgid ""
+"`<bar_width>150</bar_width>` (number), sets the bar width, must be less than "
+"canvas_width."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:652
+#, no-wrap
+msgid ""
+"<bar>\n"
+"    <halpin>\"my-bar\"</halpin>\n"
+"    <min_>0</min_>\n"
+"    <max_>123</max_>\n"
+"    <format>\"3.1f\"</format>\n"
+"    <bgcolor>\"grey\"</bgcolor>\n"
+"    <fillcolor>\"red\"</fillcolor>\n"
+"    <range1>0,100,\"green\"</range1>\n"
+"    <range2>101,135,\"orange\"</range2>\n"
+"    <range3>136, 150,\"red\"</range3>\n"
+"    <canvas_width>200</canvas_width>\n"
+"    <canvas_height>50</canvas_height>\n"
+"    <bar_height>30</bar_height>\n"
+"    <bar_width>150</bar_width>\n"
+"</bar>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:656
+#, no-wrap
+msgid "Simple Bar Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:657
+#, no-wrap
+msgid "images/pyvcp_bar.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:661
+msgid ""
+"Meter displays the value of a FLOAT signal using a traditional dial "
+"indicator."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:677
+#, no-wrap
+msgid ""
+"<meter>\n"
+"    <halpin>\"mymeter\"</halpin>\n"
+"    <text>\"Battery\"</text>\n"
+"    <subtext>\"Volts\"</subtext>\n"
+"    <size>250</size>\n"
+"    <min_>0</min_>\n"
+"    <max_>15.5</max_>\n"
+"    <majorscale>1</majorscale>\n"
+"    <minorscale>0.2</minorscale>\n"
+"    <region1>(14.5,15.5,\"yellow\")</region1>\n"
+"    <region2>(12,14.5,\"green\")</region2>\n"
+"    <region3>(0,12,\"red\")</region3>\n"
+"</meter>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:681
+#, no-wrap
+msgid "Simple Meter Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:682
+#, no-wrap
+msgid "images/pyvcp_meter.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp.adoc:684
+#, no-wrap
+msgid "Number Inputs"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:686
+#, no-wrap
+msgid "Spinbox"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:692
+msgid ""
+"A spinbox controls a FLOAT pin.  You increase or decrease the value of the "
+"pin by either pressing on the arrows, or pointing at the spinbox and rolling "
+"your mouse-wheel.  If the param_pin field is set TRUE(1), a pin will be "
+"created that can be used to set the spinbox to an initial value and to "
+"remotely alter its value without HID input."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:705
+#, no-wrap
+msgid ""
+"<spinbox>\n"
+"    <halpin>\"my-spinbox\"</halpin>\n"
+"    <min_>-12</min_>\n"
+"    <max_>33</max_>\n"
+"    <initval>0</initval>\n"
+"    <resolution>0.1</resolution>\n"
+"    <format>\"2.3f\"</format>\n"
+"    <font>(\"Arial\",30)</font>\n"
+"    <param_pin>1</param_pin>\n"
+"</spinbox>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:709
+#, no-wrap
+msgid "Simple Spinbox Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:710
+#, no-wrap
+msgid "images/pyvcp_spinbox.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:712 src/plasma/qtplasmac.adoc:2765
+#, no-wrap
+msgid "Scale"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:720
+msgid ""
+"A scale controls a float or a s32 pin.  You increase or decrease the value "
+"of the pin be either dragging the slider, or pointing at the scale and "
+"rolling your mouse-wheel.  The 'halpin' will have both '-f' and '-i' added "
+"to it to form the float and s32 pins.  Width is the width of the slider in "
+"vertical and the height of the slider in horizontal orientation.  If the "
+"param_pin field is set TRUE(1), a pin will be created that can be used to "
+"set the spinbox to an initial value and to remotely alter its value without "
+"HID input."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:744
+#, no-wrap
+msgid ""
+"<scale>\n"
+"    <font>(\"Helvetica\",16)</font>\n"
+"    <width>\"25\"</width>\n"
+"    <halpin>\"my-hscale\"</halpin>\n"
+"    <resolution>0.1</resolution>\n"
+"    <orient>HORIZONTAL</orient>\n"
+"    <initval>-15</initval>\n"
+"    <min_>-33</min_>\n"
+"    <max_>26</max_>\n"
+"    <param_pin>1</param_pin>\n"
+"</scale>\n"
+"<scale>\n"
+"    <font>(\"Helvetica\",16)</font>\n"
+"    <width>\"50\"</width>\n"
+"    <halpin>\"my-vscale\"</halpin>\n"
+"    <resolution>1</resolution>\n"
+"    <orient>VERTICAL</orient>\n"
+"    <min_>100</min_>\n"
+"    <max_>0</max_>\n"
+"    <param_pin>1</param_pin>\n"
+"</scale>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:748
+#, no-wrap
+msgid "Simple Scale Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:749
+#, no-wrap
+msgid "images/pyvcp_scale.png"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/pyvcp.adoc:755
+msgid ""
+"Note that by default it is \"min\" which is displayed even if it is greater "
+"than \"max\", unless \"min\" is negative."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:757
+#, no-wrap
+msgid "Dial"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:764
+msgid ""
+"The Dial outputs a HAL float and reacts to both mouse wheel and dragging.  "
+"Double left click to increase the resolution and double right click to "
+"reduce the resolution by one digit.  The output is capped by the min and max "
+"values.  The <cpr> is how many tick marks are on the outside of the ring "
+"(beware of high numbers).  If the param_pin field is set TRUE(1), a pin will "
+"be created that can be used to set the spinbox to an initial value and to "
+"remotely alter its value without HID input."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:781
+#, no-wrap
+msgid ""
+"<dial>\n"
+"    <size>200</size>\n"
+"    <cpr>100</cpr>\n"
+"    <min_>-15</min_>\n"
+"    <max_>15</max_>\n"
+"    <text>\"Dial\"</text>\n"
+"    <initval>0</initval>\n"
+"    <resolution>0.001</resolution>\n"
+"    <halpin>\"anaout\"</halpin>\n"
+"    <dialcolor>\"yellow\"</dialcolor>\n"
+"    <edgecolor>\"green\"</edgecolor>\n"
+"    <dotcolor>\"black\"</dotcolor>\n"
+"    <param_pin>1</param_pin>\n"
+"</dial>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:785
+#, no-wrap
+msgid "Simple Dial Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:786
+#, no-wrap
+msgid "images/pyvcp_dial.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:788
+#, no-wrap
+msgid "Jogwheel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:793
+msgid ""
+"Jogwheel mimics a real jogwheel by outputting a FLOAT pin which counts up or "
+"down as the wheel is turned, either by dragging in a circular motion, or by "
+"rolling the mouse-wheel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:795
+msgid "Optional tags:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:796
+msgid "'<text>\"My Text\"</text>' displays text"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:797
+msgid ""
+"'<bgcolor>\"grey\"</bgcolor> <fillcolor>\"green\"</fillcolor>' background & "
+"active colors"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:798
+msgid ""
+"'<scale_pin>1</scale_pin>' creates scale text and a `FLOAT.scale` pin to "
+"display jog scale"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:800
+msgid ""
+"'<clear_pin>1</clear_pin>' creates `DRO` and a `BIT.reset` pin to reset "
+"DRO.  Needs scale_pin for scaled DRO. Shift+click resets DRO also"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:808
+#, no-wrap
+msgid ""
+"<jogwheel>\n"
+"    <halpin>\"my-wheel\"</halpin>\n"
+"    <cpr>45</cpr>\n"
+"    <size>250</size>\n"
+"</jogwheel>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:812
+#, no-wrap
+msgid "Simple Jogwheel Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:813
+#, no-wrap
+msgid "images/pyvcp_jogwheel.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp.adoc:815
+#, no-wrap
+msgid "Images"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:820
+msgid ""
+"Image displays use only .gif image format.  All of the images must be the "
+"same size.  The images must be in the same directory as your INI file (or in "
+"the current directory if running from the command line with halrun/halcmd)."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:821
+#, no-wrap
+msgid "Image Bit"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:824
+msgid ""
+"The 'image_bit' toggles between two images by setting the halpin to true or "
+"false."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:832
+#, no-wrap
+msgid ""
+"<image name='fwd' file='fwd.gif'/>\n"
+"<image name='rev' file='rev.gif'/>\n"
+"<vbox>\n"
+"    <image_bit halpin='selectimage' images='fwd rev'/>\n"
+"</vbox>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:837
+msgid ""
+"This example was produced from the above code.  Using the two image files "
+"fwd.gif and rev.gif.  FWD is displayed when 'selectimage' is false and REV "
+"is displayed when 'selectimage' is true."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:838
+#, no-wrap
+msgid "Selectimage False Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:839 src/gui/pyvcp.adoc:866
+#, no-wrap
+msgid "images/pyvcp_image01.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:841
+#, no-wrap
+msgid "Selectimage True Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:842 src/gui/pyvcp.adoc:869
+#, no-wrap
+msgid "images/pyvcp_image02.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:844
+#, no-wrap
+msgid "Image u32"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:849
+msgid ""
+"The 'image_u32' is the same as 'image_bit', except you have essentially an "
+"unlimited number of images and you 'select' the image by setting the halpin "
+"to a integer value with 0 for the first image in the images list and 1 for "
+"the second image, etc."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:858
+#, no-wrap
+msgid ""
+"<image name='stb' file='stb.gif'/>\n"
+"<image name='fwd' file='fwd.gif'/>\n"
+"<image name='rev' file='rev.gif'/>\n"
+"<vbox>\n"
+"    <image_u32 halpin='selectimage' images='stb fwd rev'/>\n"
+"</vbox>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:861
+msgid "The above code produced the following example by adding the stb.gif image."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:862
+#, no-wrap
+msgid "Simple image_u32 Example with halpin=0"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:863
+#, no-wrap
+msgid "images/pyvcp_image_u32_01.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:865
+#, no-wrap
+msgid "Simple image_u32 Example withhalpin=1"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:868
+#, no-wrap
+msgid "Simple image_u32 Example withhalpin=2"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:873
+msgid ""
+"Notice that the default is the min even though it is set higher than max "
+"unless there is a negative min."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:878
+msgid ""
+"Containers are widgets that contain other widgets.  Containers are used to "
+"group other widgets."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:879
+#, no-wrap
+msgid "Borders"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:883
+msgid ""
+"Container borders are specified with two tags used together.  The <relief> "
+"tag specifies the type of border and the <bd> specifies the width of the "
+"border."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/pyvcp.adoc:884
+#, no-wrap
+msgid "'<relief>_type_</relief>'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:886
+msgid "Where _type_ is FLAT, SUNKEN, RAISED, GROOVE, or RIDGE."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/pyvcp.adoc:887
+#, no-wrap
+msgid "'<bd>_n_</bd>'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:889
+msgid "Where _n_ is the width of the border."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:919
+#, no-wrap
+msgid ""
+"<hbox>\n"
+"    <button>\n"
+"        <relief>FLAT</relief>\n"
+"        <text>\"FLAT\"</text>\n"
+"        <bd>3</bd>\n"
+"    </button>\n"
+"    <button>\n"
+"        <relief>SUNKEN</relief>\n"
+"        <text>\"SUNKEN\"</text>\n"
+"        <bd>3</bd>\n"
+"    </button>\n"
+"    <button>\n"
+"        <relief>RAISED</relief>\n"
+"        <text>\"RAISED\"</text>\n"
+"        <bd>3</bd>\n"
+"    </button>\n"
+"    <button>\n"
+"        <relief>GROOVE</relief>\n"
+"        <text>\"GROOVE\"</text>\n"
+"        <bd>3</bd>\n"
+"    </button>\n"
+"    <button>\n"
+"        <relief>RIDGE</relief>\n"
+"        <text>\"RIDGE\"</text>\n"
+"        <bd>3</bd>\n"
+"    </button>\n"
+"</hbox>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:923
+#, no-wrap
+msgid "Containers Borders Showcase"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:924
+#, no-wrap
+msgid "images/pyvcp_borders.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:926
+#, no-wrap
+msgid "Fill"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:931
+msgid ""
+"Container fill are specified with the '<boxfill fill=\"\"/>' tag.  Valid "
+"entries are none, x, y and both.  The x fill is a horizontal fill and the y "
+"fill is a vertical fill"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/pyvcp.adoc:932
+#, no-wrap
+msgid "`<boxfill fill =\"style\"/>`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:934
+msgid "Where 'style' is none, x, y, or both. Default is x for Vbox and y for Hbox."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:935
+#, no-wrap
+msgid "Anchor"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:941
+msgid ""
+"Container anchors are specified with the <boxanchor anchor=\"\"/> tag.  The "
+"anchor specifies where to position each slave in its parcel.  Valid entries "
+"are center, n, s, e, w, for center, north, south, east and west.  "
+"Combinations like sw, se, nw and ne are also valid."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/pyvcp.adoc:942
+#, no-wrap
+msgid "`<boxanchor anchor=\"position\"/>`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:944
+msgid "Where 'position' is center, n, s, e, w, ne, nw, se or sw. Default is center."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:945
+#, no-wrap
+msgid "Expand"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:949
+msgid ""
+"Container expand is specified with the boolean <boxexpand expand=\"\"/> "
+"tag.  Valid entries are \"yes\", \"no\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/pyvcp.adoc:950
+#, no-wrap
+msgid "`<boxexpand expand=\"boolean\"/>`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:952
+msgid "Where 'boolean' is either \"yes\" or \"no\". Default is yes."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:953
+#, no-wrap
+msgid "Hbox"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:956
+msgid "Use an Hbox when you want to stack widgets horizontally next to each other."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:967
+#, no-wrap
+msgid ""
+"<hbox>\n"
+"    <relief>RIDGE</relief>\n"
+"    <bd>6</bd>\n"
+"    <label><text>\"a hbox:\"</text></label>\n"
+"    <led></led>\n"
+"    <number></number>\n"
+"    <bar></bar>\n"
+"</hbox>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:971
+#, no-wrap
+msgid "Simple hbox Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:972
+#, no-wrap
+msgid "images/pyvcp_hbox.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:977
+msgid ""
+"Inside an Hbox, you can use the '<boxfill fill=\"\"/>', '<boxanchor "
+"anchor=\"\"/>', and '<boxexpand expand=\"\"/>' tags to choose how items in "
+"the box behave when the window is re-sized.  The default is 'fill=\"y\"', "
+"'anchor=\"center\"', 'expand=\"yes\"' for an Hbox."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:978
+#, no-wrap
+msgid "Vbox"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:981
+msgid "Use a Vbox when you want to stack widgets vertically on top of each other."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:992
+#, no-wrap
+msgid ""
+"<vbox>\n"
+"    <relief>RIDGE</relief>\n"
+"    <bd>6</bd>\n"
+"    <label><text>\"a vbox:\"</text></label>\n"
+"    <led></led>\n"
+"    <number></number>\n"
+"    <bar></bar>\n"
+"</vbox>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:996
+#, no-wrap
+msgid "Simple vbox Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:997
+#, no-wrap
+msgid "images/pyvcp_vbox.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:1002
+msgid ""
+"Inside a Vbox, you can use the '<boxfill fill=\"\"/>', '<boxanchor "
+"anchor=\"\"/>', and '<boxexpand expand=\"\"/>' tags to choose how items in "
+"the box behave when the window is re-sized.  The default is 'fill=\"x\"', "
+"'anchor=\"center\"', 'expand=\"yes\"' for a Vbox."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:1003
+#, no-wrap
+msgid "Labelframe"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:1006
+msgid "A labelframe is a frame with a groove and a label at the upper-left corner."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:1009
+#, no-wrap
+msgid "<labelframe text=\"Label: Leds groupées\">\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:1020
+#, no-wrap
+msgid ""
+"<labelframe text=\"Group Title\">\n"
+"    <font>(\"Helvetica\",16)</font>\n"
+"    <hbox>\n"
+"    <led/>\n"
+"    <led/>\n"
+"    </hbox>\n"
+"</labelframe>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:1024
+#, no-wrap
+msgid "Simple labelframe Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:1025
+#, no-wrap
+msgid "images/pyvcp_labelframe.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:1027
+#, no-wrap
+msgid "Table"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:1033
+msgid ""
+"A table is a container that allows layout in a grid of rows and columns.  "
+"Each row is started by a '<tablerow/>' tag.  A contained widget may span "
+"rows or columns through the use of the '<tablespan rows= cols=/>' tag.  The "
+"sides of the cells to which the contained widgets \"stick\" may be set "
+"through the use of the '<tablesticky sticky=/>' tag.  A table expands on its "
+"flexible rows and columns."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:1034
+#, no-wrap
+msgid "Table Code Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:1061
+#, no-wrap
+msgid ""
+"<table flexible_rows=\"[2]\" flexible_columns=\"[1,4]\">\n"
+"<tablesticky sticky=\"new\"/>\n"
+"<tablerow/>\n"
+"    <label>\n"
+"        <text>\" A (cell 1,1) \"</text>\n"
+"        <relief>RIDGE</relief>\n"
+"        <bd>3</bd>\n"
+"    </label>\n"
+"    <label text=\"B (cell 1,2)\"/>\n"
+"    <tablespan columns=\"2\"/>\n"
+"    <label text=\"C, D (cells 1,3 and 1,4)\"/>\n"
+"<tablerow/>\n"
+"    <label text=\"E (cell 2,1)\"/>\n"
+"    <tablesticky sticky=\"nsew\"/>\n"
+"    <tablespan rows=\"2\"/>\n"
+"    <label text=\"'spans\\n2 rows'\"/>\n"
+"    <tablesticky sticky=\"new\"/>\n"
+"    <label text=\"G (cell 2,3)\"/>\n"
+"    <label text=\"H (cell 2,4)\"/>\n"
+"<tablerow/>\n"
+"    <label text=\"J (cell 3,1)\"/>\n"
+"    <label text=\"K (cell 3,2)\"/>\n"
+"    <u32 halpin=\"test\"/>\n"
+"</table>\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:1065
+#, no-wrap
+msgid "Table Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:1066
+#, no-wrap
+msgid "images/pyvcp_table.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:1068
+#, no-wrap
+msgid "Tabs"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:1071
+msgid "A tabbed interface can save quite a bit of space."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp.adoc:1099
+#, no-wrap
+msgid ""
+"<tabs>\n"
+"    <names> [\"spindle\",\"green eggs\"]</names>\n"
+"</tabs>\n"
+"<tabs>\n"
+"    <names>[\"Spindle\", \"Green Eggs\", \"Ham\"]</names>\n"
+"    <vbox>\n"
+"        <label>\n"
+"            <text>\"Spindle speed:\"</text>\n"
+"        </label>\n"
+"        <bar>\n"
+"            <halpin>\"spindle-speed\"</halpin>\n"
+"            <max_>5000</max_>\n"
+"        </bar>\n"
+"    </vbox>\n"
+"    <vbox>\n"
+"        <label>\n"
+"            <text>\"(this is the green eggs tab)\"</text>\n"
+"        </label>\n"
+"    </vbox>\n"
+"    <vbox>\n"
+"        <label>\n"
+"            <text>\"(this tab has nothing on it)\"</text>\n"
+"        </label>\n"
+"    </vbox>\n"
+"</tabs>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp.adoc:1102
+msgid "The above code produced this example showing each tab selected."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:1103
+#, no-wrap
+msgid "images/pyvcp_tabs1.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:1105
+#, no-wrap
+msgid "images/pyvcp_tabs2.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp.adoc:1107
+#, no-wrap
+msgid "Simple Tabs Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp.adoc:1108
+#, no-wrap
+msgid "images/pyvcp_tabs3.png"
+msgstr ""
+
+#. type: Title =
+#: src/gui/pyvcp-examples.adoc:4
+#, no-wrap
+msgid "PyVCP Examples"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:16
+msgid ""
+"To create a PyVCP panel to use with the AXIS interface that is attached to "
+"the right of AXIS you need to do the following basic things."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:18 src/gui/pyvcp-examples.adoc:31
+msgid ""
+"Create an XML file that contains your panel description and put it in your "
+"config directory."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:19
+msgid ""
+"Add the PyVCP entry to the [DISPLAY] section of the INI file with your XML "
+"file name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:21
+msgid ""
+"Add the POSTGUI_HALFILE entry to the [HAL] section of the INI file with the "
+"name of your postgui HAL file name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:23 src/gui/pyvcp-examples.adoc:34
+msgid ""
+"Add the links to HAL pins for your panel in the postgui.hal file to "
+"'connect' your PyVCP panel to LinuxCNC."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp-examples.adoc:24
+#, no-wrap
+msgid "Floating Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:28
+msgid ""
+"To create floating PyVCP panels that can be used with any interface you need "
+"to do the following basic things."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:32
+msgid "Add a loadusr line to your HAL file to load each panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:37
+msgid ""
+"The following is an example of a loadusr command to load two PyVCP panels "
+"and name each one so the connection names in HAL will be known."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:42
+#, no-wrap
+msgid ""
+"loadusr -Wn btnpanel pyvcp -c btnpanel panel1.xml\n"
+"loadusr -Wn sppanel pyvcp -c sppanel panel2.xml\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:45
+msgid "The -Wn makes HAL 'Wait for name' to be loaded before proceeding."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:47
+msgid "The pyvcp -c makes PyVCP name the panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:49
+msgid "The HAL pins from panel1.xml will be named btnpanel.<_pin name_>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:51
+msgid "The HAL pins from panel2.xml will be named sppanel.<_pin name_>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:53
+msgid ""
+"Make sure the loadusr line is before any nets that make use of the PyVCP "
+"pins."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp-examples.adoc:54
+#, no-wrap
+msgid "Jog Buttons Example"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:62
+msgid ""
+"In this example we will create a PyVCP panel with jog buttons for X, Y, and "
+"Z.  This configuration will be built upon a StepConf Wizard generated "
+"configuration.  First we run the StepConf Wizard and configure our machine, "
+"on the Advanced Configuration Options page we then make a couple of "
+"selections to add a blank PyVCP panel as shown in the following figure.  For "
+"this example we named the configuration 'pyvcp_xyz' on the Basic Machine "
+"Information page of the StepConf Wizard."
+msgstr ""
+
+#. type: Block title
+#: src/gui/pyvcp-examples.adoc:64
+#, no-wrap
+msgid "XYZ Wizard Configuration"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/pyvcp-examples.adoc:65
+#, no-wrap
+msgid "PyVCP XYZ Wizard Configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp-examples.adoc:65
+#, no-wrap
+msgid "images/xyz_ACO.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:70
+msgid ""
+"The StepConf Wizard will create several files and place them in the "
+"`linuxcnc/configs/pyvcp_xyz` directory. If you left the create link checked "
+"you will have a link to those files on your desktop."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp-examples.adoc:71
+#, no-wrap
+msgid "Create the Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:76
+msgid ""
+"Open up the custompanel.xml file by right clicking on it and selecting 'open "
+"with text editor'. Between the <pyvcp></pyvcp> tags we will add the widgets "
+"for our panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:79
+msgid ""
+"Look in the PyVCP Widgets Reference section of the manual for more detailed "
+"information on each widget <<sec:pyvcp:widgets,documentation des widgets>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:82
+msgid "In your custompanel.xml file we will add the description of the widgets."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:87
+#, no-wrap
+msgid ""
+"<pyvcp>\n"
+"  <labelframe text=\"Jog Buttons\">\n"
+"    <font>(\"Helvetica\",16)</font>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:105
+#, no-wrap
+msgid ""
+"      <!-- the X jog buttons -->\n"
+"      <hbox>\n"
+"      <relief>RAISED</relief>\n"
+"      <bd>3</bd>\n"
+"      <button>\n"
+"        <font>(\"Helvetica\",20)</font>\n"
+"        <width>3</width>\n"
+"        <halpin>\"x-plus\"</halpin>\n"
+"        <text>\"X+\"</text>\n"
+"      </button>\n"
+"      <button>\n"
+"        <font>(\"Helvetica\",20)</font>\n"
+"        <width>3</width>\n"
+"        <halpin>\"x-minus\"</halpin>\n"
+"        <text>\"X-\"</text>\n"
+"      </button>\n"
+"      </hbox>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:123
+#, no-wrap
+msgid ""
+"      <!-- the Y jog buttons -->\n"
+"      <hbox>\n"
+"      <relief>RAISED</relief>\n"
+"      <bd>3</bd>\n"
+"      <button>\n"
+"        <font>(\"Helvetica\",20)</font>\n"
+"        <width>3</width>\n"
+"        <halpin>\"y-plus\"</halpin>\n"
+"        <text>\"Y+\"</text>\n"
+"      </button>\n"
+"      <button>\n"
+"        <font>(\"Helvetica\",20)</font>\n"
+"        <width>3</width>\n"
+"        <halpin>\"y-minus\"</halpin>\n"
+"        <text>\"Y-\"</text>\n"
+"      </button>\n"
+"      </hbox>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:141
+#, no-wrap
+msgid ""
+"      <!-- the Z jog buttons -->\n"
+"      <hbox>\n"
+"      <relief>RAISED</relief>\n"
+"      <bd>3</bd>\n"
+"      <button>\n"
+"        <font>(\"Helvetica\",20)</font>\n"
+"        <width>3</width>\n"
+"        <halpin>\"z-plus\"</halpin>\n"
+"        <text>\"Z+\"</text>\n"
+"      </button>\n"
+"      <button>\n"
+"        <font>(\"Helvetica\",20)</font>\n"
+"        <width>3</width>\n"
+"        <halpin>\"z-minus\"</halpin>\n"
+"        <text>\"Z-\"</text>\n"
+"      </button>\n"
+"      </hbox>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:161
+#, no-wrap
+msgid ""
+"      <!-- the jog speed slider -->\n"
+"      <vbox>\n"
+"      <relief>RAISED</relief>\n"
+"      <bd>3</bd>\n"
+"      <label>\n"
+"        <text>\"Jog Speed\"</text>\n"
+"        <font>(\"Helvetica\",16)</font>\n"
+"      </label>\n"
+"      <scale>\n"
+"        <font>(\"Helvetica\",14)</font>\n"
+"        <halpin>\"jog-speed\"</halpin>\n"
+"        <resolution>1</resolution>\n"
+"        <orient>HORIZONTAL</orient>\n"
+"        <min_>0</min_>\n"
+"        <max_>80</max_>\n"
+"      </scale>\n"
+"      </vbox>\n"
+"  </labelframe>\n"
+"</pyvcp>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:169
+msgid ""
+"After adding the above you now will have a PyVCP panel that looks like the "
+"following attached to the right side of AXIS. It looks nice but it does not "
+"do anything until you 'connect' the buttons to halui. If you get an error "
+"when you try and run scroll down to the bottom of the pop up window and "
+"usually the error is a spelling or syntax error and it will be there."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/pyvcp-examples.adoc:170
+#, no-wrap
+msgid "Jog Buttons Image"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp-examples.adoc:170
+#, no-wrap
+msgid "images/xyz_buttons.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp-examples.adoc:172
+#, no-wrap
+msgid "Make Connections"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:176
+msgid ""
+"To make the connections needed open up your custom_postgui.hal file and add "
+"the following."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:182
+#, no-wrap
+msgid ""
+"# connect the X PyVCP buttons\n"
+"net my-jogxminus halui.axis.x.minus <= pyvcp.x-minus\n"
+"net my-jogxplus halui.axis.x.plus <= pyvcp.x-plus\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:186
+#, no-wrap
+msgid ""
+"# connect the Y PyVCP buttons\n"
+"net my-jogyminus halui.axis.y.minus <= pyvcp.y-minus\n"
+"net my-jogyplus halui.axis.y.plus <= pyvcp.y-plus\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:190
+#, no-wrap
+msgid ""
+"# connect the Z PyVCP buttons\n"
+"net my-jogzminus halui.axis.z.minus <= pyvcp.z-minus\n"
+"net my-jogzplus halui.axis.z.plus <= pyvcp.z-plus\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:193
+#, no-wrap
+msgid ""
+"# connect the PyVCP jog speed slider\n"
+"net my-jogspeed halui.axis.jog-speed <= pyvcp.jog-speed-f\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:199
+msgid ""
+"After resetting the E-Stop and putting it into jog mode and moving the jog "
+"speed slider in the PyVCP panel to a value greater than zero the PyVCP jog "
+"buttons should work. You can not jog when running a G-code file or while "
+"paused or while the MDI tab is selected."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp-examples.adoc:200
+#, no-wrap
+msgid "Port Tester"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:204
+msgid ""
+"This example shows you how to make a simple parallel port tester using PyVCP "
+"and HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:207
+msgid ""
+"First create the ptest.xml file with the following code to create the panel "
+"description."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:268
+#, no-wrap
+msgid ""
+"<!-- Test panel for the parallel port cfg for out -->\n"
+"<pyvcp>\n"
+"  <hbox>\n"
+"    <relief>RIDGE</relief>\n"
+"    <bd>2</bd>\n"
+"    <button>\n"
+"      <halpin>\"btn01\"</halpin>\n"
+"      <text>\"Pin 01\"</text>\n"
+"    </button>\n"
+"    <led>\n"
+"      <halpin>\"led-01\"</halpin>\n"
+"      <size>25</size>\n"
+"      <on_color>\"green\"</on_color>\n"
+"      <off_color>\"red\"</off_color>\n"
+"    </led>\n"
+"  </hbox>\n"
+"  <hbox>\n"
+"    <relief>RIDGE</relief>\n"
+"    <bd>2</bd>\n"
+"    <button>\n"
+"      <halpin>\"btn02\"</halpin>\n"
+"      <text>\"Pin 02\"</text>\n"
+"    </button>\n"
+"    <led>\n"
+"      <halpin>\"led-02\"</halpin>\n"
+"      <size>25</size>\n"
+"      <on_color>\"green\"</on_color>\n"
+"      <off_color>\"red\"</off_color>\n"
+"    </led>\n"
+"  </hbox>\n"
+"  <hbox>\n"
+"    <relief>RIDGE</relief>\n"
+"    <bd>2</bd>\n"
+"    <label>\n"
+"      <text>\"Pin 10\"</text>\n"
+"      <font>(\"Helvetica\",14)</font>\n"
+"    </label>\n"
+"    <led>\n"
+"      <halpin>\"led-10\"</halpin>\n"
+"      <size>25</size>\n"
+"      <on_color>\"green\"</on_color>\n"
+"      <off_color>\"red\"</off_color>\n"
+"    </led>\n"
+"  </hbox>\n"
+"  <hbox>\n"
+"    <relief>RIDGE</relief>\n"
+"    <bd>2</bd>\n"
+"    <label>\n"
+"      <text>\"Pin 11\"</text>\n"
+"      <font>(\"Helvetica\",14)</font>\n"
+"    </label>\n"
+"    <led>\n"
+"      <halpin>\"led-11\"</halpin>\n"
+"      <size>25</size>\n"
+"      <on_color>\"green\"</on_color>\n"
+"      <off_color>\"red\"</off_color>\n"
+"    </led>\n"
+"  </hbox>\n"
+"</pyvcp>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:272
+msgid ""
+"This will create the following floating panel which contains a couple of in "
+"pins and a couple of out pins."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/pyvcp-examples.adoc:273
+#, no-wrap
+msgid "Port Tester Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp-examples.adoc:273
+#, no-wrap
+msgid "images/ptest.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:277
+msgid ""
+"To run the HAL commands that we need to get everything up and running we put "
+"the following in our ptest.hal file."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:290
+#, no-wrap
+msgid ""
+"loadrt hal_parport cfg=\"0x378 out\"\n"
+"loadusr -Wn ptest pyvcp -c ptest ptest.xml\n"
+"loadrt threads name1=porttest period1=1000000\n"
+"addf parport.0.read porttest\n"
+"addf parport.0.write porttest\n"
+"net pin01 ptest.btn01 parport.0.pin-01-out ptest.led-01\n"
+"net pin02 ptest.btn02 parport.0.pin-02-out ptest.led-02\n"
+"net pin10 parport.0.pin-10-in ptest.led-10\n"
+"net pin11 parport.0.pin-11-in ptest.led-11\n"
+"start\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:293
+msgid "To run the HAL file we use the following command from a terminal window."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:296
+#, no-wrap
+msgid "~$ halrun -I -f ptest.hal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:299
+msgid "The following figure shows what a complete panel might look like."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/pyvcp-examples.adoc:300
+#, no-wrap
+msgid "Port Tester Complete Image"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp-examples.adoc:300
+#, no-wrap
+msgid "images/ptest-final.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:303
+msgid "To add the rest of the parallel port pins just modify the XML and HAL files."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:306
+msgid ""
+"To show the pins after running the HAL script use the following command at "
+"the halcmd prompt:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:339
+#, no-wrap
+msgid ""
+"halcmd: show pin\n"
+"Component Pins:\n"
+"Owner Type  Dir Value  Name\n"
+"    2 bit   IN  FALSE  parport.0.pin-01-out <== pin01\n"
+"    2 bit   IN  FALSE  parport.0.pin-02-out <== pin02\n"
+"    2 bit   IN  FALSE  parport.0.pin-03-out\n"
+"    2 bit   IN  FALSE  parport.0.pin-04-out\n"
+"    2 bit   IN  FALSE  parport.0.pin-05-out\n"
+"    2 bit   IN  FALSE  parport.0.pin-06-out\n"
+"    2 bit   IN  FALSE  parport.0.pin-07-out\n"
+"    2 bit   IN  FALSE  parport.0.pin-08-out\n"
+"    2 bit   IN  FALSE  parport.0.pin-09-out\n"
+"    2 bit   OUT TRUE   parport.0.pin-10-in ==> pin10\n"
+"    2 bit   OUT FALSE  parport.0.pin-10-in-not\n"
+"    2 bit   OUT TRUE   parport.0.pin-11-in ==> pin11\n"
+"    2 bit   OUT FALSE  parport.0.pin-11-in-not\n"
+"    2 bit   OUT TRUE   parport.0.pin-12-in\n"
+"    2 bit   OUT FALSE  parport.0.pin-12-in-not\n"
+"    2 bit   OUT TRUE   parport.0.pin-13-in\n"
+"    2 bit   OUT FALSE  parport.0.pin-13-in-not\n"
+"    2 bit   IN  FALSE  parport.0.pin-14-out\n"
+"    2 bit   OUT TRUE   parport.0.pin-15-in\n"
+"    2 bit   OUT FALSE  parport.0.pin-15-in-not\n"
+"    2 bit   IN  FALSE  parport.0.pin-16-out\n"
+"    2 bit   IN  FALSE  parport.0.pin-17-out\n"
+"    4 bit   OUT FALSE  ptest.btn01 ==> pin01\n"
+"    4 bit   OUT FALSE  ptest.btn02 ==> pin02\n"
+"    4 bit   IN  FALSE  ptest.led-01 <== pin01\n"
+"    4 bit   IN  FALSE  ptest.led-02 <== pin02\n"
+"    4 bit   IN  TRUE   ptest.led-10 <== pin10\n"
+"    4 bit   IN  TRUE   ptest.led-11 <== pin11\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:343
+msgid ""
+"This will show you what pins are IN and what pins are OUT as well as any "
+"connections."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp-examples.adoc:345
+#, no-wrap
+msgid "GS2 RPM Meter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:350
+msgid ""
+"The following example uses the Automation Direct GS2 VDF driver and displays "
+"the RPM and other info in a PyVCP panel. This example is based on the GS2 "
+"example in the Hardware Examples section this manual."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp-examples.adoc:351
+#, no-wrap
+msgid "The Panel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:354
+msgid "To create the panel we add the following to the XML file."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:357
+#, no-wrap
+msgid "<pyvcp>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:374
+#, no-wrap
+msgid ""
+"  <!-- the RPM meter -->\n"
+"  <hbox>\n"
+"    <relief>RAISED</relief>\n"
+"    <bd>3</bd>\n"
+"    <meter>\n"
+"      <halpin>\"spindle_rpm\"</halpin>\n"
+"      <text>\"Spindle\"</text>\n"
+"      <subtext>\"RPM\"</subtext>\n"
+"      <size>200</size>\n"
+"      <min_>0</min_>\n"
+"      <max_>3000</max_>\n"
+"      <majorscale>500</majorscale>\n"
+"      <minorscale>100</minorscale>\n"
+"      <region1>0,10,\"yellow\"</region1>\n"
+"    </meter>\n"
+"  </hbox>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:398
+#, no-wrap
+msgid ""
+"  <!-- the On Led -->\n"
+"  <hbox>\n"
+"  <relief>RAISED</relief>\n"
+"  <bd>3</bd>\n"
+"  <vbox>\n"
+"  <relief>RAISED</relief>\n"
+"  <bd>2</bd>\n"
+"  <label>\n"
+"  <text>\"On\"</text>\n"
+"  <font>(\"Helvetica\",18)</font>\n"
+"  </label>\n"
+"  <width>5</width>\n"
+"   <hbox>\n"
+"  <label width=\"2\"/> <!-- used to center the led -->\n"
+"  <rectled>\n"
+"  <halpin>\"on-led\"</halpin>\n"
+"  <height>\"30\"</height>\n"
+"  <width>\"30\"</width>\n"
+"  <on_color>\"green\"</on_color>\n"
+"  <off_color>\"red\"</off_color>\n"
+"  </rectled>\n"
+"  </hbox>\n"
+"  </vbox>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:417
+#, no-wrap
+msgid ""
+"  <!-- the FWD Led -->\n"
+"  <vbox>\n"
+"    <relief>RAISED</relief>\n"
+"    <bd>2</bd>\n"
+"    <label>\n"
+"      <text>\"FWD\"</text>\n"
+"      <font>(\"Helvetica\",18)</font>\n"
+"      <width>5</width>\n"
+"    </label>\n"
+"   <label width=\"2\"/>\n"
+"    <rectled>\n"
+"      <halpin>\"fwd-led\"</halpin>\n"
+"      <height>\"30\"</height>\n"
+"      <width>\"30\"</width>\n"
+"      <on_color>\"green\"</on_color>\n"
+"      <off_color>\"red\"</off_color>\n"
+"    </rectled>\n"
+"  </vbox>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:438
+#, no-wrap
+msgid ""
+"  <!-- the REV Led -->\n"
+"  <vbox>\n"
+"  <relief>RAISED</relief>\n"
+"  <bd>2</bd>\n"
+"    <label>\n"
+"      <text>\"REV\"</text>\n"
+"      <font>(\"Helvetica\",18)</font>\n"
+"       <width>5</width>\n"
+"    </label>\n"
+"    <label width=\"2\"/>\n"
+"    <rectled>\n"
+"      <halpin>\"rev-led\"</halpin>\n"
+"      <height>\"30\"</height>\n"
+"      <width>\"30\"</width>\n"
+"      <on_color>\"red\"</on_color>\n"
+"      <off_color>\"green\"</off_color>\n"
+"    </rectled>\n"
+"  </vbox>\n"
+"  </hbox>\n"
+"</pyvcp>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:441
+msgid "The above gives us a PyVCP panel that looks like the following."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/pyvcp-examples.adoc:442
+#, no-wrap
+msgid "GS2 Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp-examples.adoc:442
+#, no-wrap
+msgid "images/gs2_panel.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/pyvcp-examples.adoc:444
+#, no-wrap
+msgid "The Connections"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:448
+msgid "To make it work we add the following code to the custom_postgui.hal file."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:457
+#, no-wrap
+msgid ""
+"# display the rpm based on freq * rpm per hz\n"
+"loadrt mult2\n"
+"addf mult2.0 servo-thread\n"
+"setp mult2.0.in1 28.75\n"
+"net cypher_speed mult2.0.in0 <= spindle-vfd.frequency-out\n"
+"net speed_out pyvcp.spindle_rpm <= mult2.0.out\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:460
+#, no-wrap
+msgid ""
+"# run led\n"
+"net gs2-run => pyvcp.on-led\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:463
+#, no-wrap
+msgid ""
+"# fwd led\n"
+"net gs2-fwd => pyvcp.fwd-led\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:466
+#, no-wrap
+msgid ""
+"# rev led\n"
+"net running-rev spindle-vfd.spindle-rev => pyvcp.rev-led\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:472
+msgid ""
+"Some of the lines might need some explanations. The fwd led line uses the "
+"signal created in the custom.hal file whereas the rev led needs to use the "
+"spindle-rev bit. You can't link the spindle-fwd bit twice so you use the "
+"signal that it was linked to."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/pyvcp-examples.adoc:473
+#, no-wrap
+msgid "Rapid to Home Button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:478
+msgid ""
+"This example creates a button on the PyVCP side panel when pressed will send "
+"all the axis back to the home position. This example assumes you don't have "
+"a PyVCP panel."
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/pyvcp-examples.adoc:479
+#, no-wrap
+msgid "images/pyvcp-rth.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:483
+msgid ""
+"In your configuration directory create the XML file. In this example it's "
+"named 'rth.xml'. In the 'rth.xml' file add the following code to create the "
+"button."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:492
+#, no-wrap
+msgid ""
+"<pyvcp>\n"
+"<!-- rapid to home button example -->\n"
+"<button>\n"
+"<halpin>\"rth-button\"</halpin>\n"
+"<text>\"Rapid to Home\"</text>\n"
+"</button>\n"
+"</pyvcp>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:496
+msgid ""
+"Open your INI file with a text editor and in the [DISPLAY] section add the "
+"following line. This is what loads the PyVCP panel."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:500
+#, no-wrap
+msgid "PYVCP = rth.xml\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:504
+msgid ""
+"If you don't have a [HALUI] section in the INI file create it and add the "
+"following MDI command."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:508
+#, no-wrap
+msgid "MDI_COMMAND = G53 G0 X0 Y0 Z0\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/pyvcp-examples.adoc:513
+msgid "Information about <<gcode:g53,G53>> and <<gcode:g0,G0>> G-codes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:517
+msgid ""
+"In the [HAL] section if you don't have a post gui file add the following and "
+"create a file called 'postgui.hal'."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:521
+#, no-wrap
+msgid "POSTGUI_HALFILE = postgui.hal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/pyvcp-examples.adoc:525
+msgid ""
+"In the 'postgui.hal' file add the following code to link the PyVCP button to "
+"the MDI command."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/pyvcp-examples.adoc:529
+#, no-wrap
+msgid "net rth halui.mdi-command-00 <= pyvcp.rth-button\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/pyvcp-examples.adoc:534
+msgid "Information about the <<sub:hal-net, net>> command"
+msgstr ""
+
+#. type: Title =
+#: src/gui/qtdragon.adoc:6
+#, no-wrap
+msgid "QtDragon GUI(((QtDragon)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:23
+msgid ""
+"QtDragon and QtDragon_hd are built with the QtVCP framework.  It is the "
+"creative vision of forum personality Persei8.  Much of it is based on the "
+"excellent work of others in the LinuxCNC community.  LinuxCNC's version is "
+"adapted from Persei8's Github versions.  It is primarily meant for 3/4 axes "
+"machines such as mills or routers.  It works well with a touchscreen and/or "
+"mouse.  QtDragon supports multiple ways to touch off tools and probing work "
+"pieces.  You can use LinuxCNC's external offsets capability to automatically "
+"raise the spindle during a pause.  If you the VersaProbe option and remap "
+"code you can add auto tool length probing at tool changes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:28
+msgid ""
+"QtDragon and QtVCP are relatively new programs added into LinuxCNC.  Bugs "
+"and oddities are possible. Please test carefully when using a dangerous "
+"machine.  Please forward reports to the forum or maillist."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:29 src/user/user-intro.adoc:139
+#, no-wrap
+msgid "QtDragon"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:31
+#, no-wrap
+msgid "QtDragon - 3 or 4 axis sample (1440x860) in silver theme"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:32 src/gui/qtvcp.adoc:27
+#, no-wrap
+msgid "QtDragon Router"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:36
+msgid ""
+"QtDragon is resizable from a resolution of 1280x768 to 1680x1200.  It will "
+"work in window mode on any monitor with higher resolution but not on "
+"monitors with lower resolution."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:37 src/gui/qtdragon.adoc:40
+#, no-wrap
+msgid "QtDragon_hd"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:39
+#, no-wrap
+msgid ""
+"QtDragon_hd - 3 or 4 axis sample for larger monitors (1920x1056) in dark "
+"theme"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:40
+#, no-wrap
+msgid "images/qtdragon_hd.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:44
+msgid ""
+"QtDragon_hd is a similar design as QtDragon but modified to utilize the "
+"extra space of modern larger monitors.  There are some small differences in "
+"layout and utility."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:47
+msgid ""
+"QtDragon_hd has a resolution of 1920x1056 and is not resizeable.  It will "
+"work in window mode on any monitor with higher resolution but not on "
+"monitors with lower resolution."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:48
+#, no-wrap
+msgid "Getting Started - The INI File"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:52
+msgid ""
+"If your configuration is not currently set up to use QtDragon, you can "
+"change it by editing the INI file sections.  For an exhaustive list of "
+"options, see the <<sub:ini:sec:display,display section>> of the INI file "
+"documentation."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:56
+msgid ""
+"You can only have one of each section (e.g., [HAL]) in the INI file.  If you "
+"see in these docs multiple section options, place them all under the one "
+"appropriate section name."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:57
+#, no-wrap
+msgid "Display"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:60
+msgid "In the section `[DISPLAY]` change the `DISPLAY =` assignment to read:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:62
+msgid "`qtdragon` for a small version"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:63
+msgid "`qtdradon_hd` for the large version."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:65
+msgid ""
+"You can add `-v`, `-d`, `-i`, or `-q` for (respectably) verbose, debug, info "
+"or quiet output to the terminal."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:70
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"DISPLAY = qtvcp qtdragon\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:72 src/gui/touchy.adoc:89
+#, no-wrap
+msgid "Preferences"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:79
+#, no-wrap
+msgid ""
+"To keep track of preferences, QtDragon looks for a preference text file. Add "
+"the following entry under the `[DISPLAY]` heading.\n"
+"It can use `~` for home directory or `WORKINGFOLDER` or `CONFIGFOLDER` to "
+"represent QtVCP's idea of those directories:\n"
+"This example will save the file in the config folder of the launch "
+"screen. (Other options are possible see the QtVCP's screenoption widget "
+"docs.)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:84
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"PREFERENCE_FILE_PATH = WORKINGFOLDER/qtdragon.pref\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:91
+#, no-wrap
+msgid ""
+"You can specify where to save history/logs.\n"
+"These file names can be user selected.\n"
+"In the section `[DISPLAY]` add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:98
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"MDI_HISTORY_FILE = mdi_history.dat\n"
+"MACHINE_LOG_PATH = machine_log.dat\n"
+"LOG_FILE = qtdragon.log\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:100
+#, no-wrap
+msgid "Override controls"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:103
+msgid "These set qtdragon's override controls (1.0 = 100 percent):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:110
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"MAX_SPINDLE_0_OVERRIDE = 1.5\n"
+"MIN_SPINDLE_0_OVERRIDE = .5\n"
+"MAX_FEED_OVERRIDE       = 1.2\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:112
+#, no-wrap
+msgid "Spindle controls"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:115
+msgid "Spindle control settings (in rpm and watts):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:124
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"DEFAULT_SPINDLE_0_SPEED = 500\n"
+"SPINDLE_INCREMENT = 200\n"
+"MIN_SPINDLE_0_SPEED = 100\n"
+"MAX_SPINDLE_0_SPEED = 2500\n"
+"MAX_SPINDLE_POWER = 1500\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:126
+#, no-wrap
+msgid "Jogging increments"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:130
+#, no-wrap
+msgid ""
+"Set selectable jogging increments.\n"
+"These increments can be user changed."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:136
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"INCREMENTS = Continuous, .001 mm, .01 mm, .1 mm, 1 mm, 1.0 inch, 0.1 inch, "
+"0.01 inch\n"
+"ANGULAR_INCREMENTS = 1, 5, 10, 30, 45, 90, 180, 360\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:138
+#, no-wrap
+msgid "Jog speed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:141
+msgid "Set jog speed controls (in units per second)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:151
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"MIN_LINEAR_VELOCITY     = 0\n"
+"MAX_LINEAR_VELOCITY     = 60.00\n"
+"DEFAULT_LINEAR_VELOCITY = 50.0\n"
+"DEFAULT_ANGULAR_VELOCITY = 10\n"
+"MIN_ANGULAR_VELOCITY = 1\n"
+"MAX_ANGULAR_VELOCITY = 360\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:153
+#, no-wrap
+msgid "User message dialog system"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:160
+#, no-wrap
+msgid ""
+"Optional popup custom message dialogs, controlled by HAL pins.\n"
+"MESSAGE_TYPE can be 'okdialog' or 'yesnodialog'. See "
+"`qtvcp/library/messages` for more information.\n"
+"This example shows how to make a dialog that requires the user to select "
+"'ok' to acknowledge and hide.\n"
+"These dialogs could be used for such things as low lube oil warnings, etc."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:169
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"MESSAGE_BOLDTEXT = This is the short text\n"
+"MESSAGE_TEXT = This is the longer text of the both type test. It can be "
+"longer than the status bar text\n"
+"MESSAGE_DETAILS = BOTH DETAILS\n"
+"MESSAGE_TYPE = okdialog\n"
+"MESSAGE_PINNAME = oktest\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:171
+#, no-wrap
+msgid "Embed Custom VCP Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:176
+#, no-wrap
+msgid ""
+"You can optionally embed QtVCP Virtual Control Panels into the QtDragon or "
+"QtDragon_hd screen.\n"
+"These panels can be either user built or builtin <<cha:qtvcp:panels,QtVCP "
+"Panels>>.\n"
+"See QtVCP/VCP panels for other available builtin panels."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:180
+#, no-wrap
+msgid ""
+"The `EMBED_TAB_NAME` entry will used as the title for the new tab.(must be "
+"unique)\n"
+"Tab `EMBED_TAB_LOCATION` options include: `tabWidget_utilities`, "
+"`tabWidget_setup` and `stackedWidget_mainTab`.\n"
+"Tab `EMBED_TAB_COMMAND` specifies what embed-able program to run, including "
+"any of its command line options."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:184
+#, no-wrap
+msgid ""
+"If using the `tabWidget_utilities` or `tabWidget_setup` locations, an extra "
+"tab will appear with the panel.\n"
+"If using `stackedWidget_mainTab`, a button labelled 'User' will appear.\n"
+"Pressing this button will cycle through displaying all available panels "
+"(specified for this location) on the main tab area."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtdragon.adoc:185
+#, no-wrap
+msgid "Embedding Vismach Mill"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:186
+#, no-wrap
+msgid ""
+"Sample adding a builtin panel to the utilities tab, i.e., a graphical "
+"animated machine using the vismach library."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:193
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"EMBED_TAB_NAME = Vismach demo\n"
+"EMBED_TAB_COMMAND = qtvcp vismach_mill_xyz\n"
+"EMBED_TAB_LOCATION = tabWidget_utilities\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtdragon.adoc:195
+#, no-wrap
+msgid "Embedding Spindle Belts Panel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:198
+msgid ""
+"This example panel is designed to display additional RS485 VFD data and also "
+"to configure a 4 sheave, 2 belt spindle drive via a series of buttons."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:199
+#, no-wrap
+msgid "QtDragon spindle_belts Panel - Spindle Belts VCP"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:199
+#, no-wrap
+msgid "images/qtdragon_spindle_belts.png"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:206
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"EMBED_TAB_NAME = Spindle Belts\n"
+"EMBED_TAB_COMMAND = qtvcp spindle_belts\n"
+"EMBED_TAB_LOCATION = tabWidget_utilities\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:208
+#, no-wrap
+msgid "Subroutine Paths"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:214
+#, no-wrap
+msgid ""
+"If using NGCGUI, remap or custom M codes routines, LinuxCNC needs to know "
+"where to look for the files.\n"
+"This sample is typical of what is needed for NgcGui, Basic Probe. and Versa "
+"Probe remap code.\n"
+"These paths will need to be adjusted to point to the actual files on your "
+"system. <<sub:ini:sec:rs274ngc,RS274NZGC Section Details>>"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:221
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"SUBROUTINE_PATH = "
+":~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs: "
+"\\\n"
+"~/linuxcnc/nc_files/examples/probe/basic_probe/macros:~/linuxcnc/nc_files/examples/remap-subroutines: "
+"\\\n"
+"~/linuxcnc/nc_files/examples/ngcgui_lib/remap_lib\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:225
+#, no-wrap
+msgid ""
+"QtVCP's NGCGUI program also need to know where to open for subroutine "
+"selection and pre-selection.\n"
+"NGCGUI_SUBFILE_PATH must point to an actual path on your system and also a "
+"path described in SUBROUTINE_PATHS."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:236
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"# NGCGUI subroutine path.\n"
+"# Thr path must also  be in [RS274NGC] SUBROUTINE_PATH\n"
+"NGCGUI_SUBFILE_PATH = ~/linuxcnc/nc_files/examples/ngcgui_lib\n"
+"# pre selected programs tabs\n"
+"# specify filenames only, files must be in the NGCGUI_SUBFILE_PATH\n"
+"NGCGUI_SUBFILE = slot.ngc\n"
+"NGCGUI_SUBFILE = qpocket.ngc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:241
+msgid "Magic comments can be used to control the G-code preview."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:244
+msgid ""
+"On very large programs the preview can take a long time to load.  You can "
+"control what is shown and what is hidden the the graphics screen by adding "
+"the appropriate comments from this list into your G-code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:249
+#, no-wrap
+msgid ""
+"(PREVIEW,stop)\n"
+"(PREVIEW,hide)\n"
+"(PREVIEW,show)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:251
+#, no-wrap
+msgid "Program Extensions/Filters"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:256
+#, no-wrap
+msgid ""
+"You can control what programs are displayed in the filemanager window with "
+"program extensions.\n"
+"Create a line with the '.' endings you wish to use separated by commas, then "
+"a space and the description.\n"
+"You can add multiple lines for different selections in the combo box."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:261
+#, no-wrap
+msgid ""
+"[FILTER]\n"
+"PROGRAM_EXTENSION = .ngc,.nc,.tap G-Code file (*.ngc,*.nc,*.tap)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:266
+msgid ""
+"QtDragon has the ability to send loaded files through a 'filter program'.  "
+"This filter can do any desired task: Something as simple as making sure the "
+"file ends with 'M2', or something as complicated as generating G-code from "
+"an image.  See <<cha:filter,Filter Programs>> for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:272
+msgid ""
+"The '[FILTER]' section of the INI file controls how filters work.  First, "
+"for each type of file, write a 'PROGRAM_EXTENSION' line.  Then, specify the "
+"program to execute for each type of file.  This program is given the name of "
+"the input file as its first argument, and must write rs274ngc code to "
+"standard output.  This output is what will be displayed in the text area, "
+"previewed in the display area, and executed by LinuxCNC when 'Run'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:274
+msgid ""
+"The following lines add support for the `image-to-gcode` converter included "
+"with LinuxCNC and running Python based filter programs:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:284
+#, no-wrap
+msgid ""
+"[FILTER]\n"
+"PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image\n"
+"PROGRAM_EXTENSION = .py Python Script\n"
+"png = image-to-gcode\n"
+"gif = image-to-gcode\n"
+"jpg = image-to-gcode\n"
+"py = python\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:286
+#, no-wrap
+msgid "Probe/Touchplate/Laser Settings"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:290
+msgid ""
+"QtDragon has INI entries for two optional probing tab screens available.  "
+"Comment/uncomment which ever you prefer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:292
+msgid "'Versa probe' is a QtVCP ported version of a popular GladeVCP probing panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:293
+msgid ""
+"'Basic Probe' is a QtVCP ported version based on the third party basic probe "
+"screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:295
+msgid ""
+"Both perform similar probing routines, though Versa probe optionally handles "
+"auto tool measurement."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:301 src/gui/qtdragon.adoc:1120
+#, no-wrap
+msgid ""
+"[PROBE]\n"
+"#USE_PROBE = versaprobe\n"
+"USE_PROBE = basicprobe\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:303
+#, no-wrap
+msgid "Abort detection"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:308
+#, no-wrap
+msgid ""
+"When using qtdragon's probing routines, it is important to detect a user "
+"abort request.\n"
+"By default, LinuxCNC does not report an abort in a useful way for the probe "
+"routines.\n"
+"You need to add a ngc file to print out an error that can be "
+"detected. <<sub:remap:sec:error-handling, Remap Abort Details>>"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:314
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"# on abort, this ngc file is called. required for basic/versa probe "
+"routines. +\n"
+"ON_ABORT_COMMAND=O <on_abort> call\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:318
+#, no-wrap
+msgid ""
+"This example code will send a message on abort. The probe routines can "
+"detect this sample.\n"
+"According to the setting above, it would need to be saved as 'on_abort.ngc' "
+"within LinuxCNC's [RS274NGC] SUBROUTINE_PATHS and [DISPLAY] PROGRAM_PREFIX "
+"search paths."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:322 src/remap/remap.adoc:976
+#, no-wrap
+msgid "o<on_abort> sub\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:334
+#, no-wrap
+msgid ""
+"o100 if [#1 eq 5]\n"
+"    (machine on)\n"
+"o100 elseif [#1 eq 6]\n"
+"    (machine off)\n"
+"o100 elseif [#1 eq 7]\n"
+"    (estopped)\n"
+"o100 elseif [#1 eq 8]\n"
+"    (msg,Process Aborted)\n"
+"o100 else\n"
+"    (DEBUG,Abort Parameter is %d[#1])\n"
+"o100 endif\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:337 src/remap/remap.adoc:1001
+#, no-wrap
+msgid ""
+"o<on_abort> endsub\n"
+"m2\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:339
+#, no-wrap
+msgid "Startup codes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:343
+#, no-wrap
+msgid ""
+"You should set default M/G code for start up. These will be overridden by "
+"running a NGC file.\n"
+"These are only sample codes, integrator should choose appropriate codes."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:349
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"# start up G/M codes when first loaded\n"
+"RS274NGC_STARTUP_CODE = G17 G20 G40 G43H0 G54 G64P0.0005 G80 G90 G94 G97 M5 "
+"M9\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:361
+#, no-wrap
+msgid ""
+"QtDragon has up to ten convenience buttons for calling 'macro actions'.\n"
+"These are under the heading '[MDI_COMMAND_LIST]' as 'MDI_COMMAND_MACRO0 =' "
+"to 'MDI_COMMAND_MACRO9 ='\n"
+"These could also call OWord routines if desired.\n"
+"In the sample configurations they are labelled for moving between current "
+"user system origin (zero point) and Machine system origin.\n"
+"User origin is the first MDI command in the INI list, machine origin is the "
+"second.\n"
+"This example shows how to move Z axis up first. Commands separated by the "
+"';' are run one after another.\n"
+"The button label text can be set with any text after a comma, the `\\n` "
+"symbol adds a line break."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:368
+#, no-wrap
+msgid ""
+"[MDI_COMMAND_LIST]\n"
+"# for macro buttons\n"
+"MDI_COMMAND_MACRO0 = G0 Z25;X0 Y0;Z0, Goto\\nUser\\nZero\n"
+"MDI_COMMAND_MACRO1 = G53 G0 Z0;G53 G0 X0 Y0,Goto\\nMachn\\nZero\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:370
+#, no-wrap
+msgid "Post GUI HAL File"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:375
+#, no-wrap
+msgid ""
+"These optional HAL files will be called after QtDragon has loaded everything "
+"else.\n"
+"You can add multiple line for multiple file. Each one will be called in the "
+"order they appear.\n"
+"Calling HAL files after QtDragon is already loaded assures that QtDragon's "
+"HAL pins are available."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:376
+#, no-wrap
+msgid ""
+"Sample with typical entries for the specificion of HAL files to be read "
+"after the QtDragon was started. Adjust these lines to match actual "
+"requirements."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:382
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"POSTGUI_HALFILE = qtdragon_hd_postgui.hal\n"
+"POSTGUI_HALFILE = qtdragon_hd_debugging.hal\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:384
+#, no-wrap
+msgid "Post GUI HAL Command"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:389
+#, no-wrap
+msgid ""
+"These optional HAL commands will be run after QtDragon has loaded everything "
+"else.\n"
+"You can add multiple line. Each one will be called in the order they "
+"appear.\n"
+"Any HAL command can be used."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:390
+#, no-wrap
+msgid ""
+"Sample with typical files in INI file to load modules after the GUI is "
+"available. Adjusti these to match your actual requirements."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:397
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"POSTGUI_HALCMD = loadusr qtvcp test_probe\n"
+"POSTGUI_HALCMD = loadusr qtvcp test_led\n"
+"POSTGUI_HALCMD = loadusr halmeter\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:399
+#, no-wrap
+msgid "Builtin Sample Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:403
+msgid ""
+"The sample configurations `sim/qtdragon/` or `sim/qtdragon_hd` are already "
+"configured to use QtDragon as the screen.  There are several examples that "
+"demonstrate various machine configurations."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:404
+#, no-wrap
+msgid "Key Bindings"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:409
+#, no-wrap
+msgid ""
+"QtDragon is not intended to primarily use a keyboard for machine control.\n"
+"It lacks many keyboard short cuts that for instance AXIS has - but you can "
+"use a mouse or touchscreen.\n"
+"There are several key presses that will control the machine for convenience."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:417
+#, no-wrap
+msgid ""
+"F1 - Estop on/off\n"
+"F2 - Machine on/off\n"
+"F12 - Style Editor\n"
+"Home - Home All Joint of the Machine\n"
+"Escape - Abort Movement\n"
+"Pause - Pause Machine Movement\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:423
+msgid ""
+"Buttons that are checkable will change their text colour when checked.  This "
+"is controlled by the stylesheet/theme"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:424 src/gui/qtvcp-libraries.adoc:1172
+#, no-wrap
+msgid "Virtual Keyboard"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:430
+msgid ""
+"QtDragon includes a virtual keyboard for use with touchscreens.  To enable "
+"the keyboard, check the Use Virtual Keyboard checkbox in the Settings page.  "
+"Clicking on any input field, such as probe parameters or tool table entries, "
+"will show the keyboard.  To hide the keyboard, do one of the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:432
+msgid "click the MAIN page button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:433
+msgid "The currently selected page button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:434
+msgid "go into AUTO mode"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:436
+msgid ""
+"It should be noted that keyboard jogging is disabled when using the virtual "
+"keyboard."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:441
+#, no-wrap
+msgid ""
+"These pins are specific to the QtDragon screen.\n"
+"There are of course are many more HAL pins that must be connected for "
+"LinuxCNC to function."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:444
+#, no-wrap
+msgid ""
+"If you need a manual tool change prompt, add these lines in your postgui "
+"file.\n"
+"QtDragon emulates the hal_manualtoolchange HAL pins - don't load the "
+"separate HAL component 'hal_manualtoolchange'."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:450 src/gui/qtdragon.adoc:595
+#, no-wrap
+msgid ""
+"net tool-change      hal_manualtoolchange.change   <=  "
+"iocontrol.0.tool-change\n"
+"net tool-changed     hal_manualtoolchange.changed  <=  "
+"iocontrol.0.tool-changed\n"
+"net tool-prep-number hal_manualtoolchange.number   <=  "
+"iocontrol.0.tool-prep-number\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:453
+msgid ""
+"Also if you don't have an automatic tool changer make sure these pins are "
+"connected in one of the HAL files:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:457
+#, no-wrap
+msgid ""
+"net tool-prepare-loopback iocontrol.0.tool-prepare => "
+"iocontrol.0.tool-prepared\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:460
+msgid "This input pin should be connected to indicate probe state."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:464
+#, no-wrap
+msgid "qtdragon.led-probe\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:469
+#, no-wrap
+msgid ""
+"These pins are inputs related to spindle VFD indicating.\n"
+"The volt and amp pins are used to calculate spindle power. You must also set "
+"the MAX_SPINDLE_POWER in the INI."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:477
+#, no-wrap
+msgid ""
+"qtdragon.spindle-modbus-connection\n"
+"qtdragon.spindle-modbus-errors\n"
+"qtdragon.spindle-amps\n"
+"qtdragon.spindle-fault\n"
+"qtdragon.spindle-volts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:481
+#, no-wrap
+msgid ""
+"This bit pin is an output to the spindle control to pause it.\n"
+"You would connect it to `spindle.0.inhibit`."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:485
+#, no-wrap
+msgid "qtdragon.spindle-inhibit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:491
+#, no-wrap
+msgid ""
+"QtDragon spindle speed display and spindle-at-speed LED require that\n"
+" `spindle.0.speed-in` be connected to spindle speed feedback. +\n"
+"Encoder or VFD feedback could be used, as long as the feedback is in "
+"revolutions per second (RPS). +\n"
+"If no feedback is available you can have the display show the requested "
+"speed by connecting pins like so:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:495
+#, no-wrap
+msgid "net spindle-speed-feedback spindle.0.speed-out-rps => spindle.0.speed-in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:498
+msgid "This bit output pin can be connected to turn on a laser:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:502
+#, no-wrap
+msgid "qtdragon.btn-laser-on\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:505
+msgid "This float output pin indicates the camera rotation in degrees:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:509
+#, no-wrap
+msgid "qtdragon.cam-rotation\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:512
+msgid "These bit/s32/float pins are related to external offsets if they are used:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:521
+#, no-wrap
+msgid ""
+"qtdragon.eoffset-clear\n"
+"qtdragon.eoffset-enable\n"
+"qtdragon.eoffset-value\n"
+"qtdragon.eoffset-spindle-count\n"
+"qtdragon.eoffset-zlevel-count\n"
+"qtdragon.eoffset-is-active\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:524
+msgid ""
+"These float output pins reflect the current slider jograte (in machine "
+"units):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:529
+#, no-wrap
+msgid ""
+"qtdragon.slider-jogspeed-linear\n"
+"qtdragon.slider-jogspeed-angular\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:532
+msgid "These float output pins reflect the current slider override rates:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:539
+#, no-wrap
+msgid ""
+"qtdragon.slider-override-feed\n"
+"qtdragon.slider-override-maxv\n"
+"qtdragon.slider-override-rapid\n"
+"qtdragon.slider-override-spindle\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:543
+msgid ""
+"These output pins are available when setting the Versa Probe INI option.  "
+"They can be used for auto-tool-length-probe at tool change - with added "
+"remap code."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:552
+#, no-wrap
+msgid ""
+"qtversaprobe.enable\n"
+"qtversaprobe.blockheight\n"
+"qtversaprobe.probeheight\n"
+"qtversaprobe.probevel\n"
+"qtversaprobe.searchvel\n"
+"qtversaprobe.backoffdist\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:556
+#, no-wrap
+msgid ""
+"This pin will be true when the loaded tool equals the number set in the "
+"Versa Probe tool number in the preference file.\n"
+"It can be used (for example) to inhibit the spindle when the probe is loaded "
+"by connecting it to spindle.0.inhibit."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:560
+#, no-wrap
+msgid "qtversaprobe.probe-loaded\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:565
+#, no-wrap
+msgid ""
+"This output pin is available when setting the Basic Probe INI option.\n"
+"This pin will be true when the loaded tool equals the number set in the "
+"Basic Probe tool number edit box.\n"
+"It can be used (for example) to inhibit the spindle when the probe is loaded "
+"by connecting it to spindle.0.inhibit."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:569 src/gui/qtdragon.adoc:882
+#, no-wrap
+msgid "qtbasicprobe.probe-loaded\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:572
+msgid "This input pin is available to toggle pause/resume of a running program."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:576
+#, no-wrap
+msgid "qtdragon.external-pause\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:578
+#, no-wrap
+msgid "HAL files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:583
+msgid ""
+"The HAL files supplied are for simulation only.  A real machine needs its "
+"own custom HAL files.  The QtDragon screen works with 3 or 4 axes with one "
+"joint per axis or 3 or 4 axes in a gantry configuration (2 joints on 1 "
+"axis)."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:584
+#, no-wrap
+msgid "Manual Tool Changes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:589
+msgid ""
+"If your machine requires manual tool changes, QtDragon can pop a message box "
+"to direct you.  QtDragon emulates the hal_manualtoolchange HAL pins - don't "
+"load the separate HAL component 'hal_manualtoolchange'.  Hereto you must "
+"connect the proper HAL pin in the postgui HAL file, for example:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:602
+#, no-wrap
+msgid ""
+"The screen is intended to interface to a VFD, but will still work without "
+"it.\n"
+"There are a number of VFD drivers included in the LinuxCNC distribution.\n"
+"It is up to the end user to supply the appropriate driver and HAL file "
+"connections according to his own machine setup."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:603
+#, no-wrap
+msgid "Auto Raise Z Axis on Program Pause"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:617
+#, no-wrap
+msgid ""
+"QtDragon can be set up to automatically raise and lower the Z axis and stop "
+"the spindle, when the program is paused.\n"
+"You toggle the 'SPINDLE LIFT' or 'NO LIFT' button to select the option to "
+"raise the spindle in Z when paused.\n"
+"Then when you press the 'PAUSE' button the spindle will lift the amount set "
+"on the 'Settings' tab and the spindle will stop.\n"
+"Pressing 'RESUME' will start the spindle and lower the spindle.\n"
+"If you have the HAL pin `spindle.0.at-speed` connected to a driving pin, the "
+"spindle will not lower until the pin is true\n"
+"You typically connect this to a timer or logic that detects the speed of the "
+"spindle.\n"
+"If that pin is not connected to a driving pin, a dialog will pop up to warn "
+"you to wait for the spindle speed.\n"
+"The spindle will lower when you close that dialog.\n"
+"The amount to raise is set in the 'Settings' tab under the heading 'SPINDLE "
+"RAISE'.\n"
+"This line edit box can only be directly set when not in Auto mode.\n"
+"The up/down buttons can be used to adjust the raise amount at any time, "
+"including when the spindle is already raised.\n"
+"The button increments are 1 inch or 5 mm (depending on the units the machine "
+"is based on) +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:624
+msgid ""
+"{NOTE} If using the Spindle lift option, HALUI can not be used to "
+"pause/resume the program.  There is a pin, 'QtDragon.external-pause' "
+"available to pause/resume from an external source.  You must also enable "
+"external offsets. In the setting tab check 'use external offsets' If you "
+"wish to inhibit the spindle when a probe tool is loaded, you will need to "
+"use an logical `or` component to combine the two spindle inhibit signals to "
+"connect to spindle.0.inhibit."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:626
+msgid ""
+"This optional behaviour requires additions to the INI and the "
+"QtDragon_postgui HAL file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:628
+msgid "In the INI, under the AXIS_Z heading."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:633
+#, no-wrap
+msgid ""
+"[AXIS_Z]\n"
+"OFFSET_AV_RATIO  = 0.2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:636
+#, no-wrap
+msgid ""
+"This reserves 20% of max velocity and max acceleration for the external "
+"offsets.\n"
+"This will limit max velocity of the machine by 20% +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:638
+msgid "In the qtdragon_postgui.hal file add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:646
+#, no-wrap
+msgid ""
+"# Set up Z axis external offsets\n"
+"net eoffset_clear    qtdragon.eoffset-clear          =>  "
+"axis.z.eoffset-clear\n"
+"net eoffset_count    qtdragon.eoffset-spindle-count  =>  "
+"axis.z.eoffset-counts\n"
+"net eoffset          qtdragon.eoffset-value          <=  axis.z.eoffset\n"
+"net eoffset-state    qtdragon.eoffset-is-active      <=  "
+"motion.eoffset-active\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:649
+#, no-wrap
+msgid ""
+"# Inhibit spindle when paused\n"
+"net spindle-pause    qtdragon.spindle-inhibit        =>  spindle.0.inhibit\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:652
+#, no-wrap
+msgid ""
+"# uncomment for dragon_hd\n"
+"#net limited          qtdragon.led-limits-tripped     <= "
+"motion.eoffset-limited\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:655
+#, no-wrap
+msgid ""
+"setp axis.z.eoffset-enable 1\n"
+"setp axis.z.eoffset-scale 1.0\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:657
+#, no-wrap
+msgid "Z level compensation"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:660
+msgid ""
+"QtDragon_hd can be set up to probe and compensate for Z level height changes "
+"by utilizing the external program 'G-code Ripper'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:663 src/gui/qtdragon.adoc:1052
+msgid "This is only available in the QtDragon_hd version."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:668
+msgid ""
+"Z level compensation is a bed levelling/distortion correction function "
+"typically used in 3D printing or engraving.  It uses a HAL non-realtime "
+"component which utilizes the external offsets feature of LinuxCNC.  The "
+"component has a HAL pin that specifies an interpolation type, which must be "
+"one of cubic, linear or nearest (0, 1, 2 respectively).  If none is "
+"specified or if an invalid number is specified, the default is assumed to be "
+"cubic."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:673
+msgid ""
+"When Z LEVEL COMP is enabled, the compensation component reads a probe data "
+"file, which must be called 'probe_points.txt'.  The file can be modified or "
+"updated at any time while compensation is disabled.  When next enabled, the "
+"file will be reread and the compensation map is recalculated.  This file is "
+"expected to be in the configuration directory."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:676
+msgid ""
+"The probe data file is generated by a probing program, which itself is "
+"generated by an external python program called `gcode_ripper`, which can be "
+"launched from the file manager tab using the 'G-code Ripper' button."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:677
+#, no-wrap
+msgid "Using G-code Ripper for Z level Compensation"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:679
+#, no-wrap
+msgid "QtDragon_hd showing G-code Ripper"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:680
+#, no-wrap
+msgid "QtDragon G-code Ripper"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:680
+#, no-wrap
+msgid "images/qtdragon_hd_gcoderipper.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:685
+msgid ""
+"G-code Ripper offers many functions that we will not go in to here.  This is "
+"only available in the QtDragon_hd version."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:687
+msgid ""
+"In qtdragon_hd, switch to the file tab and press the load G-code Ripper "
+"button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:688
+msgid "Set origin to match the origin of the G-code file to be probed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:689
+msgid "Under G-Code Operations, check Auto Probe."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:690
+msgid "File -> Open G-Code File (The file you will run after compensation)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:691
+msgid "If necessary, make adjustments and press Recalculate."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:692
+msgid "Press Save G-Code File - Probe Only."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:693
+msgid "Save the generated file to the nc_files folder."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:694
+msgid "Exit gcode_ripper."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:695
+msgid ""
+"There should now be a file in the nc_files folder called "
+"{something}-probe-only.ngc. Set the file filter to G-Code files, navigate to "
+"the nc_files directory and load this file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:696
+msgid ""
+"Without changing the offsets, run this program. Make sure the probe tool is "
+"installed. When complete, there will be a file in the config directory "
+"called 'probe_points.txt'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:700
+msgid ""
+"In qtdragon_hd, press the 'Enable Z Comp' button to enable compensation.  "
+"Look at the status line for indication of success or failure.  Active "
+"compensation will be displayed beside the label: 'Z Level Comp' While "
+"jogging that display should change based on the compensation component."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:703
+msgid ""
+"If you use auto raise Z to lift the spindle on pause, you must combine the "
+"two with a HAL component and feed that to LinuxCNC's motion component."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:704
+#, no-wrap
+msgid "Sample postgui HAL file for combined spindle raise and Z Level compensation"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:709
+#, no-wrap
+msgid ""
+"# load components\n"
+"########################################################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:712
+#, no-wrap
+msgid ""
+"loadrt logic names=logic-and personality=0x102\n"
+"addf logic-and servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:716
+#, no-wrap
+msgid ""
+"# load a summing component for adding spindle lift and Z compensation\n"
+"loadrt scaled_s32_sums\n"
+"addf scaled-s32-sums.0 servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:721
+#, no-wrap
+msgid ""
+"loadusr -Wn z_level_compensation z_level_compensation\n"
+"# method parameter must be one of nearest(2), linear(1), cubic (0)\n"
+"setp z_level_compensation.fade-height 0.0\n"
+"setp z_level_compensation.method 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:724
+#, no-wrap
+msgid ""
+"# connect signals to LinuxCNC's motion component\n"
+"########################################################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:730
+#, no-wrap
+msgid ""
+"net eoffset-clear    axis.z.eoffset-clear\n"
+"net eoffset-counts   axis.z.eoffset-counts\n"
+"setp axis.z.eoffset-scale .001\n"
+"net eoffset-total          axis.z.eoffset\n"
+"setp axis.z.eoffset-enable True\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:737
+#, no-wrap
+msgid ""
+"# external offsets for spindle pause function\n"
+"########################################################################\n"
+"net eoffset-clear              qtdragon.eoffset-clear\n"
+"net eoffset-spindle-count   <= qtdragon.eoffset-spindle-count\n"
+"net spindle-pause              qtdragon.spindle-inhibit        =>  "
+"spindle.0.inhibit\n"
+"net eoffset-state              qtdragon.eoffset-is-active      <=  "
+"motion.eoffset-active\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:746
+#, no-wrap
+msgid ""
+"## Z level compensation\n"
+"####################################################\n"
+"net eoffset-clr2            z_level_compensation.clear      => "
+"logic-and.in-01\n"
+"net xpos-cmd                z_level_compensation.x-pos      <= "
+"axis.x.pos-cmd\n"
+"net ypos-cmd                z_level_compensation.y-pos      <= "
+"axis.y.pos-cmd\n"
+"net zpos-cmd                z_level_compensation.z-pos      <= "
+"axis.z.pos-cmd\n"
+"net z_compensation_on       z_level_compensation.enable-in  <= "
+"qtdragon.comp-on\n"
+"net eoffset-zlevel-count    z_level_compensation.counts     => "
+"qtdragon.eoffset-zlevel-count\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:752
+#, no-wrap
+msgid ""
+"# add Z level and scaled spindle raise level values together\n"
+"net eoffset-spindle-count   scaled-s32-sums.0.in0\n"
+"net eoffset-zlevel-count    scaled-s32-sums.0.in1\n"
+"setp scaled-s32-sums.0.scale0 1000\n"
+"net eoffset-counts          scaled-s32-sums.0.out-s\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:761
+msgid ""
+"The probe screen has been through basic testing but there could still be "
+"some minor bugs.  When running probing routines, use extreme caution until "
+"you are familiar with how everything works.  Probe routines run without "
+"blocking the main GUI.  This gives the operator the opportunity to watch the "
+"DROs and stop the routine at any time."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:764
+msgid ""
+"Probing is very unforgiving to mistakes; be sure to check settings before "
+"using."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:769
+msgid ""
+"QtDragon has 2 methods for setting Z0.  The first is a touchplate, where a "
+"metal plate of known thickness is placed on top of the workpiece, then the "
+"tool is lowered until it touches the plate, triggering the probe signal.  "
+"The current user system's (G5x) Z0 is set to probe height - the entered "
+"plate thickness."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:772
+msgid ""
+"The second method uses a tool setter in a fixed position and a known height "
+"above the table where the probe signal will be triggered.  In order to set "
+"Z0 to the top of the workpiece, it has to know"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:774
+msgid "how far above the table the probe trigger point is (tool setter height) and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:775
+msgid "how far above the table the top of the workpiece is."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:777
+msgid ""
+"This operation has to be done every time the tool is changed as the tool "
+"length is not saved."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:781
+msgid ""
+"For touching off with a touch probe, whether you use the touchplate "
+"operation with thickness set to 0 or use a probing routine, the height from "
+"table to top of workpiece parameter is not taken into account and can be "
+"ignored.  It is only for the tool setter."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:782
+#, no-wrap
+msgid "Versa Probe"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:784
+#, no-wrap
+msgid "QtDragon - Versa Probe Option"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:785 src/gui/qtdragon.adoc:832
+#, no-wrap
+msgid "QtDragon Probe"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:785 src/gui/qtvcp-widgets.adoc:2409
+#: src/gui/qtvcp-widgets.adoc:2670
+#, no-wrap
+msgid "images/qtvcp_versaProbe.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:789
+#, no-wrap
+msgid ""
+"Versa probe is used to semi-automatically probe work pieces to find edges, "
+"centers and angles.\n"
+"It can also be sued to auto probe tool length at tool changes with added "
+"remap code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:791 src/gui/qtdragon.adoc:845
+msgid "You must carefully set the 'Probing Parameters':"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:792
+#, no-wrap
+msgid "* 'DIAMETER'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:793
+msgid ""
+"This is the diameter of the probe tip. The accuracy of probe measurements is "
+"directly affected by the accuracy of the probe tip diameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:793
+#, no-wrap
+msgid "* 'TRAVEL'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:794
+msgid ""
+"The distance that the probe will travel during the initial search. If the "
+"search distance is too short, you will receive a message like \"G38 finished "
+"without making contact\". For safety reasons, it is recommended to set this "
+"parameter to 3-4 mm more than probe stylus diameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:794
+#, no-wrap
+msgid "* 'LATCH RTN'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:795
+msgid ""
+"The distance the probe is retracted after making initial contact with the "
+"workpiece. This should be a short distance because the second approach will "
+"be at a slow speed, but large enough for the probe to break contact and "
+"bring it to the search ready state. If the Latch Rtn distance too large, you "
+"will end up spending a lot of time waiting for the search to "
+"complete. Recommendation: 1-2 mm"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:795
+#, no-wrap
+msgid "* 'SEARCH'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:796
+msgid ""
+"This is the feed rate at which the probe searches for the target workpiece "
+"in machine units per minute. The search speed should be slow enough to give "
+"an acceptable initial accuracy, but fast enough to not waste time waiting "
+"for movement. Recommendation: 200-500 mm/min."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:796
+#, no-wrap
+msgid "* 'PROBE'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:797
+msgid ""
+"Once initial contact has been made and the probe is retracted, it will wait "
+"for 0.5 seconds before performing the search again at a lower speed, the "
+"probe velocity. This lower speed ensures the machine can stop movement as "
+"quickly as possible on contact with the workpiece."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:797
+#, no-wrap
+msgid "* 'RAPID'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:798
+msgid ""
+"Axis movements not associated with searching are done at the speed defined "
+"by RAPID in machine units per minute."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:798
+#, no-wrap
+msgid "* 'SIDE/EDGE LENGTH'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:799
+msgid ""
+"This is the distance the probe will move at the rapid rate to the position "
+"where it will begin a search. If measuring a corner, it will move EDGE "
+"LENGTH units away from the corner, then move away from the workpiece by XY "
+"CLEARANCE, lower by Z CLEARANCE and begin the initial search. If measuring "
+"an inner circle, then EDGE LENGTH should be set to the approximate radius of "
+"the circle. Note: NOT the diameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:799
+#, no-wrap
+msgid "* 'PROBE HT'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:800
+msgid ""
+"The height of the tool sensor from the machine table surface. This value is "
+"used to calculate the Z zero height for the current work coordinate system "
+"when using the probe with a tool setter sensor."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:800
+#, no-wrap
+msgid "* 'BLOCK HT'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:801
+msgid ""
+"The height of the top of the workpiece from the machine table surface. This "
+"value is used to calculate the Z zero height for the current work coordinate "
+"system when using the probe with a tool setter sensor."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:801
+#, no-wrap
+msgid "* 'XY CLEARANCE'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:802
+msgid ""
+"The distance that the probe will move away from an edge or corner before "
+"performing a search. It should be large enough to ensure that the probe will "
+"not contact the workpiece or any other fixtures before moving down. It "
+"should be small enough to avoid excessive waiting for movement while "
+"searching."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtdragon.adoc:802
+#, no-wrap
+msgid "* 'Z CLEARANCE'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:803
+msgid ""
+"The distance that the probe will move down before performing a search. If "
+"measuring an inside hole, the probe could be manually jogged to the starting "
+"Z height and then set Z CLEARANCE to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:805
+msgid "There are three toggle buttons:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:807
+msgid ""
+"'Auto Zero' This selects if after probing the relevant axis is set to zero "
+"in the current user system."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:808
+msgid ""
+"'Auto Skew' This selects if after probing, the system will be rotated or "
+"just display the calculated rotation."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:809
+msgid "'Tool Measure' This (if integrated) turns auto tool probing on and off."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:815
+#, no-wrap
+msgid ""
+"Versaprobe offers 5 output pins for tool measurement purpose and one that "
+"can be used to inhibit the spindle when the probe is loaded.\n"
+"The 5 pins are used to be read from a remap G-code subroutine, so the code "
+"can react to different values.\n"
+"Currently the probe tool number is only editable in the preference file: +"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:819
+#, no-wrap
+msgid ""
+"[VERSA_PROBE_OPTIONS]\n"
+"ps_probe_tool = 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:822 src/gui/qtdragon.adoc:1100
+msgid ""
+"`qtversaprobe.enable` (HAL_BIT) measurement enabled or not tool. Reflects "
+"screen button state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:823 src/gui/qtdragon.adoc:1101
+msgid ""
+"`qtversaprobe.blockheight` (HAL_FLOAT) the measured height of the top face "
+"of the workpiece. Reflects screen entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:824 src/gui/qtdragon.adoc:1102
+msgid ""
+"`qtversaprobe.probeheight` (HAL_FLOAT) the toolsetter probe switch "
+"height. Reflects screen entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:825 src/gui/qtdragon.adoc:1103
+msgid ""
+"`qtversaprobe.searchvel` (HAL_FLOAT) the velocity to search for the tool "
+"probe switch"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:826 src/gui/qtdragon.adoc:1104
+msgid ""
+"`qtversaprobe.probevel` (HAL_FLOAT) the velocity to probe tool "
+"length. Reflects screen entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:827
+msgid ""
+"`qtversaprobe.backoffdist` (HAL_FLOAT) the distance the probe backs off "
+"after triggering. Reflects screen entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:828
+msgid ""
+"`qtversaprobe.probe-loaded` (HAL_BIT) reflect if the current tool is equal "
+"to the preference file probe number."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:829
+#, no-wrap
+msgid "Basic probe"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:831
+#, no-wrap
+msgid "QtDragon - Basic Probe Option"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:832 src/gui/qtvcp-widgets.adoc:758
+#, no-wrap
+msgid "images/qtvcp_basicProbe.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:836
+msgid ""
+"Basic probe is used to semi-automatically probe work pieces to find edges, "
+"centers and angles.  The combo box allows selecting the basic type of "
+"probing buttons shown:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:838
+msgid "Outside Corners"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:839
+msgid "Inside Corners"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:840
+msgid "Edge Angles"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:841
+msgid "Boss and Pockets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:842
+msgid "Ridge and Valleys"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:843
+msgid "Calibration"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:847
+msgid "'Probe Tool': will only allow probing if this tool number is in the spindle"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:848
+msgid "'Probe Diameter': the size of the probe tip"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:849
+msgid "'Probe Rapid': the speed of rapid moves in machine units"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:850
+msgid "'Probe Search': the speed of the first 'rough' search in machine units"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:851
+msgid "'Probe Feed': the speed of the second 'fine' search in machine units"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:852
+msgid "'Step Off': back off and re-probe distance"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:853
+msgid ""
+"'Max XY Distance': the maximum distance the probe will search for in X and Y "
+"before failing with error"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:854
+msgid ""
+"'Max Z Distance': the maximum distance the probe will search for in Z before "
+"failing with error"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:855
+msgid ""
+"'XY Clearance': clearance distance from probe to wall edge before rapid "
+"traversing down in Z and 'rough' probing"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:856
+msgid "'Z Clearance': clearance distance from probed to top of material"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:857
+msgid "'Extra Depth': distance from top of material to desired probe depth"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:859
+msgid "There are also hint parameters depending on selected probing type:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:861
+msgid ""
+"'Edge Width': desired distance from the probe start position, along wall "
+"edge before starting to probe"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:862
+msgid ""
+"'Diameter Hint': used by Round Boss or Round Pocket probing (start move: 1/2 "
+"diameter plus XY clearance)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:863
+msgid ""
+"'X Hint': used by Rectangular Boss/Pocket probing (start move: 1/2 X length "
+"plus XY clearance)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:864
+msgid ""
+"'Y Hint': used by Rectangular Boss/Pocket probing (start move: 1/2 Y length "
+"plus XY clearance)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:866
+msgid "After setting the parameters and hints:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:868
+msgid ""
+"Manually move the probe to the approximate position represented by the green "
+"target on the button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:869
+msgid "Confirm the parameters are reasonable."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:870
+msgid "Press the desired probing button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:872
+msgid "The probing routine will start immediately."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:874
+msgid "Pressing the stop button or the keyboard escape key, will abort the probing."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:878
+#, no-wrap
+msgid ""
+"This can be used to inhibit the spindle when the probe is loaded.\n"
+"You would connect it to spindle.0.inhibit"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtdragon.adoc:884
+#, no-wrap
+msgid "Corner Probe Example"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:888
+msgid ""
+"Lets discuss inside corner probing using the top right button in Basic Probe "
+"(back_right_inside).  While all probe entries must be correct, the most "
+"important settings to change for each each probe:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:890
+msgid "XY CLEARANCE - distance away from edge before rough probing,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:891
+msgid "Z CLEARANCE - distance from probe to top of material,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:892
+msgid "EXTRA DEPTH - distance to lower probe from top of material,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:893
+#, no-wrap
+msgid ""
+"EDGE WIDTH   - distance along edge wall (away from corner) to start "
+"probing.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:896
+msgid ""
+"These distance are always to be set in 'machine units' (mm for metric "
+"machine, inch for imperial machine)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:898
+msgid "Preset:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:900
+msgid ""
+"manual set probe at the intersection of the edges (ie corner) of material as "
+"described by the green bullseye on the button. Set it Z CLEARANCE above the "
+"top of material. These can be done by eye."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:902
+msgid ""
+"set EXTRA CLEARANCE to a value that you want the probe to go below the _top_ "
+"of material.  (So the probe will move from its start position down Z "
+"Clearance + Extra Clearance distance.)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:903
+msgid ""
+"set XY CLEARANCE to a value that definitely gives clearance from the wall so "
+"when the probe goes down it does not hit anything."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:904
+msgid ""
+"set EDGE WIDTH to a value that describes the distance measured from the "
+"corner, along the wall to where you wish to probe. this edge distance will "
+"be used along the X wall and then the Y wall."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:906
+msgid "Sequence after pressing the probe button: +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:908
+msgid ""
+"Rapid EDGE WIDTH distance away from corner at the same time moving XY "
+"CLEARANCE away from edge. So this is a slightly diagonal move."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:909
+msgid "Move probe down by Z CLEARANCE + EXTRA DEPTH,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:910
+msgid "probe wall twice (rough and fine),"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:911
+msgid "move diagonally to the other wall as set by EDGE WIDTH and XY CLEARANCE,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:912
+msgid "probe wall twice,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:913
+msgid "raise probe up by Z CLEARANCE + EXTRA DEPTH (returns to starting height),"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:914
+msgid "rapid back to starting corner (now calculated using the probed walls),"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:915
+msgid ""
+"if auto zero button is enabled, set X and Y of the current user system to "
+"zero."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:917
+#, no-wrap
+msgid "Touch plate"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:919
+#, no-wrap
+msgid "QtDragon - Touch Plate"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:920
+#, no-wrap
+msgid "QtDragon Touch Plate"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:920
+#, no-wrap
+msgid "images/qtdragon_touchplate.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:925
+msgid ""
+"You can use a conductive touch plate or equivalent to auto touch off (zero "
+"the user coordinate) for the Z position of a tool.  There must be a tool "
+"loaded prior to probing.  In the tool tab or settings tab, set the touch "
+"plate height, search and probe velocity and max. probing distance."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:930
+msgid ""
+"When using a conductive plate the search and probe velocity should be the "
+"same and slow.  If using a tool setter that has spring loaded travel then "
+"you can set search velocity faster.  LinuxCNC ramps speed down at the "
+"maximum acceleration rate, so there can be travel after the probe trip if "
+"the speed is set to high."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:937
+msgid ""
+"Place the plate on top of the surface you wish to zero Z on.  Connect the "
+"probe input wire to the tool (if using a conductive plate).  There is a LED "
+"to confirm the probe connection is reliable prior to probing.  Move the tool "
+"manually within the max probe distance.  Press the 'Touch Plate' button.  "
+"The machine will probe down twice and the current user offset (G5X) will be "
+"zeroed at the bottom of the plate by calculation from the touchplate height "
+"setting."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:943
+msgid ""
+"QtDragon can be setup to do integrated auto tool measurement using the Versa "
+"Probe widget and remap code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:945
+msgid "This feature assumes the use of two probes in concert:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:947
+msgid ""
+"A tool switch sensor, fixed somewhere on the machine (sometimes called a "
+"tool-setter), and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:948
+msgid ""
+"A spindle probe that is installed temporarily at the beginning of the job "
+"(sometimes called an xyz probe or a Renishaw probe)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:950
+msgid ""
+"These techniques are useful for machines that do not have repeatable tool "
+"holders and do not have automatic tool changing devices. (For machines with "
+"repeatable tool holders, see the section on <<sub:touch-plate,measuring tool "
+"length>>. For machines with automatic tool changing devices, consult work "
+"done under the linuxcnc repository at "
+"configs/sim/axis/remap/rack-toolchange)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:952
+msgid ""
+"To use this feature, you will need to do some additional settings and you "
+"may want to use the offered HAL pins to get values in your own ngc remap "
+"procedure. Those settings are covered later in the section."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:954
+msgid ""
+"First, this document covers how to use this technique. Second, this document "
+"covers how to set up for this technique at the beginning of a production "
+"run."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:955
+#, no-wrap
+msgid "Workflow Overview"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:958
+msgid "A detailed workflow walkthrough follows this overview."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:967
+#, no-wrap
+msgid ""
+"Setup steps include: +\n"
+" +\n"
+"Entering the probe velocities on the versa probe settings page. +\n"
+"Enabling \"Use Tool Measurement\" on the Versa Probe tab. +\n"
+"Enabling \"Use Tool Sensor\" under Settings. +\n"
+" +\n"
+"When fist setting up auto tool measurement, please use caution until you "
+"confirm tool change and probe locations - it is easy to break a "
+"tool/probe. Abort will be honoured while the probe is in motion.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:969
+msgid ""
+"Tool Measurement in QtDragon is organized into the following steps which "
+"will be explained in more detail in the following section:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:971
+msgid ""
+"Zero the probe tool by measuring the tool setter with the spindle probe "
+"installed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:973
+msgid ""
+"Measure the height of your block from the base, where your tool switch is "
+"located, to the upper face of the block (including chuck etc.)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:974
+msgid "In the Versa probe tab, enter the measured value for block height."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:976
+#, no-wrap
+msgid "Auto tool measurement"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:981
+msgid ""
+"With the first given tool change the tool will be measured and the offset "
+"will be set automatically to fit the block height.  The advantage of this "
+"way is, that you do not need a reference tool."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:984
+msgid ""
+"Your program must contain a tool change at the beginning. The tool will be "
+"measured, even it has been used before, so there is no danger if the block "
+"height has changed. There are several videos on you tube that demonstrate "
+"the technique using GMOCCAPY. The GMOCCAPY screen pioneered the technique."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:986
+msgid "The sequence of events (using the default files in the default setting):"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:988
+msgid "Rapid move in Z to position defined in the INI's [TOOL_CHANGE] Z"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:989
+msgid "Rapid move in X and Y to number defined in INI's [TOOL_CHANGE] X and Y"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:990
+msgid ""
+"Perform normal M6 tool change: ie, stop spindle, send message to user to "
+"change the tool"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:991
+msgid ""
+"Rapid move in X and Y to position defined in the INI's [VERSA_TOOLSETTER] X "
+"and Y"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:992
+msgid "Rapid move down in Z to position defined in the INI's [VERSA_TOOLSETTER] Z"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:993
+msgid "Probe down in Z to maximum defined in the INI's [VERSA_TOOLSETTER] MAXPROBE"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:994
+msgid ""
+"Changes the offset of the current work coordinate system to match the "
+"difference between the previous tool and the currently measured tool"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:995
+msgid ""
+"Rapid move up in Z to position defined in the INI's [VERSA_TOOLSETTER] "
+"Z_MAX_CLEAR"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:996
+msgid "Rapid move to the X Y position when the tool change was called"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:997
+msgid "Rapid move down to the Z position when the tool change was called"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1002
+#, no-wrap
+msgid ""
+"The [TOOL_CHANGE] Z position should be high enough so the tool will not hit "
+"the tool probe when moving to the [VERSA_TOOLSETTER] X and Y position. +\n"
+"  +\n"
+"MAXPROBE distance needs to be high enough for the tool to touch the probe.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1003
+#, no-wrap
+msgid "Detailed Workflow Example"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtdragon.adoc:1005
+#, no-wrap
+msgid "One Time Setup"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1008
+msgid ""
+"The following setups need only be done once as long as they remain in "
+"effect:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1010
+msgid ""
+"Under Probe Tool Screens: Insure reasonable values for \"Rapid\" and "
+"\"Search,\" these are the speeds at which the probing will be performed and "
+"are in machine units per minute. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1011
+msgid ""
+"Under Probe Tool Screens: insure that \"Tool Measure\" is enabled (this is a "
+"button that must be highlighted)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1012
+msgid ""
+"Under Settings: insure that \"Use Tool Sensor\" is enabled (this is a "
+"tick-box that must be checked)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1013
+msgid ""
+"In the Tool Table: setup a tool for the spindle probe and insure that its Z "
+"offset is set to zero."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1016
+msgid ""
+"It is possible to use a non-zero tool length for the tool probe, but this "
+"requires extra steps and is easy to make mistakes. The following procedure "
+"assumes a zero tool probe length."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtdragon.adoc:1017
+#, no-wrap
+msgid "Procedure before starting a program"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1020
+msgid ""
+"The following setup is done before beginning a program that has M6 tool "
+"change commands inside it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1022
+msgid "Physically load the spindle probe into the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1023
+msgid ""
+"Logically load the spindle probe into the spindle with the M61 Qx command "
+"where x is the number in the tool table for the spindle probe (there is a "
+"button inside the tool table tab that can also be used)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1024
+msgid ""
+"Position to the Toolsetter: Use the button under the Probe Screens for \"Go "
+"To Toolsetter\" to position the spindle above the Toolsetter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1025
+msgid ""
+"Toolsetter Measure: Use the button under the Probe Screens for \"Probe Tool "
+"Setter Z Height.\" Note that this will set and display on the Probe Settings "
+"screen the \"Probe HT\" value in ABS coordinates"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1026
+msgid "Jog to your workpiece."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1027
+msgid ""
+"Workpiece Measure: Use the button under the Probe Screens for \"Probe Z "
+"Height of Material:\" this will set and display on the Probe Settings screen "
+"the \"Block Ht\" value in ABS coordinates. (Typically, this will now also be "
+"the zero Z for your Work Coordinate System)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1028
+msgid ""
+"Set Work Coordinate System (ie, G54, or other): Use the Probe Tool and "
+"whatever probe screen or other method is appropriate to set the X, Y, and Z "
+"coordinate system needed for your job."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1029
+msgid ""
+"If your program begins with a TnM6 command before spinning the spindle, you "
+"may leave the spindle probe installed. You may also issue a TnM6 command to "
+"change out the spindle probe, and if the program issues the same one, it "
+"will skip the tool change."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1032
+msgid ""
+"Take care not to leave the spindle probe in the spindle if a program may "
+"start the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1034
+msgid ""
+"Once those steps are complete, a program with multiple TnM6 toolchanges can "
+"be started and will operate with automatic pauses for manual tool change "
+"followed by automated tool measurement."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1037
+msgid ""
+"After probing the new tool length using the tool-setter, this remap code "
+"uses a G43 which applies the offset to the Work Coordinate system which was "
+"in effect when the M6 command was issued. Because remapping has adjusted the "
+"Work Coordinate system by the offset between the previous and the current "
+"tool, the tool tip will end up at the same point in space as the tip of the "
+"previous tool was when the tool change was called."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1038
+#, no-wrap
+msgid "Work Piece Height Probing in QtDragon_hd"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1042
+msgid ""
+"The [TOOL_CHANGE] Z position should be high enough so the tool will not hit "
+"the tool probe when moving to the [VERSA_TOOLSETTER] X and Y position.  "
+"MAXPROBE distance needs to be high enough for the tool to touch the probe."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1043
+#, no-wrap
+msgid "Work Piece Height Probing"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1045
+#, no-wrap
+msgid "QtDragon_hd - Work piece Height probing"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:1046
+#, no-wrap
+msgid "QtDragon_hd height probing"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:1046
+#, no-wrap
+msgid "images/qtdragon_hd_workpiece_probe.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1049
+msgid ""
+"This program probes 2 user specified locations in the Z axis and calculates "
+"the difference in heights."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1053
+#, no-wrap
+msgid "Enable Probe Position Set Buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1055
+msgid "When checked, the SET buttons are enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1056
+msgid ""
+"This allows the user to automatically fill in the X, Y and Z parameters with "
+"the current position as displayed on the DROs."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1057
+#, no-wrap
+msgid "Autofill Workpiece Height on Main Screen"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1059
+msgid ""
+"When checked, the calculated height is automatically transferred to the "
+"Workpiece Height field in the main screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1060
+msgid "Otherwise, the main screen is not affected."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1061
+#, no-wrap
+msgid "Workpiece Probe At"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1063
+msgid ""
+"the X, Y and Z coordinates specify where the first probing routine should "
+"start, in current WCS"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1064
+#, no-wrap
+msgid "Machine Probe At"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1066
+msgid ""
+"the X, Y and Z coordinates specify where the second probing routine should "
+"start, in current WCS"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1067
+#, no-wrap
+msgid "Z Safe Travel Height"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1069
+msgid ""
+"The machine is raised to the Z safe travel height before jogging to the X "
+"and Y coordinates."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1070
+msgid "The spindle then lowers to the specified Z coordinate."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1071
+msgid ""
+"It should be selected so that the tool clears all obstructions while "
+"jogging."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1072
+#, no-wrap
+msgid "START button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1074
+msgid "The machine will jog to the first location and then probe down."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1075
+msgid "The machine then jogs to the second location and probes down again."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1076
+msgid "The difference in probed values is reported as Calculated Workpiece Height."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1077
+msgid ""
+"The parameters for search velocity, probe velocity, maximum probe distance "
+"and return distance are read from the main GUI Settings page."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1078
+#, no-wrap
+msgid "ABORT button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1080
+msgid "causes all jog and probe routines currently executing to stop."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1081
+#, no-wrap
+msgid "HELP button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1083
+msgid "displays this help file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1086
+msgid "Any 2 points within the machine operating volume can be specified."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1087
+msgid ""
+"If the first point is higher than the second, the calculated height will be "
+"a positive number."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1088
+msgid ""
+"If the first point is lower than the second, the calculated height will be a "
+"negative number."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1089
+msgid ""
+"Units are irrelevant in this program. The probed values are not saved and "
+"only the difference is reported."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1093
+msgid ""
+"Setting incorrect values can lead to crashes into fixtures on the machine "
+"work surface.  Initial testing with no tool and safe heights is recommended."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1094
+#, no-wrap
+msgid "Tool Measurement Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1098
+msgid ""
+"Versaprobe offers 5 output pins for tool measurement purpose.  The pins are "
+"used to be read from a remap G-code subroutine, so the code can react to "
+"different values."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1105
+msgid ""
+"'qtversaprobe.backoffdist' (HAL_FLOAT) the distance the probe backs off "
+"after triggering. Reflects screen entry."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1106
+#, no-wrap
+msgid "Tool Measurement INI File Modifications"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1109
+msgid "Modify your INI file to include the following:"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtdragon.adoc:1110
+#, no-wrap
+msgid "The PROBE section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1114
+msgid ""
+"QtDragon allows you to select one of two styles of touch probe routines.  "
+"Versa probe works with a M6 remap to add auto tool probing."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtdragon.adoc:1122
+#, no-wrap
+msgid "The RS274NGC section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1126
+#, no-wrap
+msgid ""
+"<<sub:ini:sec:rs274ngc, RS274NGC Section Details>>\n"
+"<<sub:remap:sec:remap-statement, Remap Statement Details>>\n"
+"<<sub:remap:sec:error-handling, Remap Abort Details>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1130
+msgid ""
+"These default entries should work fine in most situations. Some systems may "
+"need to use 'linuxcnc/nc_files/examples/' instead of "
+"'linuxcnc/nc_files/'. please check that paths are valid. Custom entries "
+"pointing to modified file are possible."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1134 src/lathe/lathe-user.adoc:38
+#, no-wrap
+msgid "[RS274NGC]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1139
+#, no-wrap
+msgid ""
+"# Adjust this paths to point to folders with stdglue.py, "
+"qt_auto_tool_probe.ngc and on_abort.ngc\n"
+"# or similarly coded custom remap files.\n"
+"SUBROUTINE_PATH = ~/linuxcnc/nc_files/remap-subroutines:\\\n"
+"~/linuxcnc/nc_files/remap_lib\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1142
+#, no-wrap
+msgid ""
+"# is the sub, with is called when a error during tool change happens.\n"
+"ON_ABORT_COMMAND=O <on_abort> call\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1145
+#, no-wrap
+msgid ""
+"# The remap code for QtVCP's versaprobe's automatic tool probe of Z\n"
+"REMAP=M6  modalgroup=6 prolog=change_prolog ngc=qt_auto_probe_tool "
+"epilog=change_epilog\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1153
+#, no-wrap
+msgid ""
+"The position of the tool sensor and the start position of the probing "
+"movement.\n"
+"All values are absolute (G53) coordinates, except MAXPROBE, which is "
+"expressed as an absolute length of movement.\n"
+"All values are in machine native units.\n"
+"X, Y, & Z set the tool setter probe location. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1155
+msgid ""
+"Auto probe action sequence in the default qt_auto_probe_tool example remap "
+"defined above (this behavior can be changed by modifying either the remap "
+"statement in the RS274NGC section, or by modifying the "
+"qt_auto_probe_tool.ngc code.): +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1157
+msgid ""
+"rapid move to the INI's [CHANGE_POSITION] Z position (this is a relative "
+"move, it adds this Z value to the current Z coordinate)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1158
+msgid "rapid move to the INI's [CHANGE_POSITION] X & Y position."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1159
+msgid "wait for manual tool change acknowledgement"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1160
+msgid "rapid move to the INI's [VERSA_TOOLSETTER] X & Y position"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1161 src/gui/qtdragon.adoc:1164
+msgid "rapid move to the INI's [VERSA_TOOLSETTER] Z_MAX_CLEAR Z position"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1162
+msgid "fast probe"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1163
+msgid "slow probe"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1167
+#, no-wrap
+msgid ""
+"Z_MAX_CLEAR is the Z position to go to before moving to the tool setter when "
+"using the 'Travel to Toolsetter button'.\n"
+"'Travel to Toolsetter' Action sequence: +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1169
+msgid "rapid move to [VERSA_TOOLSETTER] Z_MAX_CLEAR Z position"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1170
+msgid "rapid move to [VERSA_TOOLSETTER] XY position"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1171
+msgid "rapid move to [VERSA_TOOLSETTER] Z position."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1173
+msgid "Example settings:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1181
+#, no-wrap
+msgid ""
+"[VERSA_TOOLSETTER]\n"
+"X = 10\n"
+"Y = 10\n"
+"Z = -20\n"
+"Z_MAX_CLEAR = -2\n"
+"MAXPROBE =  -20\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1189
+msgid ""
+"This is not named TOOL_CHANGE_POSITION on purpose - *canon uses that name "
+"and will interfere otherwise*.  The position to which to move the machine "
+"before giving the change tool command.  All values are in absolute "
+"coordinates.  All values are in machine native units."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1203
+msgid ""
+"The Python section sets up what files LinuxCNC's Python interpreter looks "
+"for, e.g., `toplevel.py` file in the `python` folder in the configuration "
+"directory: These default entries should work fine in most situations. Some "
+"systems may need to use 'linuxcnc/nc_files/examples/' instead of "
+"'linuxcnc/nc_files/'.  Custom entries pointing to modified file are "
+"possible."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1210
+#, no-wrap
+msgid ""
+"# The path start point for all remap searches, i.e. Python's "
+"sys.path.append()\n"
+"PATH_APPEND = ~/linuxcnc/nc_files/remap_lib/python-stdglue/python\n"
+"# path to the tremap's 'toplevel file\n"
+"TOPLEVEL = ~/linuxcnc/nc_files/remap_lib/python-stdglue/python/toplevel.py\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1212
+#, no-wrap
+msgid "Required HAL Connections"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1216
+msgid ""
+"Make sure to connect the tool probe input in your HAL file: If connected "
+"properly, you should be able to toggle the probe LED in QtDragon if you "
+"press the probe stylus."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:1222
+#, no-wrap
+msgid "Run from Line"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1229
+msgid ""
+"A G-code program can be started at any line by clicking on the desired line "
+"in the G-code display while in AUTO mode.  It is the operator's "
+"responsibility to ensure the machine is in the desired operational mode.  A "
+"dialog will be shown allowing the spindle direction and speed to be preset.  "
+"The start line is indicated in the box labelled LINE, next to the CYCLE "
+"START button.  The run from line feature can be disabled in the settings "
+"page."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1234
+msgid ""
+"LinuxCNC's run-from-line is not very user friendly.  E.g., it does not start "
+"the spindle or confirm the proper tool.  Also, it does not handle "
+"subroutines well. If used it is best to start on a rapid move."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:1235
+#, no-wrap
+msgid "Laser buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1240
+msgid ""
+"The LASER ON/OFF button in intended to turn an output on or off which is "
+"connected to a small laser crosshair projector.  When the crosshair is "
+"positioned over a desired reference point on the workpiece, the REF LASER "
+"button can be pushed, which then sets the X and Y offsets to the values "
+"indicated by the LASER OFFSET fields in the Settings page."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:1241
+#, no-wrap
+msgid "Tabs Description"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1247
+msgid ""
+"Tabs allow the user to select the most appropriate info/control on the top "
+"three panels.  If the on screen keyboard is showing and the user wishes to "
+"hide it but keep the current tab, they can do that by pressing the current "
+"show tab.  In QtDragon, there is a splitter handle between the G-code text "
+"display and the G-code graphical display.  One can use this to split the "
+"size between the two areas. This can be set differently in each tab and in "
+"each mode."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1248
+#, no-wrap
+msgid "Main tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1252
+msgid ""
+"This tab displays the graphical representation of the current program.  The "
+"side buttons will control the display."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1254
+msgid "'User View': Select/restore a user set view of the current program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1255
+msgid "'P','X','Y','Z': Set standard views."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1256
+msgid "'D': Toggle display of dimensions."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1257
+msgid "'+', '-': Zoom controls."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1258
+msgid "'C': Clear graphics of tool movement lines."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1261
+msgid ""
+"In `qtdragon_hd` there are also macro buttons available on the right side.  "
+"Up to tens buttons can be defined in the INI."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1262
+#, no-wrap
+msgid "File Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1267
+msgid ""
+"You can use this tab to load or transfer programs.  Editing of G-code "
+"programs can be selected from this tab.  With `qtdragon_hd`, this is where "
+"you can load the 'G-code Ripper'."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1268
+#, no-wrap
+msgid "Offsets Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1272
+msgid ""
+"You can monitor/modify system offsets from this tab.  There are convenience "
+"buttons for zeroing the rotation.G92 and current G5x user offset."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1273
+#, no-wrap
+msgid "Tool Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1280
+msgid ""
+"You can monitor/modify tool offsets from this tab.  Adding and deleting "
+"tools from the tool file can also be done from this tab.  When this tab is "
+"selected the individual home buttons in the DRO area will change to tool "
+"offset setting buttons.  They will return to home buttons when you select "
+"another tab.  Pressing this tool button will drop down a when menu of "
+"options:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1282
+msgid "Set Current Tool Position"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1283
+msgid "Adjust Current Tool Position"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1284
+msgid "Zero Current Tool Position"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1285
+msgid "Set Tool Offset Directly"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1286
+msgid "Reset To Last"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1287
+#, no-wrap
+msgid "Status Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1291
+msgid ""
+"A time-stamped log of important machine or system events will be shown "
+"here.  Machine events would be more suited to an operator, where the system "
+"events may help in debugging problems."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1292
+#, no-wrap
+msgid "Probe Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1298
+msgid ""
+"Probing routines options are displayed on this tab.  Depending on INI "
+"options, this could be VersaProbe or BasicProbe style.  They are "
+"functionally similar.  QtDragon_hd will also show a smaller graphics display "
+"window."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1299
+#, no-wrap
+msgid "Camview Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1305
+#, no-wrap
+msgid ""
+"If the recognized webcam is connected, this tab will display the video image "
+"overlaid with a cross-hair, circle and degree readout. This can be adjusted "
+"to suit a part feature for such things as touchoff. The underlying library "
+"uses openCV Python module to connect to the webcam.\n"
+"To adjust the X or Y size aspect ratio, or camera number, look in the "
+"preference file for: +"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1311
+#, no-wrap
+msgid ""
+"[CUSTOM_FORM_ENTRIES]\n"
+"Camview xscale = 100\n"
+"Camview yscale = 100\n"
+"Camview cam number = 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1316
+#, no-wrap
+msgid ""
+"These are in percent, usually the range will be 100 - 200 in one axis.\n"
+"Negating these scales can be used to flip the image in X, Y or both axes.\n"
+"The preference file can only be edited when QtDragon is not running."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1317
+#, no-wrap
+msgid "G-codes Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1321
+msgid ""
+"This tab will display a list of LinuxCNC's G-code.  if you click on a line, "
+"a description of the code will be displayed."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1322
+#, no-wrap
+msgid "Setup Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1329
+#, no-wrap
+msgid ""
+"It's possible to load HTML or PDF file (.html / .pdf ending) with setup "
+"notes, and will be displayed in the setup tab.\n"
+"If you load a G-code program and there is an HTML/PDF file of the same name, "
+"it will load automatically.\n"
+"Some program, such as Fusion 360 and Aspire will create these files for "
+"you. You can also write your own HTML docs with the included SetUp Writer "
+"button.\n"
+"There are three sub tabs:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1331
+msgid ""
+"'HTML' - any loaded HTML pages are displayed here. The navigation buttons "
+"work on this page."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1332
+msgid "'PDF' - any loaded PDF setup pages are displayed here."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1333
+msgid ""
+"'PROPERTIES' - when a program is loaded its G-code properties are displayed "
+"here."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1335
+msgid "There are navigation buttons for HTML page:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1337
+msgid "The up arrow returns you to the default HTML page."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1338
+msgid "The left arrow moves backward one HTML page."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1339
+msgid "The right arrow moves forward one HTML page."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1342
+#, no-wrap
+msgid ""
+"If you wish to include a custom default HTML page, name it "
+"'default_setup.html' and place it in your configuration folder.\n"
+"Custom QtVCP panels can be displayed in this tab by setting the "
+"EMBED_TAB_LOCATION option to 'tabWidget_setup'."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1343
+#, no-wrap
+msgid "QtDragon - Setup Tab Sample"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:1344
+#, no-wrap
+msgid "QtDragon Setup Tab"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:1344
+#, no-wrap
+msgid "images/qtdragon_setup_page.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1346
+#, no-wrap
+msgid "Settings Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1349
+msgid ""
+"The settings tab is used to set running options, "
+"probing/touchplate/laser/camera offsets and load debugging external "
+"programs."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1350
+#, no-wrap
+msgid "Utilities Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1353
+msgid "This tabs will display another stab election of G-code utility programs:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1355
+msgid ""
+"'Facing': allows quick face milling of a definable area at angles of 0,45 "
+"and 90 degrees."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1356
+msgid ""
+"'Hole Circle': allows quick setting of a program to drill a bolt circle of "
+"definable diameter and number of holes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1357
+msgid ""
+"'NGCGUI': is a QtVCP version of the popular G-code subroutine "
+"builder/selector, see <<sub:qtvcp:widgets:qt-ngcgui,Widgets-NGCGUI>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1359
+msgid ""
+"Custom QtVCP panels can be displayed here by setting the EMBED_TAB_LOCATION "
+"option to `tabWidget_utilities`"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1360
+#, no-wrap
+msgid "User Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1364
+msgid ""
+"This tab will only be displayed if an embedded panel has been designated for "
+"the location `stackedWidget_mainTab`.  If more then one embedded tab has "
+"been designated, then pressing the user tab will cycle through them."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:1365
+#, no-wrap
+msgid "Styles"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1371
+msgid ""
+"Nearly all aspects of the GUI appearance are configurable via the "
+"QtDragon.qss stylesheet file.  The file can be edited manually or through "
+"the stylesheet dialog widget in the GUI.  To call up the dialog, press F12 "
+"on the main window.  New styles can be applied temporarily and then saved to "
+"a new qss file, or overwrite the current qss file."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1372
+#, no-wrap
+msgid "QtDragon - Two Style Examples"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:1373
+#, no-wrap
+msgid "QtDragon styles"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:1373
+#, no-wrap
+msgid "images/style-comparison.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:1375 src/plasma/qtplasmac.adoc:4166
+#, no-wrap
+msgid "Internationalisation"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1378
+msgid ""
+"It is possible to create translation files for QtDragon to display in the "
+"language of the current locale."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1380 src/plasma/qtplasmac.adoc:4171
+msgid ""
+"To create and or edit a translation file requires that LinuxCNC has been "
+"installed as run in place."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1382 src/plasma/qtplasmac.adoc:4173
+msgid "The following assumes that the linuxcnc git directory is ~/linuxcnc-dev."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1385
+msgid "If using QtDragon_hd substitute 'qtdragon_hd' for 'qtdragon'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1387
+msgid ""
+"All language files are kept in "
+"~/linuxcnc-dev/share/screens/qtdragon/languages."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1389
+msgid ""
+"The qtdragon.py file is a Python version of the GUI file used for "
+"translation purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1392 src/plasma/qtplasmac.adoc:4180
+msgid ""
+"The .ts files are the translation source files for the translations.  These "
+"are the files that require creating/editing for each language."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1394 src/plasma/qtplasmac.adoc:4182
+msgid "The .qm files are the compiled translation files used by pyqt."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1398
+msgid ""
+"The language is determined by an underscore plus the first two letters of "
+"the locale, for example if an Italian translation was being done then it "
+"would be `_it`.  It will be referred to as `_xx` in this document, so "
+"`qtdragon_xx.ts` in this document would actually be `qtdragon_it.ts` for an "
+"Italian translation."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1400
+msgid ""
+"The default locale for QtDragon is `_en` which means that any translation "
+"files created as `qtdragon_en.*` will not be used for translations."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1402 src/plasma/qtplasmac.adoc:4190
+msgid ""
+"If any of the required utilities (pyuic5, pylupdate5, linguist) are not "
+"installed then the user will need to install the required development tools:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1404 src/plasma/qtplasmac.adoc:4192
+#, no-wrap
+msgid "sudo apt install qttools5-dev-tools pyqt5-dev-tools\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1407 src/plasma/qtplasmac.adoc:4195
+msgid "Change to the languages directory:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1409
+#, no-wrap
+msgid "cd ~/linuxcnc-dev/share/qtvcp/screens/qtdragon/languages\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1412 src/plasma/qtplasmac.adoc:4200
+msgid ""
+"If any text changes have been made to the GUI then run the following to "
+"update the GUI Python file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1414
+#, no-wrap
+msgid "pyuic5 ../qtdragon.ui > qtdragon.py\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1419
+msgid ""
+"The user can either create a new translation source file for a non-existing "
+"language translation or modify an existing translation source file due to "
+"changes being made to some text in a QtDragon source file.  If modifying an "
+"existing translation that has had no source file changes then this step is "
+"not required."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1421 src/plasma/qtplasmac.adoc:4209
+msgid "Create or edit a .ts file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1423 src/plasma/qtplasmac.adoc:4211
+#, no-wrap
+msgid "./langfile xx\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1427
+msgid ""
+"this command is a script which runs the following: $ pylupdate5 *.py ../*.py "
+"../../../../../lib/python/qtvcp/lib/qtdragon/*.py -ts qtdragon_xx.ts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1429 src/plasma/qtplasmac.adoc:4217
+msgid "The editing of the translation is done with the linguist application:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1431 src/plasma/qtplasmac.adoc:4219
+#, no-wrap
+msgid "linguist\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1434 src/plasma/qtplasmac.adoc:4222
+msgid "Open the TS file and translate the strings"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1437
+msgid ""
+"It is not necessary to provide a translation for every text string, if no "
+"translation is specified for a string then the original string will be used "
+"in the application.  The user needs to be careful with the length of strings "
+"that appear on widgets as space is limited. If possible try to make the "
+"translation no longer than the original."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1440 src/plasma/qtplasmac.adoc:4228
+#, no-wrap
+msgid ""
+"When editing is complete save the file:\n"
+"`File -> Save`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1443 src/plasma/qtplasmac.adoc:4232
+#, no-wrap
+msgid ""
+"Then create the .qm file:\n"
+"`File -> Release`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1445
+msgid ""
+"QtDragon will be translated to the language of the current locale on the "
+"next start so long as a .qm file exists in that language."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1449
+msgid ""
+"Users are welcome to submit translation files for inclusion into QtDragon.  "
+"The preferred method is to submit a pull request from the users GitHub "
+"account as described in the "
+"https://www.linuxcnc.org/docs/html/code/contributing-to-linuxcnc.html[contributing "
+"to LinuxCNC] documentation.  The only files required to be committed are "
+"qtdragon_xx.ts and qtdragon_xx.qm."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtdragon.adoc:1450
+#, no-wrap
+msgid "Customization"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1453
+msgid ""
+"A general overview of <<cha:qtvcp:modifying-screens,Customizing Stock "
+"Screens>>."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1454
+#, no-wrap
+msgid "Stylesheets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1461
+#, no-wrap
+msgid ""
+"Stylesheets can be leveraged to do a fair amount of customization, but you "
+"usually need to know a bit about the widget names. Pressing F12 will display "
+"a stylesheet editor dialog to load/test/save modification.\n"
+"The 'View Sheet' tab will allow you to select and apply what stylesheet "
+"QtDragon will use when it's first loaded.\n"
+"Press the button 'Copy to Edit Tab' to copy the current stylesheet to the "
+"edit tab.\n"
+"The 'Edit Sheet' tab allows editing, applying and saving of changes od the "
+"displayed stylesheet."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:1462
+#, no-wrap
+msgid "QtDragon stylesheet editor"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:1462
+#, no-wrap
+msgid "images/qtdragon_stylesheet_editor.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1465
+msgid ""
+"Sometimes these lines will be present and you can change them, otherwise you "
+"will need to add them. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1467
+msgid ""
+"For instance, to change the DRO font (look for this entry and change the "
+"font name):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1476
+#, no-wrap
+msgid ""
+"DROLabel,\n"
+"StatusLabel#status_rpm {\n"
+"    border: 1px solid black;\n"
+"    border-radius: 4px;\n"
+"    font: 20pt \"Noto Mono\";\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1479
+msgid "To change the DRO display font and display format:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1487
+#, no-wrap
+msgid ""
+"DROLabel {\n"
+"    font: 25pt \"Lato Heavy\";\n"
+"    qproperty-imperial_template: '%9.5f';\n"
+"    qproperty-metric_template: '%10.4f';\n"
+"    qproperty-angular_template: '%11.2f';\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1496
+#, no-wrap
+msgid ""
+"    /*Adjust the menu options */\n"
+"    qproperty-showLast: true;\n"
+"    qproperty-showDivide : false;\n"
+"    qproperty-showGotoOrigin: false;\n"
+"    qproperty-showZeroOrigin: false;\n"
+"    qproperty-showSetOrigin: true;\n"
+"    qproperty-dialogName: CALCULATOR;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1499
+msgid "Change the axis select button's click menu items:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1511
+#, no-wrap
+msgid ""
+"AxisToolButton {\n"
+"    /* Adjust all the menu options */\n"
+"    qproperty-showLast: false;\n"
+"    qproperty-showDivide : true;\n"
+"    qproperty-showGotoOrigin: true;\n"
+"    qproperty-showZeroOrigin: true;\n"
+"    qproperty-showSetOrigin: false;\n"
+"    qproperty-dialog_code_string: CALCULATOR;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1514
+msgid "To change the text of the mist button to 'air' (add these lines)"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1521
+#, no-wrap
+msgid ""
+"#action_mist{\n"
+"    qproperty-true_state_string: \"Air\\\\nOn\";\n"
+"    qproperty-false_state_string: \"Air\\\\nOff\";\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1524
+msgid "To change the Offsets display font and format:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1531
+#, no-wrap
+msgid ""
+"ToolOffsetView {\n"
+"    font: 20pt \"Lato Heavy\";\n"
+"    qproperty-imperial_template: '%9.1f';\n"
+"    qproperty-metric_template: '%10.1f';\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1533 src/gui/qtvcp-libraries.adoc:969
+#, no-wrap
+msgid "}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1539
+#, no-wrap
+msgid ""
+"OriginOffsetView {\n"
+"    font: 12pt \"Lato Heavy\";\n"
+"    qproperty-imperial_template: '%9.1f';\n"
+"    qproperty-metric_template: '%10.1f';\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1542
+msgid "To stop the blur effect with dialogs:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1548
+#, no-wrap
+msgid ""
+"#screen_options {\n"
+"    qproperty-focusBlur_option: false;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1551
+msgid "To change status highlight/selection colors:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1560
+#, no-wrap
+msgid ""
+"#screen_options {\n"
+"    qproperty-user1Color: white;     /*  default status     */\n"
+"    qproperty-user2Color: #ff9000;   /*  warning status     */\n"
+"    qproperty-user3Color: #ff8a96;   /*  critical status    */\n"
+"    qproperty-user4Color: #ffaa00;   /*  MPG select         */\n"
+"    qproperty-user5Color: #ff0000;   /*  Cycle Start select */\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1563
+msgid "Change the G-code text display colors/fonts:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1590
+#, no-wrap
+msgid ""
+"}\n"
+"EditorBase{\n"
+"background:black;\n"
+"qproperty-styleColorCursor:white;\n"
+"qproperty-styleColorBackground:grey;\n"
+"qproperty-styleColor0: black;\n"
+"qproperty-styleColor1: darkblue;\n"
+"qproperty-styleColor2: blue;\n"
+"qproperty-styleColor3: red;\n"
+"qproperty-styleColor4: lightblue;\n"
+"qproperty-styleColor5: white;\n"
+"qproperty-styleColor6: lightGreen;\n"
+"qproperty-styleColor7: yellow ;\n"
+"qproperty-styleColorSelectionText: white;\n"
+"qproperty-styleColorSelectionBackground: blue;\n"
+"qproperty-styleFont0: \"Times,15,-1,5,90,0,0,1,1,0\";\n"
+"qproperty-styleFont1: \"Times,15,-1,5,90,1,0,1,0,0\";\n"
+"qproperty-styleFont2: \"Times,15,-1,5,90,0,0,1,1,0\";\n"
+"qproperty-styleFont3: \"Times,15,-1,5,90,0,0,1,1,0\";\n"
+"qproperty-styleFont4: \"Times,15,-1,5,90,0,0,1,1,0\";\n"
+"qproperty-styleFont5: \"Times,15,-1,5,90,0,0,1,1,0\";\n"
+"qproperty-styleFont6: \"Times,15,-1,5,90,0,0,1,1,0\";\n"
+"qproperty-styleFont7: \"Times,15,-1,5,90,0,0,1,1,0\";\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1593
+msgid ""
+"To have the manual spindle buttons also incrementally increase/decrease "
+"speed:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1602
+#, no-wrap
+msgid ""
+"#action_spindle_fwd{\n"
+"    qproperty-spindle_up_action: true;\n"
+"}\n"
+"#action_spindle_rev{\n"
+"    qproperty-spindle_down_action: true;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtdragon.adoc:1605
+#, no-wrap
+msgid "Qt Designer and Python code"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1613
+#, no-wrap
+msgid ""
+"All aspects of the GUI are fully customization through Qt Designer and/or "
+"Python code. This capability is included with the QtVCP development "
+"environment. The extensive use of QtVCP widgets keeps the amount of required "
+"Python code to a minimum, allowing relatively easy modifications. The "
+"LinuxCNC website has extensive documentation on the installation and use of "
+"QtVCP libraries. See <<cha:qtvcp,QtVCP>> for more information about QtVCP in "
+"general.\n"
+"QtDragon can also utilize QtVCP's rc file to do minor python code "
+"modifications without using a custom handler file."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtdragon.adoc:1618
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"USER_COMMAND_FILE = CONFIGFOLDER/qtdragonrc.py\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtdragon.adoc:1621
+msgid ""
+"See <<cha:qtvcp:modifying-screens,Modifying Screens>> for more information "
+"about customization."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtdragon.adoc:1622
+#, no-wrap
+msgid "QtDragon - Customized QtDragon"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtdragon.adoc:1623
+#, no-wrap
+msgid "QtDragon customized"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtdragon.adoc:1623
+#, no-wrap
+msgid "images/silverdragon_custom.png"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:5 src/user/user-intro.adoc:184
+#, no-wrap
+msgid "QtVCP"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:15
+msgid ""
+"QtVCP is an *infrastructure to build custom CNC screens or control panels "
+"for LinuxCNC*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:18
+msgid ""
+"It displays a _`.ui` file built with Qt Designer_ screen editor and combines "
+"this with _Python programming_ to create a GUI screen for running a CNC "
+"machine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:21
+msgid ""
+"QtVCP is completely _customizable_: you can add different buttons and status "
+"LEDs etc., or add Python code for even finer grain customization."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp.adoc:22
+#, no-wrap
+msgid "Showcase"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:25
+msgid "Few examples of QtVCP built screens and virtual control panels:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:26
+#, no-wrap
+msgid "QtDragon - 3/4-Axis Sample"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:29
+#, no-wrap
+msgid "QtDefault - 3-Axis Sample"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:30
+#, no-wrap
+msgid "Qtscreen Mill"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:30
+#, no-wrap
+msgid "images/qt_cnc.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:32
+#, no-wrap
+msgid "QtAxis - Self Adjusting Axis Sample"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:33
+#, no-wrap
+msgid "Qtscreen QtAxis"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:33
+#, no-wrap
+msgid "images/qtaxis.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:35
+#, no-wrap
+msgid "Blender - 4-Axis Sample"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:36
+#, no-wrap
+msgid "Qtscreen Blender"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:36
+#, no-wrap
+msgid "images/blender.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:38
+#, no-wrap
+msgid "X1mill - 4-Axis Sample"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:39 src/gui/qtvcp.adoc:42 src/gui/qtvcp.adoc:434
+#, no-wrap
+msgid "Qtscreen x1mill"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:39
+#, no-wrap
+msgid "images/x1mill.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:41 src/gui/qtvcp.adoc:433
+#, no-wrap
+msgid "cam_align - Camera Alignment VCP"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:42 src/gui/qtvcp.adoc:434
+#: src/gui/qtvcp-vcp-panels.adoc:190
+#, no-wrap
+msgid "images/qtvcp-cam-align.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:44
+#, no-wrap
+msgid "test_panel - Test Panel VCP"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:45
+#, no-wrap
+msgid "Test Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:45 src/gui/qtvcp-vcp-panels.adoc:182
+#, no-wrap
+msgid "images/test_panel.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp.adoc:48
+#, no-wrap
+msgid "Overview(((QtVCP Overview)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:51
+msgid "_Two files are used, individually or in combination_, to add customizations:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:53
+msgid "A *UI file* that is a _XML_ file made with _Qt Designer_ graphical editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:54
+msgid "A *handler file* which is a _Python_ code text file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:57
+#, no-wrap
+msgid ""
+"Normally QtVCP uses the stock UI and handler file, but you can specify QtVCP "
+"to use 'local' UI and handler files.\n"
+"A *'local' file* is one that is in the _configuration folder_ that defines "
+"the rest of the machine's requirements."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:60
+msgid ""
+"One is not restricted to adding a custom panel on the right or a custom tab "
+"as QtVCP leverages _Qt Designer_ (the editor)  and _PyQt5_ (the widget "
+"toolkit)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:64
+#, no-wrap
+msgid ""
+"QtVCP has some added *special LinuxCNC widgets and actions*.\n"
+"There are special widgets to bridge third party widgets to HAL pins.\n"
+"It's possible to create widget responses by connecting signals to Python "
+"code in the handler file."
+msgstr ""
+
+#. type: Title =
+#: src/gui/qtvcp.adoc:65 src/gui/qtvcp-widgets.adoc:5
+#, no-wrap
+msgid "QtVCP Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:68
+msgid "QtVCP uses the *PyQt5 toolkit's widgets* for LinuxCNC integration."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:70
+#, no-wrap
+msgid ""
+"*Widget* is the _general name for user interface objects_ such as buttons "
+"and labels in PyQt5.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:72
+msgid ""
+"You are free to use any available *default widgets* in the Qt Designer "
+"editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:75
+#, no-wrap
+msgid ""
+"There are also *special widgets* made for LinuxCNC that make integration "
+"easier.\n"
+"These are split in three heading on the left side of the editor:"
+msgstr ""
+
+#. TODO Add links to sections of QtVCP Widgets chapter
+#. type: Plain text
+#: src/gui/qtvcp.adoc:78
+msgid "One is for _HAL only widgets_;"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:79
+msgid "One is for _CNC control widgets_;"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:80
+msgid "One is for _Dialog widgets_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:82 src/gui/qtvcp-widgets.adoc:28
+msgid "You are free to mix them in any way on your panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:85
+msgid ""
+"A very important widget for CNC control is the *`ScreenOptions` widget*: It "
+"does not add anything visually to the screen but, allows important details "
+"to be selected rather then be coded in the handler file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:89
+msgid ""
+"If you are using QtVCP to make a CNC motion control screen (rather then a "
+"HAL based panel), in the INI file, in the `[DISPLAY]` section, add a line "
+"with the following pattern:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:93
+#, no-wrap
+msgid "DISPLAY = qtvcp <options> <screen_name>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:97
+msgid "All `<options>` must appear before `<screen_name>`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:101
+msgid "`-d` Debugging on."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:102
+msgid "`-i` Enable info output."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:103
+msgid "`-v` Enable verbose debug output."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:104
+msgid "`-q` Enable only error debug output."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:105
+msgid "`-a` Set window always on top."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:106 src/gui/qtvcp-vcp-panels.adoc:209
+msgid "`-c NAME` HAL component name. Default is to use the UI file name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:110
+msgid ""
+"`-g GEOMETRY` Set geometry WIDTHxHEIGHT+XOFFSET+YOFFSET. Values are in pixel "
+"units, XOFFSET/YOFFSET is referenced from top left of screen.  Use -g "
+"WIDTHxHEIGHT for just setting size or -g +XOFFSET+YOFFSET for just "
+"position.  Example: `-g 200x400+0+100`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:111
+msgid ""
+"`-H FILE` Execute hal statements from FILE with halcmd after the component "
+"is set up and ready."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:112
+msgid "`-m` Maximize window."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:113
+msgid "`-f` Fullscreen the window."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:114
+msgid "`-t THEME` Default is system theme"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:115
+msgid "`-x XID` Embed into a X11 window that doesn't support embedding."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:116
+msgid ""
+"`--push_xid` Send QtVCP's X11 window id number to standard output; for "
+"embedding."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:117
+msgid "`-u USERMOD` File path of a substitute handler file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:118
+msgid ""
+"`-o USEROPTS` Pass a string to QtVCP's handler file under "
+"`self.w.USEROPTIONS_` list variable. Can be multiple -o."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:119
+#, no-wrap
+msgid "<screen_name>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:122
+msgid ""
+"`<screen_name>` is the _base name of the .ui and _handler.py files_.  If "
+"`<screen_name>` is missing, the default screen will be loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:125
+msgid ""
+"QtVCP assumes the UI file and the handler file use the *same base name*.  "
+"QtVCP will first search the LinuxCNC configuration directory that was "
+"launched for the files, then in the system skin folder holding standard "
+"screens."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:126
+#, no-wrap
+msgid "Cycle Times"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:134
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"CYCLE_TIME = 100\n"
+"GRAPHICS_CYCLE_TIME = 100\n"
+"HALPIN_CYCLE = 100\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:138
+msgid ""
+"Adjusts the response rate of the GUI updates in milliseconds.  Defaults to "
+"100, useable range 50 - 200."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:140
+msgid "The widgets, graphics and HAL pin update can be set separately."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:142
+msgid ""
+"If the update time is not set right the screen can become unresponsive or "
+"very jerky."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:143
+#, no-wrap
+msgid "Qt Designer UI File"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:146
+msgid ""
+"A Qt Designer file is a text file organized in the _XML_ standard that "
+"describes the *layout and widgets* of the screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:148
+msgid "_PyQt5_ uses this file to build the display and react to those widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:150
+msgid "The Qt Designer editor makes it relatively easy to build and edit this file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:154
+msgid ""
+"A handler file is a file containing _Python_ code, which *adds to QtVCP "
+"default routines*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:157
+msgid ""
+"A handler file allows one to _modify defaults_, or _add logic_ to a QtVCP "
+"screen without having to modify QtVCP's core code.  In this way you can have "
+"*custom behaviors*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:160
+msgid "If present a handler file will be loaded.  *Only one file* is allowed."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:161
+#, no-wrap
+msgid "Libraries Modules"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:165
+msgid ""
+"QtVCP, as built, does little more than display the screen and react to "
+"widgets.  For more *prebuilt behaviors* there are available libraries (found "
+"in `lib/python/qtvcp/lib` in RIP LinuxCNC install)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:168
+#, no-wrap
+msgid ""
+"*Libraries* are prebuilt _Python modules_ that *add features* to QtVCP.\n"
+"In this way you can select what features you want - yet don't have to build "
+"common ones yourself.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:170
+msgid "Such libraries include:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:172
+msgid "`audio_player`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:173
+msgid "`aux_program_loader`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:174
+msgid "`keybindings`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:175
+msgid "`message`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:176
+msgid "`preferences`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:177
+msgid "`notify`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:178
+msgid "`virtual_keyboard`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:179
+msgid "`machine_log`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:183
+msgid "Themes are a way to modify the *look and feel* of the widgets on the screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:185
+msgid ""
+"For instance the _color_ or _size_ of buttons and sliders can be changed "
+"using themes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:188
+#, no-wrap
+msgid ""
+"The _Windows theme_ is default for screens.\n"
+"The _System theme_ is default for panels."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:190
+msgid ""
+"To see available themes, they can be loaded by running the following command "
+"in a terminal:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:193
+#, no-wrap
+msgid "qtvcp -d -t <theme_name>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:196
+msgid "QtVCP can also be customized with _Qt stylesheets (QSS)_ using CSS."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:197
+#, no-wrap
+msgid "Local Files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:200
+msgid ""
+"If present, local UI/QSS/Python files in the configuration folder will be "
+"loaded instead of the stock UI files."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:202
+msgid ""
+"Local UI/QSS/Python files allow you to use your customized designs rather "
+"than the default screens."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:204
+msgid ""
+"QtVCP will look for a folder named <screen_name> (in the launched "
+"configuration folder that holds the INI file)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:206
+msgid "In that folder, QtVCP will load any of the available following files:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:208
+msgid "`<screen_name>.ui`,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:209
+msgid "`<screen_name>_handler.py`, and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:210
+msgid "`<screen_name>.qss`."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:212
+#, no-wrap
+msgid "Modifying Stock Screens"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:215
+msgid "There are _three ways_ to customize a screen/panel."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp.adoc:216
+#, no-wrap
+msgid "Minor StyleSheet Changes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:219
+msgid ""
+"Stylesheets can be used to *set Qt properties*.  If a widget uses properties "
+"then they usually can be modified by stylesheets."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:220
+#, no-wrap
+msgid "Example of a widget with accompanying style sheet settings."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:228
+#, no-wrap
+msgid ""
+"State_LED #name_of_led{\n"
+"  qproperty-color: red;\n"
+"  qproperty-diameter: 20;\n"
+"  qproperty-flashRate: 150;\n"
+"  }\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp.adoc:230
+#, no-wrap
+msgid "Handler Patching - Subclassing Builtin Screens"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:234 src/gui/qtvcp-vcp-panels.adoc:494
+#, no-wrap
+msgid ""
+"We can have QtVCP load a subclassed version of the standard handler file. In "
+"that file we can manipulate the original functions or add new ones.\n"
+"Subclassing just means our handler file first loads the original handler "
+"file and adds our new code on top of it - effectively a patch of changes.\n"
+"This is useful for changing/adding behaviour while still retaining standard "
+"handler updates from LinuxCNC repositories."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:237
+msgid ""
+"You may still need to use the handler copy dialog to copy the original "
+"handler file to decide how to patch it.  See 'custom handler file'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:241
+#, no-wrap
+msgid ""
+"There should be a folder in the config folder; for screens: named '<CONFIG "
+"FOLDER>/qtvcp/screens/<SCREEN NAME>/'\n"
+"add the handle patch file there, named like so <ORIGINAL SCREEN "
+"NAME>_handler.py,\n"
+"e.g., for QtDragon the file would be called 'qtdragon_handler.py'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:243
+msgid "Here is a sample to add X axis jog pins to a screen like QtDragon:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:252
+#, no-wrap
+msgid ""
+"import sys\n"
+"import importlib\n"
+"from qtvcp.core import Path, Qhal, Action\n"
+"PATH = Path()\n"
+"QHAL = Qhal()\n"
+"ACTION = Action()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:259
+#, no-wrap
+msgid ""
+"# get reference to original handler file so we can subclass it\n"
+"sys.path.insert(0, PATH.SCREENDIR)\n"
+"module = \"{}.{}_handler\".format(PATH.BASEPATH,PATH.BASEPATH)\n"
+"mod = importlib.import_module(module, PATH.SCREENDIR)\n"
+"sys.path.remove(PATH.SCREENDIR)\n"
+"HandlerClass = mod.HandlerClass\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:263
+#, no-wrap
+msgid ""
+"# return our subclassed handler object to QtVCP\n"
+"def get_handlers(halcomp, widgets, paths):\n"
+"    return [UserHandlerClass(halcomp, widgets, paths)]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:268
+#, no-wrap
+msgid ""
+"# sub class HandlerClass which was imported above\n"
+"class UserHandlerClass(HandlerClass):\n"
+"    # add a terminal message so we know this got loaded\n"
+"    print('\\nCustom subclassed handler patch loaded.\\n')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:272
+#, no-wrap
+msgid ""
+"    def init_pins(self):\n"
+"        # call original handler init_pins function\n"
+"        super().init_pins()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:276
+#, no-wrap
+msgid ""
+"        # add jog pins X axis\n"
+"        pin = QHAL.newpin(\"jog.axis.jog-x-plus\", QHAL.HAL_BIT, "
+"QHAL.HAL_IN)\n"
+"        pin.value_changed.connect(lambda s: self.kb_jog(s, 0, 1, fast = "
+"False, linear = True))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:279
+#, no-wrap
+msgid ""
+"        pin = QHAL.newpin(\"jog.axis.jog-x-minus\", QHAL.HAL_BIT, "
+"QHAL.HAL_IN)\n"
+"        pin.value_changed.connect(lambda s: self.kb_jog(s, 0, -1, fast = "
+"False, linear = True))\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp.adoc:281
+#, no-wrap
+msgid "Minor Python Code Changes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:285
+msgid ""
+"Another Python file can be used to *add commands* to the screen, after the "
+"handler file is parsed.  This can be useful for minor changes while still "
+"honouring standard handler updates from LinuxCNC repositories."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:288
+msgid ""
+"Handler patching is a better way to add changes - instance patching is black "
+"magic voodoo - this is here for legacy reasons."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:292
+#, no-wrap
+msgid ""
+"In the _INI file_ under the `[DISPLAY]` heading add *`USER_COMMAND_FILE = "
+"_PATH_`*\n"
+"_PATH_ can be any valid path. It can use `~` for home directory or "
+"`WORKINGFOLDER` or `CONFIGFOLDER` to represent QtVCP's idea of those "
+"directories, e.g.:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:297
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"USER_COMMAND_FILE = CONFIGFOLDER/<screen_name_added_commands>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:301
+msgid ""
+"If no entry is found in the _INI_, QtVCP will look in the *default path*.  "
+"The default path is in the configuration directory as a hidden file using "
+"the screen basename and rc, e.g., *`CONFIGURATION "
+"DIRECTORY/.<screen_name>rc`*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:303
+msgid ""
+"This file will be read and executed as Python code in the *handler file "
+"context*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:309
+#, no-wrap
+msgid ""
+"*Only local functions and local attributes* can be referenced. +\n"
+"Global libraries defined in the screen's handler file can be referenced by "
+"importing the handler file. +\n"
+"These are usually seen as all capital words with no preceding self. +\n"
+"'self' references the window class functions +\n"
+"'self.w' typically references the widgets\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:311
+msgid "What can be used can vary by screen and development cycle."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:312
+#, no-wrap
+msgid "A simple example"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:314
+msgid ""
+"Reference the main window to change the title (won't show if using INI "
+"entries for title change)."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:318
+#, no-wrap
+msgid "self.w.setWindowTitle('My Title Test')\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:320
+#, no-wrap
+msgid "An advanced instance patching example"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:323
+#, no-wrap
+msgid ""
+"This could work with the QtDragon screen's handler file.\n"
+"Here we show how to add new functions and override existing ones."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:329
+#, no-wrap
+msgid ""
+"# Needed to instance patch.\n"
+"# reference: "
+"https://ruivieira.dev/python-monkey-patching-for-readability.html\n"
+"import types\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:333
+#, no-wrap
+msgid ""
+"# import the handlerfile to get reference to its libraries.\n"
+"# use <screenname>_handler\n"
+"import qtdragon_handler as hdlr\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:340
+#, no-wrap
+msgid ""
+"# This is actually an unbounded function with 'obj' as a parameter.\n"
+"# You call this function without the usual preceding 'self.'.\n"
+"# This is because will will not be patching it into the original handler "
+"class instance\n"
+"# It will only be called from code in this file.\n"
+"def test_function(obj):\n"
+"    print(dir(obj))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:348
+#, no-wrap
+msgid ""
+"# This is a new function we will added to the existing handler class "
+"instance.\n"
+"# Notice it calls the unbounded function with 'self' as an parameter 'self' "
+"is the only global reference available.\n"
+"# It references the window instance.\n"
+"def on_keycall_F10(self,event,state,shift,cntrl):\n"
+"    if state:\n"
+"        print ('F10')\n"
+"        test_function(self)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:356
+#, no-wrap
+msgid ""
+"# This will be used to override an existing function in the existing handler "
+"class instance.\n"
+"# Note, we also call a copy of the original function too.\n"
+"# This shows how to extend an existing function to do extra functions.\n"
+"def on_keycall_F11(self,event,state,shift,cntrl):\n"
+"    if state:\n"
+"        self.on_keycall_F11_super(event,state,shift,cntrl)\n"
+"        print ('Hello')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:361
+#, no-wrap
+msgid ""
+"# We are referencing the KEYBIND library that was instantiated in the "
+"original handler class instance\n"
+"# by adding 'hdlr.' to it (from the imp).\n"
+"# This function tells KEYBIND to call 'on_keycall_F10' when F10 is "
+"pressed.\n"
+"hdlr.KEYBIND.add_call('Key_F10','on_keycall_F10')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:365
+#, no-wrap
+msgid ""
+"# Here we are instance patching the original handler file to add a new "
+"function\n"
+"# that calls our new function (of the same name) defined in this file.\n"
+"self.on_keycall_F10 = types.MethodType(on_keycall_F10, self)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:370
+#, no-wrap
+msgid ""
+"# Here we are defining a copy of the original 'on_keycall_F11' function,\n"
+"# so we can call it later. We can use any valid, unused function name.\n"
+"# We need to do this before overriding the original function.\n"
+"self.on_keycall_F11_super = self.on_keycall_F11\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:374
+#, no-wrap
+msgid ""
+"# Here we are instance patching the original handler file to override an "
+"existing function\n"
+"# to point to our new function (of the same name) defined in this file.\n"
+"self.on_keycall_F11 = types.MethodType(on_keycall_F11, self)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:377
+#, no-wrap
+msgid "# add a new pin to the screen:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:381
+#, no-wrap
+msgid ""
+"# pin callback to print the state\n"
+"def new_pin_changed(data):\n"
+"    print(data)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:390
+#, no-wrap
+msgid ""
+"# Special function that gets called before the HAL component is set ready.\n"
+"# Here we used the function to add a bit input pin with a callback.\n"
+"def after_override__(self):\n"
+"    try:\n"
+"        pin = hdlr.QHAL.newpin(\"new_pin\", hdlr.QHAL.HAL_BIT, "
+"hdlr.QHAL.HAL_IN)\n"
+"        pin.value_changed.connect(new_pin_changed)\n"
+"    except Exception as e:\n"
+"        print(e)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:394
+#, no-wrap
+msgid ""
+"# Here we are instance patching the original handler file to add a new "
+"function\n"
+"# that calls our new function (of the same name) defined in this file.\n"
+"self.after_override__ = types.MethodType(after_override__, self)\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp.adoc:397
+#, no-wrap
+msgid "Full Creative Control with custom handler/ui files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:400
+msgid ""
+"If you wish to *modify a stock screen* with full control, _copy its UI and "
+"handler file to your configuration folder_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:402
+msgid "There is a QtVCP panel to help with this:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:404
+msgid "Open a terminal and run the following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:407 src/gui/qtvcp-vcp-panels.adoc:34
+#, no-wrap
+msgid "qtvcp copy\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:410
+msgid "Select the screen and destination folder in the dialog"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:411
+msgid ""
+"If you wish to *name your screen* differently than the builtin screen's "
+"default name, change the _basename_ in the edit box."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:412
+msgid ""
+"There should be a folder in the config folder; for screens: named '<CONFIG "
+"FOLDER>/qtvcp/screens/' for panels: named '<CONFIG FOLDER>/qtvcp/panels/' "
+"add the folders if they are missing and copy your folder/files in it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:413
+msgid "Validate to copy all the files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:414
+msgid ""
+"Delete the files you don't wish to modify so that the original files will be "
+"used."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp.adoc:416
+#, no-wrap
+msgid "VCP Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:419
+msgid "QtVCP can be used to create control panels that interface with *HAL*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:420
+#, no-wrap
+msgid "Builtin Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:423 src/gui/qtvcp-vcp-panels.adoc:19
+msgid "There are several *builtin HAL panels* available."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:425
+msgid "In a terminal type `qtvcp <return>` to see a list:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:426
+#, no-wrap
+msgid "*`test_panel`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:427
+msgid ""
+"Collection of useful widgets for testing HAL components, including speech of "
+"LED state."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:428 src/gui/qtvcp.adoc:429
+#, no-wrap
+msgid "QtVCP HAL Test Builtin Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:429
+#, no-wrap
+msgid "images/qtvcp_test_panel.png"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:431
+#, no-wrap
+msgid "*`cam_align`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:432
+msgid "A camera display widget for rotational alignment."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:436
+#, no-wrap
+msgid "*`sim_panel`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:439
+#, no-wrap
+msgid ""
+"A small control panel to simulate MPG jogging controls etc.\n"
+"For simulated configurations."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:440 src/gui/qtvcp.adoc:441
+#, no-wrap
+msgid "QtVCP Sim Builtin Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:441 src/gui/qtvcp-vcp-panels.adoc:273
+#, no-wrap
+msgid "images/qtvcp_sim_panel.png"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:443
+#, no-wrap
+msgid "*`vismach_mill_xyz`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:444
+msgid "3D OpenGL view of a 3-axis milling machine."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:445 src/gui/qtvcp.adoc:446
+#, no-wrap
+msgid "QtVismach - 3-Axis Mill Builtin Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:446 src/gui/qtvcp-vcp-panels.adoc:312
+#: src/gui/qtvcp-vismach.adoc:17
+#, no-wrap
+msgid "images/qtvismach.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:449
+msgid ""
+"You can load these from the terminal or from a HAL file with this basic "
+"command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:453 src/gui/qtvcp-vcp-panels.adoc:179
+#, no-wrap
+msgid "loadusr qtvcp test_panel\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:456
+msgid "But more typically like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:460
+#, no-wrap
+msgid "loadusr -Wn test_panel qtvcp test_panel\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:462
+msgid "In this way HAL will wait till the HAL pins are made before continuing on."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:463
+#, no-wrap
+msgid "Custom Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:466 src/gui/qtvcp-vcp-panels.adoc:381
+msgid "You can of course *make your own panel and load it*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:468 src/gui/qtvcp-vcp-panels.adoc:384
+msgid ""
+"If you made a UI file named `my_panel.ui` and a HAL file named "
+"`my_panel.hal`, you would then load this from a terminal with:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:471 src/gui/qtvcp-vcp-panels.adoc:387
+#, no-wrap
+msgid "halrun -I -f my_panel.hal\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:473 src/gui/qtvcp-vcp-panels.adoc:389
+#, no-wrap
+msgid "Example HAL file loading a QtVCP panel"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:479 src/gui/qtvcp-vcp-panels.adoc:395
+#, no-wrap
+msgid ""
+"# load realtime components\n"
+"loadrt threads\n"
+"loadrt classicladder_rt\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:483 src/gui/qtvcp-vcp-panels.adoc:399
+#, no-wrap
+msgid ""
+"# load non-realtime programs\n"
+"loadusr classicladder\n"
+"loadusr -Wn my_panel qtvcp my_panel.ui  # <1>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:486 src/gui/qtvcp-vcp-panels.adoc:402
+#, no-wrap
+msgid ""
+"# add components to thread\n"
+"addf classicladder.0.refresh thread1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:491 src/gui/qtvcp-vcp-panels.adoc:407
+#, no-wrap
+msgid ""
+"# connect pins\n"
+"net bit-input1     test_panel.checkbox_1        classicladder.0.in-00\n"
+"net bit-hide       test_panel.checkbox_4        classicladder.0.hide_gui\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:493 src/gui/qtvcp-vcp-panels.adoc:409
+#, no-wrap
+msgid "net bit-output1    test_panel.led_1             classicladder.0.out-00\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:495 src/gui/qtvcp-vcp-panels.adoc:411
+#, no-wrap
+msgid "net s32-in1        test_panel.doublescale_1-s   classicladder.0.s32in-00\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:498 src/gui/qtvcp-vcp-panels.adoc:414
+#, no-wrap
+msgid ""
+"# start thread\n"
+"start\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:502 src/gui/qtvcp-vcp-panels.adoc:418
+#, no-wrap
+msgid ""
+"In this case we load `qtvcp` using *`-Wn`* which waits for the panel to "
+"finish loading before continuing to run the next HAL command.\n"
+"This is to _ensure that the panel created HAL pins are actually done_ in "
+"case they are used in the rest of the file."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp.adoc:503
+#, no-wrap
+msgid "Build A Simple Clean-sheet Custom Screen"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:505 src/gui/qtvcp.adoc:506
+#, no-wrap
+msgid "QtVCP Ugly custom screen"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:506
+#, no-wrap
+msgid "images/qtvcp_tester.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:511
+msgid "To build a panel or screen:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:513
+msgid ""
+"Use Qt Designer to build a design you like and save it to your configuration "
+"folder with a name of your choice, ending with `.ui`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:514
+msgid "Modify the configuration INI file to load QtVCP using your new `.ui` file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:515
+msgid "Then connect any required HAL pins in a HAL file."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:516
+#, no-wrap
+msgid "Get Qt Designer To Include LinuxCNC Widgets"
+msgstr ""
+
+#. TODO Create a Qt Designer install section, or chapter (maybe in docs/src/code)
+#. TODO Convert https://github.com/LinuxCNC/linuxcnc/blob/master/lib/python/qtvcp/designer/README.txt to AsciiDoc and include it directly in install section/chapter
+#. TODO Upgrade install to document use of https://github.com/LinuxCNC/linuxcnc/blob/master/lib/python/qtvcp/designer/install_script
+#. type: Block title
+#: src/gui/qtvcp.adoc:522
+#, no-wrap
+msgid "Install Qt Designer"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:525
+#, no-wrap
+msgid ""
+"First you must have the *Qt Designer installed*.\n"
+"The following commands should add it to your system, or use your package "
+"manager to do the same:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:528
+#, no-wrap
+msgid "sudo apt-get install qttools5-dev-tools qttools5-dev libpython3-dev\n"
+msgstr ""
+
+#
+#
+#
+#. FIXME Do we need to keep this ?
+#. Luego necesita agregar la biblioteca de carga del módulo python.
+#. QtVCP usa Qt5 con python2. Esta combinación normalmente no está
+#. disponible desde repositorios. Puede compilarlo usted mismo, o hay
+#. versiones precompiladas disponible para sistemas comunes.
+#. En 'lib/python/qtvcp/designer' hay carpetas basadas en arquitecturas de
+#. sistema y luego la versión Qt.
+#. Debe elegir la carpeta de arquitectura de la CPU y luego elegir la
+#. serie; 5.5, 5.7 o 5.9 de Qt.
+#. Actualmente el estiramiento de Debian usa 5.7, Mint 12 usa 5.5, Mint 19
+#. usa 5.9.
+#. En caso de duda, verifique la versión de Qt5 en el sistema.
+#. Debe descomprimir el archivo y luego copiar esa versión adecuada de 'libpyqt5_py2.so' a esta carpeta '/usr/lib/x86_64-linux-gnu/qt5/plugins/designer'.
+#. (x86_64-linux-gnu podría llamarse algo ligeramente diferente en diferentes sistemas)
+#. Necesitará privilegios de superusuario para copiar el archivo en la carpeta.
+#. type: Block title
+#: src/gui/qtvcp.adoc:551
+#, no-wrap
+msgid "Add `qtvcp_plugin.py` link to the Qt Designer Search Path"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:553
+msgid ""
+"Then you must add a link to the `qtvcp_plugin.py` in one of the folders that "
+"Qt Designer will search into."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:555
+msgid "In a _RIP_ version of LinuxCNC `qtvcp_plugin.py` will be:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:557
+#, no-wrap
+msgid "  '~/LINUXCNC_PROJECT_NAME/lib/python/qtvcp/plugins/qtvcp_plugin.py'\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:559
+msgid "For a _Package installed_ version it should be:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:562
+#, no-wrap
+msgid ""
+"  'usr/lib/python2.7/qtvcp/plugins/qtvcp_plugin.py' or\n"
+"  'usr/lib/python2.7/dist-packages/qtvcp/plugins/qtvcp_plugin.py'\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:564
+msgid ""
+"Make a symbolic link to the above file and move it to one of the places Qt "
+"Designer searches in."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:566
+msgid "Qt Designer searches in these two place for links (pick one):"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:569
+#, no-wrap
+msgid ""
+"  '/usr/lib/x86_64-linux-gnu/qt5/plugins/designer/python' or\n"
+"  '~/.designer/plugins/python'\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:571
+msgid "You may need to create the `plugins/python` folder."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:572
+#, no-wrap
+msgid "Start Qt Designer:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:576
+#, no-wrap
+msgid ""
+"For a _RIP install_:\n"
+"Open a terminal, set the environment for LinuxCNC <1>, then load Qt Designer "
+"<2> with :"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:580
+#, no-wrap
+msgid ""
+". scripts/rip-environment   <1>\n"
+"designer -qt=5              <2>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:584
+#, no-wrap
+msgid ""
+"For a _package install_:\n"
+"Open a terminal and type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:587
+#, no-wrap
+msgid "designer -qt=5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:590
+msgid ""
+"If all goes right, Qt Designer will launch and you will see the selectable "
+"LinuxCNC widgets on the left hand side."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:591
+#, no-wrap
+msgid "Build The Screen `.ui` File"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:593
+#, no-wrap
+msgid "Create `MainWindow` Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:597
+#, no-wrap
+msgid ""
+"When Qt Designer is first started there is a _'New Form' dialog_ "
+"displayed.\n"
+"Pick _'Main Window'_ and press the _'Create'_ button.\n"
+"A _`MainWindow` widget_ is displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:599
+msgid "We are going to make this window a specific non resizeable size:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:600
+#, no-wrap
+msgid "Set `MainWindow` Minimum and Maximum Size"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:602
+msgid ""
+"Grab the corner of the window and resize to an appropriate size, say "
+"1000x600. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:603
+msgid "Right click on the window and click set _minimum size_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:604
+msgid "Do it again and set _maximum size_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:606
+msgid "Our sample widget will now not be resizable."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:607
+#, no-wrap
+msgid "Add the `ScreenOptions` Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:609
+msgid "Drag and drop the `ScreenOptions` widget anywhere onto the main window."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:611
+msgid "This widget doesn't add anything visually but sets up some *common options*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:613
+msgid "It's recommended to always _add this widget before any other_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:615
+msgid ""
+"Right click on the main window, not the `ScreenOptions` widget, and set the "
+"_layout_ as vertical to make the `ScreenOptions` fullsized."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:616
+#, no-wrap
+msgid "Add Panel Content"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:618
+msgid ""
+"On the right hand side there is a panel with tabs for a _Property editor_ "
+"and an _Object inspector_."
+msgstr ""
+
+#. TODO Explain what this FileDialo_option does
+#. type: Plain text
+#: src/gui/qtvcp.adoc:621
+#, no-wrap
+msgid ""
+"On the Object inspector click on the _ScreenOptions_.\n"
+"Then switch to the Property Editor and, under the _ScreenOptions_ heading, "
+"toggle *`filedialog_option`*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:625
+#, no-wrap
+msgid ""
+"Drag and drop a *`GCodeGraphics`* _widget_ and a *`GcodeEditor`* _widget_.\n"
+"Place and resize them as you see fit leaving some room for buttons."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:626
+#, no-wrap
+msgid "Add Action Buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:628
+msgid "Add 7 action buttons on to the main window."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:631
+#, no-wrap
+msgid ""
+"If you double click the button, you can add text.\n"
+"Edit the button labels for 'Estop', 'Machine On', 'Home', 'Load', 'Run', "
+"'Pause' and 'stop'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:633
+msgid ""
+"Action buttons _default to no action_ so we must change the properties for "
+"defined functions. You can edit the properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:635
+msgid "directly in the _property editor_ on the right side of Qt Designer, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:636
+msgid ""
+"conveniently, left double clicking on the button to launch a _properties "
+"dialog_ that allows selecting actions while only displaying relevant data to "
+"the action."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:638
+msgid "We will describe the convenient way first:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:640
+msgid "Right click the 'Machine On' button and select _Set Actions_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:641
+msgid ""
+"When the dialog displays, use the combobox to navigate to `MACHINE CONTROLS "
+"- Machine On`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:642
+msgid "In this case there is no option for this action so select 'OK'. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:644
+msgid "Now the button will turn the machine on when pressed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:646
+msgid "And now the direct way with Qt Designer's property editor:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:648
+msgid "Select the 'Machine On' button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:649
+msgid "Go to the Property Editor on the right side of Qt Designer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:650
+msgid "Scroll down until you find the _ActionButton_ heading."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:651
+msgid ""
+"Click the `machine_on` action checkbox you will see in the list of "
+"properties and values."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:653
+msgid "The button will now control machine on/off."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:655
+msgid "Do the same for all the other button with the addition of:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:658
+#, no-wrap
+msgid ""
+"With the 'Home' button we must also change the `joint_number` property to "
+"`-1`.\n"
+"This tells the controller to _home all the axes_ rather then a specific "
+"axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:659
+msgid "With the 'Pause' button:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:660
+msgid "Under the `Indicated_PushButton` heading check the `indicator_option`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:661
+msgid "Under the `QAbstactButton` heading check `checkable`."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:662 src/gui/qtvcp.adoc:663
+#, no-wrap
+msgid "Qt Designer: Selecting Pause Button's Properties"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:663
+#, no-wrap
+msgid "images/designer_button_property.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:665
+#, no-wrap
+msgid "Save The `.ui` File"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:667
+msgid "We then need to save this design as `tester.ui` in the `sim/qtvcp` folder."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:669
+msgid ""
+"We are saving it as _tester_ as that is a file name that QtVCP recognizes "
+"and will use a built in handler file to display it."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:670
+#, no-wrap
+msgid "Handler file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:673
+msgid "A handler file is *required*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:675
+msgid "It allows customizations to be written in Python."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:677
+msgid "For instance, _keyboard controls_ are usually written in the handler file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:680
+msgid ""
+"In this example, the built in file `tester_handler.py` is automatically "
+"used: It does the minimum required to display the `tester.ui` defined screen "
+"and do basic keyboard jogging."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:681
+#, no-wrap
+msgid "INI Configuration"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:683
+#, no-wrap
+msgid "[DISPLAY] Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:686
+msgid ""
+"If you are using QtVCP to make a CNC control screen, under the _INI file_ "
+"`[DISPLAY]` heading, set:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:690
+#, no-wrap
+msgid "DISPLAY = qtvcp <screen_name>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:693
+msgid "`<screen_name>` is the _base name_ of the `.ui` and `_handler.py` files."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:695
+msgid ""
+"In our example there is already a sim configuration called tester, that we "
+"will use to display our test screen."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp.adoc:696
+#, no-wrap
+msgid "[HAL] Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:699
+msgid ""
+"If your screen used _widgets with HAL pins_, then you must *connect them in "
+"a HAL file*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:701
+msgid ""
+"QtVCP looks in the _INI file_, under the `[HAL]` heading for the entries "
+"below:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:702
+#, no-wrap
+msgid "*`POSTGUI_HALFILE=<filename>`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:706
+#, no-wrap
+msgid ""
+"Typically `<filename>` would be `+<screen_name>_postgui.hal+`, but can be "
+"any legal filename.\n"
+"You can have _multiple `POSTGUI_HALFILE` lines_ in the INI: each will be run "
+"one after the other in the order they appear.\n"
+"These commands are _executed after the screen is built_, guaranteeing the "
+"widget HAL pins are available."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:707
+#, no-wrap
+msgid "*`POSTGUI_HALCMD=<command>`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:711
+#, no-wrap
+msgid ""
+"`<command>` would be _any valid HAL command_.\n"
+"You can have _multiple `POSTGUI_HALCMD` lines_ in the INI: each will be run "
+"one after the other in the order they appear.\n"
+"To guaranty the widget HAL pins are available, these commands are executed:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:712
+msgid "_after the screen is built_,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:713
+msgid "_after all the POSTGUI_HALFILEs are run_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:715
+msgid "In our example there are no HAL pins to connect."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp.adoc:716
+#, no-wrap
+msgid "Handler File In Detail"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:719
+msgid "Handler files are used to _create custom controls using Python_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:723
+msgid "Here is a sample handler file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:725
+msgid "It's broken up in sections for ease of discussion."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:735
+#, no-wrap
+msgid ""
+"############################\n"
+"# **** IMPORT SECTION **** #\n"
+"############################\n"
+"import sys\n"
+"import os\n"
+"import linuxcnc\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:737
+#, no-wrap
+msgid "from PyQt5 import QtCore, QtWidgets\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:742
+#, no-wrap
+msgid ""
+"from qtvcp.widgets.mdi_line import MDILine as MDI_WIDGET\n"
+"from qtvcp.widgets.gcode_editor import GcodeEditor as GCODE\n"
+"from qtvcp.lib.keybindings import Keylookup\n"
+"from qtvcp.core import Status, Action\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:746
+#, no-wrap
+msgid ""
+"# Set up logging\n"
+"from qtvcp import logger\n"
+"LOG = logger.getLogger(__name__)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:749
+#, no-wrap
+msgid ""
+"# Set the log level for this module\n"
+"#LOG.setLevel(logger.INFO) # One of DEBUG, INFO, WARNING, ERROR, CRITICAL\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:760
+#, no-wrap
+msgid ""
+"KEYBIND = Keylookup()\n"
+"STATUS = Status()\n"
+"ACTION = Action()\n"
+"###################################\n"
+"# **** HANDLER CLASS SECTION **** #\n"
+"###################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:772
+#, no-wrap
+msgid ""
+"    ########################\n"
+"    # **** INITIALIZE **** #\n"
+"    ########################\n"
+"    # widgets allows access to  widgets from the QtVCP files\n"
+"    # at this point the widgets and hal pins are not instantiated\n"
+"    def __init__(self, halcomp,widgets,paths):\n"
+"        self.hal = halcomp\n"
+"        self.w = widgets\n"
+"        self.PATHS = paths\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:776
+#, no-wrap
+msgid ""
+"    ##########################################\n"
+"    # SPECIAL FUNCTIONS SECTION              #\n"
+"    ##########################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:783
+#, no-wrap
+msgid ""
+"    # at this point:\n"
+"    # the widgets are instantiated.\n"
+"    # the HAL pins are built but HAL is not set ready\n"
+"    # This is where you make HAL pins or initialize state of widgets etc\n"
+"    def initialized__(self):\n"
+"        pass\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:790
+#, no-wrap
+msgid ""
+"    def "
+"processed_key_event__(self,receiver,event,is_pressed,key,code,shift,cntrl):\n"
+"        # when typing in MDI, we don't want keybinding to call functions\n"
+"        # so we catch and process the events directly.\n"
+"        # We do want ESC, F1 and F2 to call keybinding functions though\n"
+"        if code not in(QtCore.Qt.Key_Escape,QtCore.Qt.Key_F1 "
+",QtCore.Qt.Key_F2,\n"
+"                    QtCore.Qt.Key_F3,QtCore.Qt.Key_F5,QtCore.Qt.Key_F5):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:806
+#, no-wrap
+msgid ""
+"            # search for the top widget of whatever widget received the "
+"event\n"
+"            # then check if it is one we want the keypress events to go to\n"
+"            flag = False\n"
+"            receiver2 = receiver\n"
+"            while receiver2 is not None and not flag:\n"
+"                if isinstance(receiver2, QtWidgets.QDialog):\n"
+"                    flag = True\n"
+"                    break\n"
+"                if isinstance(receiver2, MDI_WIDGET):\n"
+"                    flag = True\n"
+"                    break\n"
+"                if isinstance(receiver2, GCODE):\n"
+"                    flag = True\n"
+"                    break\n"
+"                receiver2 = receiver2.parent()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:823
+#, no-wrap
+msgid ""
+"            if flag:\n"
+"                if isinstance(receiver2, GCODE):\n"
+"                    # if in manual do our keybindings - otherwise\n"
+"                    # send events to G-code widget\n"
+"                    if STATUS.is_man_mode() == False:\n"
+"                        if is_pressed:\n"
+"                            receiver.keyPressEvent(event)\n"
+"                            event.accept()\n"
+"                        return True\n"
+"                elif is_pressed:\n"
+"                    receiver.keyPressEvent(event)\n"
+"                    event.accept()\n"
+"                    return True\n"
+"                else:\n"
+"                    event.accept()\n"
+"                    return True\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:825
+#, no-wrap
+msgid "        if event.isAutoRepeat():return True\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:835
+#, no-wrap
+msgid ""
+"        # ok if we got here then try keybindings\n"
+"        try:\n"
+"            return KEYBIND.call(self,event,is_pressed,shift,cntrl)\n"
+"        except NameError as e:\n"
+"            LOG.debug('Exception in KEYBINDING: {}'.format (e))\n"
+"        except Exception as e:\n"
+"            LOG.debug('Exception in KEYBINDING:', exc_info=e)\n"
+"            print('Error in, or no function for: %s in handler file "
+"for-%s'%(KEYBIND.convert(event),key))\n"
+"            return False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:839
+#, no-wrap
+msgid ""
+"    ########################\n"
+"    # CALLBACKS FROM STATUS #\n"
+"    ########################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:843
+#, no-wrap
+msgid ""
+"    #######################\n"
+"    # CALLBACKS FROM FORM #\n"
+"    #######################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:847
+#, no-wrap
+msgid ""
+"    #####################\n"
+"    # GENERAL FUNCTIONS #\n"
+"    #####################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:865
+#, no-wrap
+msgid ""
+"    # keyboard jogging from key binding calls\n"
+"    # double the rate if fast is true\n"
+"    def kb_jog(self, state, joint, direction, fast = False, linear = "
+"True):\n"
+"        if not STATUS.is_man_mode() or not STATUS.machine_is_on():\n"
+"            return\n"
+"        if linear:\n"
+"            distance = STATUS.get_jog_increment()\n"
+"            rate = STATUS.get_jograte()/60\n"
+"        else:\n"
+"            distance = STATUS.get_jog_increment_angular()\n"
+"            rate = STATUS.get_jograte_angular()/60\n"
+"        if state:\n"
+"            if fast:\n"
+"                rate = rate * 2\n"
+"            ACTION.JOG(joint, direction, rate, distance)\n"
+"        else:\n"
+"            ACTION.JOG(joint, 0, 0, 0)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:869
+#, no-wrap
+msgid ""
+"    #####################\n"
+"    # KEY BINDING CALLS #\n"
+"    #####################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:889
+#, no-wrap
+msgid ""
+"    # Machine control\n"
+"    def on_keycall_ESTOP(self,event,state,shift,cntrl):\n"
+"        if state:\n"
+"            ACTION.SET_ESTOP_STATE(STATUS.estop_is_clear())\n"
+"    def on_keycall_POWER(self,event,state,shift,cntrl):\n"
+"        if state:\n"
+"            ACTION.SET_MACHINE_STATE(not STATUS.machine_is_on())\n"
+"    def on_keycall_HOME(self,event,state,shift,cntrl):\n"
+"        if state:\n"
+"            if STATUS.is_all_homed():\n"
+"                ACTION.SET_MACHINE_UNHOMED(-1)\n"
+"            else:\n"
+"                ACTION.SET_MACHINE_HOMING(-1)\n"
+"    def on_keycall_ABORT(self,event,state,shift,cntrl):\n"
+"        if state:\n"
+"            if STATUS.stat.interp_state == linuxcnc.INTERP_IDLE:\n"
+"                self.w.close()\n"
+"            else:\n"
+"                self.cmnd.abort()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:893
+#, no-wrap
+msgid ""
+"    # Linear Jogging\n"
+"    def on_keycall_XPOS(self,event,state,shift,cntrl):\n"
+"        self.kb_jog(state, 0, 1, shift)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:896
+#, no-wrap
+msgid ""
+"    def on_keycall_XNEG(self,event,state,shift,cntrl):\n"
+"        self.kb_jog(state, 0, -1, shift)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:899
+#, no-wrap
+msgid ""
+"    def on_keycall_YPOS(self,event,state,shift,cntrl):\n"
+"        self.kb_jog(state, 1, 1, shift)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:902
+#, no-wrap
+msgid ""
+"    def on_keycall_YNEG(self,event,state,shift,cntrl):\n"
+"        self.kb_jog(state, 1, -1, shift)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:905
+#, no-wrap
+msgid ""
+"    def on_keycall_ZPOS(self,event,state,shift,cntrl):\n"
+"        self.kb_jog(state, 2, 1, shift)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:908
+#, no-wrap
+msgid ""
+"    def on_keycall_ZNEG(self,event,state,shift,cntrl):\n"
+"        self.kb_jog(state, 2, -1, shift)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:912
+#, no-wrap
+msgid ""
+"    def on_keycall_APOS(self,event,state,shift,cntrl):\n"
+"        pass\n"
+"        #self.kb_jog(state, 3, 1, shift, False)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:916
+#, no-wrap
+msgid ""
+"    def on_keycall_ANEG(self,event,state,shift,cntrl):\n"
+"        pass\n"
+"        #self.kb_jog(state, 3, -1, shift, linear=False)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:920
+#, no-wrap
+msgid ""
+"    ###########################\n"
+"    # **** closing event **** #\n"
+"    ###########################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:924 src/gui/qtvcp-custom-widgets.adoc:551
+#, no-wrap
+msgid ""
+"    ##############################\n"
+"    # required class boiler code #\n"
+"    ##############################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:929 src/gui/qtvcp-custom-widgets.adoc:556
+#, no-wrap
+msgid ""
+"    def __getitem__(self, item):\n"
+"        return getattr(self, item)\n"
+"    def __setitem__(self, item, value):\n"
+"        return setattr(self, item, value)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:933
+#, no-wrap
+msgid ""
+"################################\n"
+"# required handler boiler code #\n"
+"################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:936
+#, no-wrap
+msgid ""
+"def get_handlers(halcomp,widgets,paths):\n"
+"     return [HandlerClass(halcomp,widgets,paths)]\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:938
+#, no-wrap
+msgid "IMPORT Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:941
+msgid "This section is for *importing required library modules* for your screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:943
+msgid ""
+"It would be typical to import QtVCP's _keybinding_, _Status_ and _Action_ "
+"libraries."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:944
+#, no-wrap
+msgid "INSTANTIATE LIBRARIES Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:947
+msgid "By instantiating the libraries here we *create global reference*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:949
+msgid "You can note this by the commands that don't have `self.` in front of them."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:951
+msgid "By convention we _capitalize the names of globally referenced libraries_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:952
+#, no-wrap
+msgid "HANDLER CLASS Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:955
+msgid "The *custom code* is placed _in a class so QtVCP can utilize it_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:957
+msgid "This is the definitions of the handler class."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:958
+#, no-wrap
+msgid "INITIALIZE Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:961
+msgid ""
+"Like all Python libraries the *`+__init__+` function* is called when the "
+"library is _first instantiated_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:963
+msgid ""
+"This is where you would set up _defaults_, as well as _reference variables_ "
+"and _global variables_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:965
+msgid "The widget references are not available at this point."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:967
+msgid ""
+"The variables `halcomp`, `widgets` and `paths` give access to QtVCP's HAL "
+"component, widgets, and path info respectively."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:968
+#, no-wrap
+msgid "SPECIAL FUNCTIONS Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:972
+msgid ""
+"There are several _special functions_ that QtVCP looks for in the handler "
+"file.  If QtVCP finds these it will call them, if not it will silently "
+"ignore them."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:973
+#, no-wrap
+msgid "*`class_patch__(self):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:977
+#, no-wrap
+msgid ""
+"_Class patching_, also known as _monkey patching_, allows to *override "
+"function calls in an imported module*.\n"
+"Class patching must be done _before the module is instantiated_, and it "
+"_modifies all instances_ made after that.\n"
+"An example might be patching button calls from the G-code editor to call "
+"functions in the handler file instead. +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:978
+#, no-wrap
+msgid "*`initialized__(self):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:982
+#, no-wrap
+msgid ""
+"This function is _called after the widgets and HAL pins are built_.\n"
+"You can manipulate the widgets and HAL pins or add more HAL pins here.\n"
+"Typically there can be"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:983
+msgid "preferences checked and set,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:984
+msgid "styles applied to widgets,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:985
+msgid "status of LinuxCNC connected to functions."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:986
+msgid "keybindings would be added."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:987
+#, no-wrap
+msgid "*`before_hal_init__(self):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:990
+#, no-wrap
+msgid ""
+"This function is called before the HAL-ified widgets have their hal_init_ "
+"function called.\n"
+"Some property changes need to be done before HAL_init is called on the "
+"widget."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:991
+#, no-wrap
+msgid "*`after_override__(self):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:994
+#, no-wrap
+msgid ""
+"This function is called after the optional override file is loaded but\n"
+"before the optional HAL file is loaded or HAL component is set ready."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:995
+#, no-wrap
+msgid "*`processed_key_event__(self,receiver,event,is_pressed,key,code,shift,cntrl):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:998
+#, no-wrap
+msgid ""
+"This function is called to facilitate _keyboard jogging_, etc.\n"
+"By using the _`keybinding` library_ this can be used to easily add functions "
+"bound to keypresses."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:999
+#, no-wrap
+msgid "*`keypress_event__(self,receiver, event):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1002
+#, no-wrap
+msgid ""
+"This function gives *raw key press events*.\n"
+"It takes _precedence over_ the `processed_key_event`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:1002
+#, no-wrap
+msgid "*`keyrelease_event__(receiver, event):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1005
+#, no-wrap
+msgid ""
+"This function gives *raw key release events*.\n"
+"It takes _precedence over_ the `processed_key_event`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:1005
+#, no-wrap
+msgid "*`before_loop__(self):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1008
+msgid ""
+"This function is _called just before the Qt event loop is entered_.  At that "
+"point, all widgets/libraries/initialization code has completed and the "
+"screen is already displayed."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:1008
+#, no-wrap
+msgid "*`system_shutdown_request__(self):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1014
+#, no-wrap
+msgid ""
+"If present, this function *overrides the normal function called for total "
+"system shutdown*.\n"
+"It could be used to do _pre-shutdown housekeeping_.\n"
+"+\n"
+"The Linux _system will not shutdown if using this function_, you will have "
+"to do that yourself.\n"
+"QtVCP/LinuxCNC will terminate without a prompt once this function returns."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp.adoc:1015
+#, no-wrap
+msgid "*`closing_cleanup__(self):`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1018
+msgid ""
+"This function is _called just before the screen closes_.  It can be used to "
+"do cleanup before closing."
+msgstr ""
+
+#. TODO Are there/what are relations b/w system_shutdown_request__() and clocing_cleanup__()
+#. type: Title ===
+#: src/gui/qtvcp.adoc:1021
+#, no-wrap
+msgid "STATUS CALLBACKS Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1024
+msgid ""
+"By convention this is where you would put functions that are *callbacks from "
+"STATUS definitions*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:1025
+#, no-wrap
+msgid "CALLBACKS FROM FORM Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1028
+msgid ""
+"By convention this is where you would put functions that are *callbacks from "
+"the widgets connected to the MainWindow* in the Qt Designer editor."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:1029
+#, no-wrap
+msgid "GENERAL FUNCTIONS Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1032
+msgid "By convention this is where you put your *general functions*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:1033
+#, no-wrap
+msgid "KEY BINDING Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1036
+msgid ""
+"If you are _using the `keybinding` library_ this is where you place your "
+"*custom key call routines*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1038
+msgid "The function signature is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:1044
+#, no-wrap
+msgid ""
+"def on_keycall_KEY(self,event,state,shift,cntrl):\n"
+"    if state:\n"
+"        self.do_something_function()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1047
+msgid "`KEY` being the code (from the keybindings library) for the desired key."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:1048
+#, no-wrap
+msgid "CLOSING EVENT Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1051
+msgid "Putting the *`closeEvent` function here will catch closing events*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1053
+msgid "This _replaces any predefined `closeEvent`_ function from QtVCP."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:1059
+#, no-wrap
+msgid ""
+"def closeEvent(self, event):\n"
+"    self.do_something()\n"
+"    event.accept()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1062
+msgid "It is usually better to use the special `closing_cleanup__` function."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp.adoc:1063
+#, no-wrap
+msgid "Connecting Widgets to Python Code"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1066
+msgid "It is possible to connect widgets to Python code using *signals and slots*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1068
+msgid "In this way you can:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1070
+msgid "_Give new functions to LinuxCNC widgets_, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1071
+msgid "_Utilize standard Qt widgets to control LinuxCNC_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1075
+#, no-wrap
+msgid "*In the Qt Designer editor*:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1077
+msgid "You _create user function slots_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1078
+msgid "You _connect the slots to widgets using signals_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1080
+#, no-wrap
+msgid "*In the handler file*:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1082
+msgid "You _create the slot's functions_ defined in Qt Designer."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:1084
+#, no-wrap
+msgid "Using Qt Designer to add Slots"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1088
+#, no-wrap
+msgid ""
+"When you have loaded your screen into Qt Designer, add a plain `PushButton` "
+"to the screen.\n"
+"You could change the name of the button to something interesting like "
+"'test_button'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1090
+msgid "There are two ways to edit connections - This is the graphical way."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1093
+msgid ""
+"There is a button in the top tool bar of Qt Designer for editing signals.  "
+"After pushing it, if you click-and-hold on the button it will show an arrow "
+"(looks like a ground signal from electrical schematic)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1094
+msgid ""
+"Slide this arrow to a part of the main window that does not have widgets on "
+"it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1095
+msgid "A 'Configure Connections' dialog will pop up."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1096
+msgid "The list on the left are the available signals from the widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1097
+msgid ""
+"The list on the right are the available slots on the main window and you can "
+"add to it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1098
+msgid "Pick the signal `clicked()` - this makes the slots side available."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1099
+msgid "Click 'Edit' on the slots list."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1100
+msgid "A 'Slots/Signals of MainWindow' dialog will pop up."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1101
+msgid "On the slots list at the top there is a '+' icon - click it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1102
+msgid "You can now edit a new slot name."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1103
+msgid "Erase the default name `slot()` and change it to `test_button()`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1104
+msgid "Press the 'OK' button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1105
+msgid "You'll be back to the 'Configure Connections' dialog."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1106
+msgid "Now you can select your new slot in the slot list."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1107
+msgid "Then press 'OK' and save the file."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp.adoc:1108 src/gui/qtvcp.adoc:1109
+#, no-wrap
+msgid "Qt Designer Signal/Slot Selection"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp.adoc:1109
+#, no-wrap
+msgid "images/designer_slots.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:1111
+#, no-wrap
+msgid "Python Handler Changes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1114
+msgid "Now you must *add the function to the handler file*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1116
+msgid "The function signature is *`def slot_name(self):`*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1118
+msgid "For our example, we will add some code to print the widget name:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:1124
+#, no-wrap
+msgid ""
+"def test_button(self):\n"
+"    name = self.w.sender().text()\n"
+"    print(name)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1127
+msgid "Add this code under the section named:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp.adoc:1133
+#, no-wrap
+msgid ""
+"#######################\n"
+"# callbacks from form #\n"
+"#######################\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1136
+msgid ""
+"In fact it doesn't matter where in the handler class you put the commands "
+"but by convention this is where to put it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1138
+msgid "Save the handler file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1140
+msgid ""
+"Now when you load your screen and press the button it should print the name "
+"of the button in the terminal."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp.adoc:1141 src/gui/qtvcp-libraries.adoc:1462
+#, no-wrap
+msgid "More Information"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1144
+msgid "<<cha:qtvcp:panels,QtVCP Builtin Virtual Control Panels>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1146
+msgid "<<cha:qtvcp:widgets,QtVCP Widgets>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1148
+msgid "<<cha:qtvcp:libraries,QtVCP Libraries>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1150
+msgid "<<cha:qtvcp:vismach,Qt Vismach>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1152
+msgid "<<cha:qtvcp:code,QtVCP Handler File Code Snippets>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1154
+msgid "<<cha:qtvcp:devel,QtVCP Development>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp.adoc:1156
+msgid "<<cha:qtvcp:custom-widgets,QtVCP Custom Qt Designer Widgets>>"
+msgstr ""
+
+#. type: Title =
+#: src/gui/qtvcp-code-snippets.adoc:5
+#, no-wrap
+msgid "QtVCP Handler File Code Snippets"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:7
+#, no-wrap
+msgid "Preference File Loading/Saving"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:10
+msgid "Here is how to *load and save preferences at launch and closing time*."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:11
+#, no-wrap
+msgid "Prerequisites"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:14
+msgid "_Preference file option must be set_ in the `ScreenOptions` widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:15
+msgid "_Preference file path must be set_ in the `INI` configuration."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:16
+#, no-wrap
+msgid "Reading preferences at launch time"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:18 src/gui/qtvcp-code-snippets.adoc:57
+msgid "Under the *`def initialized__(self):`* function add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:25
+#, no-wrap
+msgid ""
+"if self.w.PREFS_:\n"
+"    # variable name (entry name, default value, type, section name)\n"
+"    self.int_value = self.w.PREFS_.getpref('Integer_value', 75, int, "
+"'CUSTOM_FORM_ENTRIES')\n"
+"    self.string_value = self.w.PREFS_.getpref('String_value', 'on', str, "
+"'CUSTOM_FORM_ENTRIES')\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:27
+#, no-wrap
+msgid "Writing preferences at close time"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:29
+msgid "In the *`closing_cleanup__()`* function, add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:36
+#, no-wrap
+msgid ""
+"if self.w.PREFS_:\n"
+"    # variable name (entry name, variable name, type, section name)\n"
+"    self.w.PREFS_.putpref('Integer_value', self.integer_value, int, "
+"'CUSTOM_FORM_ENTRIES')\n"
+"    self.w.PREFS_.putpref('String_value', self.string_value, str, "
+"'CUSTOM_FORM_ENTRIES')\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:38
+#, no-wrap
+msgid "Use `QSettings` To Read/Save Variables"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:41
+msgid "Here is how to *load and save variables using PyQt's `QSettings`* functions:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:42
+#, no-wrap
+msgid "Good practices"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:45
+msgid "_Use `Group` to keep names organized and unique_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:46
+msgid ""
+"_Account for `none` value_ returned when reading a setting which has no "
+"entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:47
+msgid ""
+"_Set defaults to cover the first time it is run_ using the `or "
+"_<default_value>_` syntax."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:49
+msgid "The file is actually saved in `~/.config/QtVcp`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:52
+msgid "In this example:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:54
+msgid "We add `or 20` and `or 2.5` as defaults."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:55
+msgid ""
+"The names `MyGroupName`, `int_value`, `float_value`, `myInteger`, and "
+"`myFloat` are user defined."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:65
+#, no-wrap
+msgid ""
+"# set recorded columns sort settings\n"
+"self.SETTINGS_.beginGroup(\"MyGroupName\")\n"
+"self.int_value = self.SETTINGS_.value('myInteger', type = int) or 20\n"
+"self.float_value = self.SETTINGS_.value('myFloat', type = float) or 2.5\n"
+"self.SETTINGS_.endGroup()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:68
+msgid "Under the *`def closing_cleanup__(self):`* function add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:76
+#, no-wrap
+msgid ""
+"# save values with QSettings\n"
+"self.SETTINGS_.beginGroup(\"MyGroupName\")\n"
+"self.SETTINGS_.setValue('myInteger', self.int_value)\n"
+"self.SETTINGS_.setValue('myFloat', self.float_value)\n"
+"self.SETTINGS_.endGroup()\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:78
+#, no-wrap
+msgid "Add A Basic Style Editor"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:81
+msgid "Being able to *edit a style on a running screen* is convenient."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:82
+#, no-wrap
+msgid "Import `StyleSheetEditor` module in the `IMPORT SECTION`:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:86
+#, no-wrap
+msgid "from qtvcp.widgets.stylesheeteditor import StyleSheetEditor as SSE\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:88
+#, no-wrap
+msgid "Instantiate `StyleSheetEditor` module in the `INSTANTIATE SECTION`:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:92
+#, no-wrap
+msgid "STYLEEDITOR = SSE()\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:94
+#, no-wrap
+msgid "Create a `keybinding` in the `INITIALIZE SECTION`:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:96
+msgid "Under the `+__init__.(self, halcomp, widgets, paths):+` function add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:100
+#, no-wrap
+msgid "KEYBIND.add_call('Key_F12','on_keycall_F12')\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:102
+#, no-wrap
+msgid "Create the key bound function in the `KEYBINDING SECTION`:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:108
+#, no-wrap
+msgid ""
+"def on_keycall_F12(self,event,state,shift,cntrl):\n"
+"    if state:\n"
+"        STYLEEDITOR.load_dialog()\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:110
+#, no-wrap
+msgid "Request Dialog Entry"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:113
+msgid ""
+"QtVCP uses `STATUS` messages to *pop up and return information from "
+"dialogs*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:115
+msgid ""
+"Prebuilt dialogs keep track of their last position and include options for "
+"focus shading and sound."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:117
+msgid ""
+"To _get information back from the dialog_ requires using a `STATUS` "
+"*`general`* message."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:118
+#, no-wrap
+msgid "Import and Instantiate the `Status` module in the `IMPORT SECTION`"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:123 src/gui/qtvcp-code-snippets.adoc:184
+#, no-wrap
+msgid ""
+"from qtvcp.core import Status\n"
+"STATUS = Status()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:126
+msgid "This loads and initializes the `Status` library."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:127
+#, no-wrap
+msgid "Register function for `STATUS general` messages in the 'INITIALIZE SECTION'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:129
+msgid "Under the `+__init__.(self, halcomp, widgets, paths)+` function:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:133 src/gui/qtvcp-widgets.adoc:2432
+#, no-wrap
+msgid "STATUS.connect('general',self.return_value)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:137
+msgid ""
+"This registers `STATUS` to call the function `self.return_value` when a "
+"general message is sent."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:138
+#, no-wrap
+msgid "Add entry dialog request function in the `GENERAL FUNCTIONS` section"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:144
+#, no-wrap
+msgid ""
+"def request_number(self):\n"
+"    mess = {'NAME':'ENTRY','ID':'FORM__NUMBER', 'TITLE':'Set Tool Offset'}\n"
+"    STATUS.emit('dialog-request', mess)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:147
+msgid "The function"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:149
+msgid "creates a Python `dict` with:"
+msgstr ""
+
+#. FIXME Is that a user defined unique name or a dialog type ?
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:152
+#, no-wrap
+msgid ""
+"*`NAME`* - needs to be set to the _dialogs unique launch name_. +\n"
+"`NAME` sets which dialog to request. +\n"
+"`ENTRY` or `CALCULATOR` allows entering numbers.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:155
+#, no-wrap
+msgid ""
+"*`ID`* - needs to be set to a _unique name that the function supplies_.\n"
+"`ID` should be a unique key.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:156
+#, no-wrap
+msgid "*`TITLE`* sets the dialog title.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:157
+#, no-wrap
+msgid ""
+"*Arbitrary data* can be added to the `dict`. The dialog will ignore them but "
+"send them back to the return code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:158
+#, no-wrap
+msgid "Sends the `dict` as a *`dialog-request`* `STATUS` message\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:159
+#, no-wrap
+msgid "Add message data processing function in the `CALLBACKS FROM STATUS` section."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:169
+#, no-wrap
+msgid ""
+"# Process the STATUS return message from set-tool-offset\n"
+"def return_value(self, w, message):\n"
+"    num = message.get('RETURN')\n"
+"    id_code = bool(message.get('ID') == 'FORM__NUMBER')\n"
+"    name = bool(message.get('NAME') == 'ENTRY')\n"
+"    if id_code and name and num is not None:\n"
+"        print('The {} number from {} was: {}'.format(name, id_code, num))\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:174
+msgid ""
+"This catches all general messages so it must _check the dialog type and id "
+"code_ to confirm it's our dialog.  In this case we had requested an `ENTRY` "
+"dialog and our unique id was `FORM_NUMBER`, so now we know the message is "
+"for us.  `ENTRY` or `CALCULATOR` dialogs return a float number."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:175
+#, no-wrap
+msgid "Speak a Startup Greeting"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:178
+msgid "This requires the `espeak` library installed on the system."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:179
+#, no-wrap
+msgid "Import and instantiate the `Status` in the `IMPORT` section"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:186
+#, no-wrap
+msgid "Emit spoken message in the `INITIALIZE SECTION`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:188
+msgid "Under the '+__init__.(self, halcomp, widgets, paths)+' function:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:192
+#, no-wrap
+msgid "STATUS.emit('play-alert','SPEAK Please remember to oil the ways.')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:195
+#, no-wrap
+msgid "*`SPEAK`* is a keyword: _everything after it will be pronounced_.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:196
+#, no-wrap
+msgid "ToolBar Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:200
+msgid ""
+"Toolbar buttons and submenus are added in Qt Designer but the code to make "
+"them do something is added in the handler file.  To *add a submenus* in Qt "
+"Designer:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:202
+msgid ""
+"Add a `Qaction` by typing in the toolbar column then clicking the '+' icon "
+"on the right."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:203
+msgid "This will add a sub column that you need to type a name into."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:204
+msgid "Now the original `Qaction` will be a `Qmenu` instead."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:205
+msgid ""
+"Now erase the `Qaction` you added to that `Qmenu`, the menu will stay as a "
+"menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:208
+msgid ""
+"In this example we assume you added a toolbar with one submenu and three "
+"actions.  These actions will be configured to create:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:210
+msgid "a recent file selection menu,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:211
+msgid "an about pop up dialog action,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:212
+msgid "a quit program action, and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:213
+msgid "a user defined function action."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:215
+msgid ""
+"The `objectName` of the toolbar button is used to identify the button when "
+"configuring it - _descriptive names help_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:218
+#, no-wrap
+msgid ""
+"Using the action editor menu, right click and select edit.\n"
+"Edit the object name, text, and button type for an appropriate action."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:220
+msgid "In this example the:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:222
+msgid "submenu name must be `menuRecent`,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:223
+msgid "actions names must be `actionAbout`, `actionQuit`, `actionMyFunction`"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:224
+#, no-wrap
+msgid "Loads the `toolbar_actions` library in the `IMPORT SECTION`"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:228 src/gui/qtvcp-libraries.adoc:1256
+#, no-wrap
+msgid "from qtvcp.lib.toolbar_actions import ToolBarActions\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:230
+#, no-wrap
+msgid "Instantiate `ToolBarActions` module in the `INSTANTIATE LIBRARY SECTION`"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:234 src/gui/qtvcp-libraries.adoc:1262
+#, no-wrap
+msgid "TOOLBAR = ToolBarActions()\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:236
+#, no-wrap
+msgid "Configure submenus and actions in the `SPECIAL FUNCTIONS SECTION`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:238
+msgid "Under the `def initialized__(self)` function add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:245
+#, no-wrap
+msgid ""
+"TOOLBAR.configure_submenu(self.w.menuRecent, 'recent_submenu')\n"
+"TOOLBAR.configure_action(self.w.actionAbout, 'about')\n"
+"TOOLBAR.configure_action(self.w.actionQuit, 'Quit', lambda "
+"d:self.w.close())\n"
+"TOOLBAR.configure_action(self.w.actionMyFunction, 'My Function', "
+"self.my_function)\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:247
+#, no-wrap
+msgid "Define the user function in the `GENERAL FUNCTIONS SECTION`"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:252 src/gui/qtvcp-libraries.adoc:1296
+#, no-wrap
+msgid ""
+"def my_function(self, widget, state):\n"
+"    print('My function State = ()'.format(state))\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:255
+msgid "The function to be called if the action \"My Function\" button is pressed."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:256
+#, no-wrap
+msgid "Add HAL Pins That Call Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:259
+msgid "In this way you _don't need to poll the state of input pins_."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:260
+#, no-wrap
+msgid "Loads the `Qhal` library in the `IMPORT SECTION`"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:264 src/gui/qtvcp-code-snippets.adoc:680
+#, no-wrap
+msgid "from qtvcp.core import Qhal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:267
+msgid "This is to allow access to *QtVCP's HAL component*."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:268
+#, no-wrap
+msgid "Instantiate `Qhal` in the `INSTANTIATE LIBRARY SECTION`"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:272 src/gui/qtvcp-code-snippets.adoc:688
+#, no-wrap
+msgid "QHAL = Qhal()\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:274 src/gui/qtvcp-libraries.adoc:445
+#, no-wrap
+msgid "Add a function that gets called when the pin state changes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:276
+msgid ""
+"Under the `initialised__` function, make sure there is an entry similar to "
+"this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:282 src/gui/qtvcp-code-snippets.adoc:483
+#: src/gui/qtvcp-libraries.adoc:455 src/gui/qtvcp-libraries.adoc:815
+#: src/gui/qtvcp-libraries.adoc:1273 src/gui/qtvcp-libraries.adoc:1453
+#, no-wrap
+msgid ""
+"##########################################\n"
+"# Special Functions called from QtVCP\n"
+"##########################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:289
+#, no-wrap
+msgid ""
+"# at this point:\n"
+"# the widgets are instantiated.\n"
+"# the HAL pins are built but HAL is not set ready\n"
+"def initialized__(self):\n"
+"    self.pin_cycle_start_in = QHAL.newpin('cycle-start-in',QHAL.HAL_BIT, "
+"QHAL.HAL_IN)\n"
+"    self.pin_cycle_start_in.value_changed.connect(lambda s: "
+"self.cycleStart(s))\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:291
+#, no-wrap
+msgid ""
+"Define the function called by pin state change in the `GENERAL FUNCTIONS "
+"SECTION`"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:297 src/gui/qtvcp-code-snippets.adoc:597
+#: src/gui/qtvcp-code-snippets.adoc:958
+#, no-wrap
+msgid ""
+"#####################\n"
+"# general functions #\n"
+"#####################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:307
+#, no-wrap
+msgid ""
+"def cycleStart(self, state):\n"
+"    if state:\n"
+"        tab = self.w.mainTab.currentWidget()\n"
+"        if  tab in( self.w.tab_auto,  self.w.tab_graphics):\n"
+"            ACTION.RUN(line=0)\n"
+"        elif tab == self.w.tab_files:\n"
+"                self.w.filemanager.load()\n"
+"        elif tab == self.w.tab_mdi:\n"
+"            self.w.mditouchy.run_command()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:311
+msgid ""
+"This function assumes there is a Tab widget, named `mainTab`, that has tabs "
+"with the names `tab_auto`, `tab_graphics`, `tab_filemanager` and `tab_mdi`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:313
+msgid ""
+"In this way the cycle start button works differently depending on what tab "
+"is shown."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:315
+msgid "This is simplified - _checking state and error trapping might be helpful_."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:316
+#, no-wrap
+msgid "Add A Special Max Velocity Slider Based On Percent"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:320
+msgid ""
+"Some times you want to *build a widget to do something not built in*.  The "
+"built in Max velocity slider acts on units per minute, here we show how to "
+"do on percent."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:322
+msgid ""
+"The *`STATUS`* command makes sure the slider adjusts if LinuxCNC changes the "
+"current max velocity."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:324
+#, no-wrap
+msgid "*`valueChanged.connect()`* _calls a function when the slider is moved_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:326
+msgid ""
+"In Qt Designer add a *`QSlider`* widget called `mvPercent`, then add the "
+"following code to the handler file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:332
+#, no-wrap
+msgid ""
+"#############################\n"
+"# SPECIAL FUNCTIONS SECTION #\n"
+"#############################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:341
+#, no-wrap
+msgid ""
+"def initialized__(self):\n"
+"    self.w.mvPercent.setMaximum(100)\n"
+"    STATUS.connect('max-velocity-override-changed', \\\n"
+"        lambda w, data: self.w.mvPercent.setValue( \\\n"
+"            (data / INFO.MAX_TRAJ_VELOCITY)*100 \\\n"
+"            )\n"
+"        )\n"
+"    self.w.mvPercent.valueChanged.connect(self.setMVPercentValue)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:345 src/gui/qtvcp-code-snippets.adoc:389
+#: src/gui/qtvcp-code-snippets.adoc:461 src/gui/qtvcp-code-snippets.adoc:493
+#: src/gui/qtvcp-libraries.adoc:1293
+#, no-wrap
+msgid ""
+"#####################\n"
+"# GENERAL FUNCTIONS #\n"
+"#####################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:348
+#, no-wrap
+msgid ""
+"def setMVPercentValue(self, value):\n"
+"    ACTION.SET_MAX_VELOCITY_RATE(INFO.MAX_TRAJ_VELOCITY * (value/100.0))\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:350
+#, no-wrap
+msgid "Toggle Continuous Jog On and Off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:354
+msgid ""
+"Generally selecting continuous jogging is a momentary button, that requires "
+"you to select the previous jog increment after."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:356
+msgid ""
+"We will build a button that toggles between continuous jog and whatever "
+"increment that was already selected."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:358
+msgid "In Qt Designer:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:360
+msgid "Add an `ActionButton` with no action"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:361
+msgid "Call it `btn_toggle_continuous`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:362
+msgid "Set the `AbstractButton` property `checkable` to `True`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:363
+msgid ""
+"Set the `ActionButton` properties `incr_imperial_number` and "
+"`incr_mm_number` to `0`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:365
+#, no-wrap
+msgid ""
+"Use Qt Designer's slot editor to use the button signal `clicked(bool)` to "
+"call form's handler function `toggle_continuous_clicked()`.\n"
+"See <<sub:qtvcp:designer-slots,Using Qt Designer To Add Slots>> section for "
+"more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:367
+msgid ""
+"Then add this code snippets to the handler file under the `initialized__` "
+"function:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:380
+#, no-wrap
+msgid ""
+"# at this point:\n"
+"# the widgets are instantiated.\n"
+"# the HAL pins are built but HAL is not set ready\n"
+"def initialized__(self):\n"
+"    STATUS.connect('jogincrement-changed', \\\n"
+"        lambda w, d, t: self.record_jog_incr(d,t) \\\n"
+"        )\n"
+"    # set a default increment to toggle back to\n"
+"    self.L_incr = 0.01\n"
+"    self.L_text = \"0.01in\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:383
+msgid "In the `GENERAL FUNCTIONS SECTION` add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:397
+#, no-wrap
+msgid ""
+"# if it isn't continuous, record the latest jog increment\n"
+"# and untoggle the continuous button\n"
+"def record_jog_incr(self,d, t):\n"
+"    if d != 0:\n"
+"        self.L_incr = d\n"
+"        self.L_text = t\n"
+"        self.w.btn_toggle_continuous.safecheck(False)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:400
+msgid "In the `CALLBACKS FROM FORM SECTION` add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:406
+#, no-wrap
+msgid ""
+"#######################\n"
+"# CALLBACKS FROM FORM #\n"
+"#######################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:414
+#, no-wrap
+msgid ""
+"def toggle_continuous_clicked(self, state):\n"
+"    if state:\n"
+"        # set continuous (call the actionbutton's function)\n"
+"        self.w.btn_toggle_continuous.incr_action()\n"
+"    else:\n"
+"        # reset previously recorded increment\n"
+"        ACTION.SET_JOG_INCR(self.L_incr, self.L_text)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:416
+#, no-wrap
+msgid "Class Patch The File Manager Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:420
+msgid ""
+"Class patching (monkey patching) is a little like _black magic_ - so use it "
+"_only if needed_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:423
+msgid ""
+"The File manager widget is designed to load a selected program in LinuxCNC.  "
+"But maybe you want to print the file name first."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:426
+msgid ""
+"We can \"class patch\" the library to _redirect the function call_.  In the "
+"`IMPORT SECTION` add:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:430
+#, no-wrap
+msgid "from qtvcp.widgets.file_manager import FileManager as FM\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:433
+msgid "Here we are going to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:435
+msgid "_Keep a reference to the original function_ (1) so we can still call it"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:436
+msgid ""
+"_Redirect the class to call our custom function_ (2) in the handler file "
+"instead."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:442
+#, no-wrap
+msgid ""
+"##########################################\n"
+"# Special Functions called from QtVCP    #\n"
+"##########################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:448
+#, no-wrap
+msgid ""
+"# For changing functions in widgets we can 'class patch'.\n"
+"# class patching must be done before the class is instantiated.\n"
+"def class_patch__(self):\n"
+"    self.old_load = FM.load # keep a reference of the old function <1>\n"
+"    FM.load = self.our_load # redirect function to our handle file function "
+"<2>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:455
+#, no-wrap
+msgid ""
+"_Write a custom function to replace the original_:\n"
+"This function must have the *same signature as the original function*.\n"
+"In this example we are still going to call the original function by using "
+"the reference to it we recorded earlier.\n"
+"It _requires the first argument to be the widget instance_, which in this "
+"case is `self.w.filemanager` (the name given in the Qt Designer editor)."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:465
+#, no-wrap
+msgid ""
+"def our_load(self,fname):\n"
+"    print(fname)\n"
+"    self.old_load(self.w.filemanager,fname)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:469
+msgid ""
+"Now our custom function will print the file path to the terminal before "
+"loading the file.  Obviously boring but shows the principle."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:477
+#, no-wrap
+msgid ""
+"There is another slightly different way to do this that can have advantages: "
+"you can _store the reference to the original function in the original "
+"class_.\n"
+"The trick here is to make sure the function name you use to store it is not "
+"already used in the class.\n"
+"`super__` added to the function name would be a good choice.\n"
+"We won't use that in built in QtVCP widgets."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:489
+#, no-wrap
+msgid ""
+"# For changing functions in widgets we can 'class patch'.\n"
+"# class patching must be done before the class is instantiated.\n"
+"def class_patch__(self):\n"
+"    FM.super__load = FM.load # keep a reference of the old function in the "
+"original class\n"
+"    FM.load = self.our_load # redirect function to our handle file "
+"function\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:497
+#, no-wrap
+msgid ""
+"def our_load(self,fname):\n"
+"    print(fname)\n"
+"    self.w.filemanager.super__load(fname)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:501
+#, no-wrap
+msgid "Adding Widgets Programmatically"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:504
+msgid ""
+"In some situation it is only possible to *add widgets with Python code* "
+"rather then using the Qt Designer editor."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:506
+msgid ""
+"When adding QtVCP widgets programmatically, sometimes there are _extra "
+"steps_ to be taken."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:509
+msgid ""
+"Here we are going to add a spindle speed indicator bar and up-to-speed LED "
+"to a tab widget corner.  Qt Designer does not support adding corner widgets "
+"to tabs but PyQt does."
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:511
+msgid "This is a cut down example from QtAxis screen's handler file."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:512
+#, no-wrap
+msgid "Import required libraries"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:514
+msgid ""
+"First we must import the libraries we need, if they're not already imported "
+"in the handler file:"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:516
+msgid "`QtWidgets` gives us access to the `QProgressBar`,"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:517
+msgid "`QColor` is for the _LED color_,"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:518
+msgid "`StateLED` is the QtVCP library used to _create the spindle-at-speed LED_,"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:519
+msgid "`Status` is used to _catch LinuxCNC status information_,"
+msgstr ""
+
+#. type: delimited block =
+#: src/gui/qtvcp-code-snippets.adoc:520
+msgid "`Info` gives us _information about the machine configuration_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:531
+#, no-wrap
+msgid ""
+"from PyQt5 import QtWidgets\n"
+"from PyQt5.QtGui import QColor\n"
+"from qtvcp.widgets.state_led import StateLED as LED\n"
+"from qtvcp.core import Status, Info\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:533
+#, no-wrap
+msgid "Instantiate `Status` and `Info` channels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:535
+msgid ""
+"`STATUS` and `INFO` are initialized outside the handler class so as to be "
+"_global references_ (no self. in front):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:541
+#, no-wrap
+msgid ""
+"##########################################\n"
+"# **** instantiate libraries section **** #\n"
+"###########################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:544
+#, no-wrap
+msgid ""
+"STATUS = Status()\n"
+"INFO = Info()\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:546
+#, no-wrap
+msgid "Register `STATUS` monitoring function"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:549
+msgid ""
+"For the spindle speed indicator we need to know the current spindle speed.  "
+"For this we _register_ with `STATUS` to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:551
+msgid "_Catch_ the `actual-spindle-speed-changed` _signal_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:552
+msgid "_Call_ the `self.update_spindle()` _function_"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:564
+#, no-wrap
+msgid ""
+"########################\n"
+"# **** INITIALIZE **** #\n"
+"########################\n"
+"# Widgets allow access to widgets from the QtVCP files.\n"
+"# At this point the widgets and HAL pins are not instantiated.\n"
+"def __init__(self,halcomp,widgets,paths):\n"
+"    self.hal = halcomp\n"
+"    self.w = widgets\n"
+"    self.PATHS = paths\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:567
+#, no-wrap
+msgid ""
+"    STATUS.connect('actual-spindle-speed-changed', \\\n"
+"        lambda w,speed: self.update_spindle(speed))\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:569
+#, no-wrap
+msgid "Add the widgets to the tab"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:572
+msgid ""
+"We need to _make sure the Qt Designer widgets are already built_ before we "
+"try to add to them.  For this, we add a call to `self.make_corner_widgets()` "
+"function to build our extra widgets at the right time, i.e. under the "
+"`initialized__()` function:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:578
+#, no-wrap
+msgid ""
+"##########################################\n"
+"# Special Functions called from QtScreen #\n"
+"##########################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:584
+#, no-wrap
+msgid ""
+"# at this point:\n"
+"# the widgets are instantiated.\n"
+"# the HAL pins are built but HAL is not set ready\n"
+"def initialized__(self):\n"
+"    self.make_corner_widgets()\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:586
+#, no-wrap
+msgid "Create the widgets building functions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:589
+msgid ""
+"Ok let's code the function to build the widgets and add them in the tab "
+"widget.  We are assuming there is a tab widget built with Designer called "
+"'rightTab'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:591
+msgid ""
+"We are assuming there is a tab widget built with Qt Designer called "
+"`rightTab`."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:604
+#, no-wrap
+msgid ""
+"def make_corner_widgets(self):\n"
+"    # make a spindle-at-speed green LED\n"
+"    self.w.led = LED()                                        # <1>\n"
+"    self.w.led.setProperty('is_spindle_at_speed_status',True) # <2>\n"
+"    self.w.led.setProperty('color',QColor(0,255,0,255))       # <3>\n"
+"    self.w.led.hal_init(HAL_NAME = 'spindle_is_at_speed')     # <4>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:608
+#, no-wrap
+msgid ""
+"    # make a spindle speed bar\n"
+"    self.w.rpm_bar = QtWidgets.QProgressBar()                 # <5>\n"
+"    self.w.rpm_bar.setRange(0, INFO.MAX_SPINDLE_SPEED)        # <6>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:613
+#, no-wrap
+msgid ""
+"    # container\n"
+"    w = QtWidgets.QWidget()                                   # <7>\n"
+"    w.setContentsMargins(0,0,0,6)\n"
+"    w.setMinimumHeight(40)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:619
+#, no-wrap
+msgid ""
+"    # layout\n"
+"    hbox = QtWidgets.QHBoxLayout()                            # <8>\n"
+"    hbox.addWidget(self.w.rpm_bar)                            # <9>\n"
+"    hbox.addWidget(self.w.led)                                # <9>\n"
+"    w.setLayout(hbox)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:622
+#, no-wrap
+msgid ""
+"    # add the container to the corner of the right tab widget\n"
+"    self.w.rightTab.setCornerWidget(w)                        # <10>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:625
+msgid ""
+"This initializes the basic StateLed widget and uses `self.w.led` as the "
+"reference from then on."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:626
+msgid ""
+"Since the state LED can be used for many indications, we must set the "
+"property that designates it as a spindle-at-speed LED."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:627
+msgid "This sets it as green when on."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:630
+#, no-wrap
+msgid ""
+"This is the extra function call required with some QtVCP widgets.\n"
+"If `HAL_NAME` is omitted it will use the widget's `objectName` if there is "
+"one.\n"
+"It gives the special widgets reference to:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:631 src/gui/qtvcp-custom-widgets.adoc:69
+#: src/gui/qtvcp-custom-widgets.adoc:337 src/gui/qtvcp-development.adoc:155
+#, no-wrap
+msgid "*`self.HAL_GCOMP`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:632 src/gui/qtvcp-custom-widgets.adoc:338
+msgid "the _HAL component_ instance"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:632 src/gui/qtvcp-custom-widgets.adoc:70
+#: src/gui/qtvcp-custom-widgets.adoc:338 src/gui/qtvcp-development.adoc:156
+#, no-wrap
+msgid "*`self.HAL_NAME`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:633 src/gui/qtvcp-custom-widgets.adoc:71
+#: src/gui/qtvcp-custom-widgets.adoc:339 src/gui/qtvcp-development.adoc:157
+msgid "This _widget's name_ as a string"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:633 src/gui/qtvcp-custom-widgets.adoc:71
+#: src/gui/qtvcp-custom-widgets.adoc:339 src/gui/qtvcp-development.adoc:157
+#, no-wrap
+msgid "*`self.QT_OBJECT_`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:634 src/gui/qtvcp-custom-widgets.adoc:340
+#: src/gui/qtvcp-development.adoc:158
+msgid "This _widget's PyQt object instance_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:634 src/gui/qtvcp-custom-widgets.adoc:72
+#: src/gui/qtvcp-custom-widgets.adoc:340 src/gui/qtvcp-development.adoc:158
+#, no-wrap
+msgid "*`self.QTVCP_INSTANCE_`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:635 src/gui/qtvcp-custom-widgets.adoc:73
+#: src/gui/qtvcp-custom-widgets.adoc:341 src/gui/qtvcp-development.adoc:159
+msgid "The _very top level parent_ of the screen"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:635 src/gui/qtvcp-custom-widgets.adoc:73
+#: src/gui/qtvcp-custom-widgets.adoc:341 src/gui/qtvcp-development.adoc:159
+#, no-wrap
+msgid "*`self.PATHS_`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:636 src/gui/qtvcp-custom-widgets.adoc:342
+#: src/gui/qtvcp-development.adoc:160
+msgid "The _instance of QtVCP's path_ library"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:636 src/gui/qtvcp-custom-widgets.adoc:74
+#: src/gui/qtvcp-custom-widgets.adoc:342 src/gui/qtvcp-development.adoc:160
+#, no-wrap
+msgid "*`self.PREFS_`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:637 src/gui/qtvcp-custom-widgets.adoc:343
+msgid "the _instance of an optional preference file_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:637 src/gui/qtvcp-custom-widgets.adoc:75
+#: src/gui/qtvcp-custom-widgets.adoc:343 src/gui/qtvcp-development.adoc:161
+#, no-wrap
+msgid "*`self.SETTINGS_`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:638 src/gui/qtvcp-custom-widgets.adoc:344
+msgid "the `Qsettings` _object_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:640
+msgid "Initializes a PyQt5 `QProgressBar`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:641
+msgid "Sets the max range of the progress bar to the max specified in the `INI`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:643
+#, no-wrap
+msgid ""
+"We create a QWidget\n"
+"Since you can only add one widget to the tab corner and we want two there, "
+"we must add both into a *container*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:644
+msgid "add a QHBoxLayout to the QWidget. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:645
+msgid "Then we add our QProgress bar and LED to the layout."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:646
+msgid ""
+"Finally we add the QWidget (with our QProgress bar and LED in it) to the tab "
+"widget's corner."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:647
+#, no-wrap
+msgid "Create the `STATUS` monitoring function"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:649
+msgid ""
+"Now we build the function to actually update out the `QProgressBar` when "
+"`STATUS` updates the spindle speed:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:659
+#, no-wrap
+msgid ""
+"########################\n"
+"# callbacks from STATUS #\n"
+"########################\n"
+"def update_spindle(self, data):\n"
+"    self.w.rpm_bar.setInvertedAppearance(bool(data<0))       # <1>\n"
+"    self.w.rpm_bar.setFormat('{0:d} RPM'.format(int(data)))  # <2>\n"
+"    self.w.rpm_bar.setValue(abs(data))                       # <3>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:663
+msgid ""
+"In this case we chose to display left-to-right or right-to-left, depending "
+"if we are turning clockwise or anticlockwise."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:664
+msgid "This formats the writing in the bar."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:665
+msgid "This sets the length of the colored bar."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:666
+#, no-wrap
+msgid "Update/Read Objects Periodically"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:669
+msgid ""
+"Sometimes you need to *update a widget or read a value regularly* that isn't "
+"covered by normal libraries."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:671
+msgid "Here we update an LED based on a watched HAL pin every 100&#8239;ms."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:673
+msgid "We assume there is an LED named `led` in the Qt Designer UI file."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:674
+#, no-wrap
+msgid "Load the `Qhal` library for access to QtVCP's HAL component"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:676
+msgid "In the `IMPORT SECTION` add:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:682
+#, no-wrap
+msgid "Instantiate `Qhal`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:684
+msgid "In the `INSTANTIATE LIBRARY SECTION` add:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:691
+msgid "Now add/modify these sections to include code that is similar to this:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:692
+#, no-wrap
+msgid "Register a function to be called at `CYCLE_TIME` period"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:694
+msgid "This is usually every 100&#8239;ms."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:706
+#, no-wrap
+msgid ""
+"########################\n"
+"# **** INITIALIZE **** #\n"
+"########################\n"
+"# widgets allows access to widgets from the QtVCP files\n"
+"# at this point the widgets and hal pins are not instantiated\n"
+"def __init__(self,halcomp,widgets,paths):\n"
+"    self.hal = halcomp\n"
+"    self.w = widgets\n"
+"    self.PATHS = paths\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:709
+#, no-wrap
+msgid ""
+"    # register a function to be called at CYCLE_TIME period (usually every "
+"100 ms)\n"
+"    STATUS.connect('periodic', lambda w: self.update_periodic())\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:711
+#, no-wrap
+msgid "Create the custom function to be called periodically"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:720
+#, no-wrap
+msgid ""
+"#####################\n"
+"# general functions #\n"
+"#####################\n"
+"def update_periodic(self):\n"
+"    data = QHAL.getvalue('spindle.0.is-oriented')\n"
+"    self.w.led.setState(data)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:722
+#, no-wrap
+msgid "External Control With ZMQ"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:725
+msgid ""
+"_QtVCP can automatically set up_ *ZMQ messaging* _to send and/or receive "
+"remote messages from external programs_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:727
+msgid "It uses ZMQ's *publish/subscribe messaging pattern*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:729
+msgid ""
+"As always, consider *security* before letting programs interface though "
+"messaging."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-code-snippets.adoc:730
+#, no-wrap
+msgid "ZMQ Messages Reading"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:733
+msgid "Sometimes you want to *control the screen with a separate program*."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:734
+#, no-wrap
+msgid "Enable reception of ZMQ messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:737
+#, no-wrap
+msgid ""
+"In the `ScreenOptions` widget, you can select the property "
+"*`use_receive_zmq_option`*.\n"
+"You can also set this property directly _in the handler file_, as in this "
+"sample."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:739 src/gui/qtvcp-code-snippets.adoc:828
+msgid ""
+"We assume the `ScreenOptions` widget is called `screen_options` in Qt "
+"Designer:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:750
+#, no-wrap
+msgid ""
+"########################\n"
+"# **** INITIALIZE **** #\n"
+"########################\n"
+"# widgets allows access to widgets from the QtVCP files\n"
+"# at this point the widgets and hal pins are not instantiated\n"
+"def __init__(self,halcomp,widgets,paths):\n"
+"    # directly select ZMQ message receiving\n"
+"    self.w.screen_options.setProperty('use_receive_zmq_option',True)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:753
+msgid "This *allows an external program to call functions in the handler file*."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:754
+#, no-wrap
+msgid "Add a function to be called on ZMQ message reception"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:757
+msgid ""
+"Let's add a specific function for testing.  You will need to run LinuxCNC "
+"from a terminal to see the printed text."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:765
+#, no-wrap
+msgid ""
+"#####################\n"
+"# general functions #\n"
+"#####################\n"
+"def test_zmq_function(self, arg1, arg2):\n"
+"    print('zmq_test_function called: ', arg1, arg2)\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:767
+#, no-wrap
+msgid ""
+"Create an external program sending ZMQ messages that will trigger function "
+"call"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:771
+msgid ""
+"Here is a sample external program to call a function.  It alternates between "
+"two data sets every second.  Run this in a separate terminal from LinuxCNC "
+"to see the sent messages."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:776
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"from time import sleep\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:784
+#, no-wrap
+msgid ""
+"context = zmq.Context()\n"
+"socket = context.socket(zmq.PUB)\n"
+"socket.bind(\"tcp://127.0.0.1:5690\")\n"
+"topic = b'QtVCP'\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:793
+#, no-wrap
+msgid ""
+"# prebuilt message 1\n"
+"# makes a dict of function to call plus any arguments\n"
+"x = {                               # <1>\n"
+"  \"FUNCTION\": \"test_zmq_function\",\n"
+"  \"ARGS\": [True,200]\n"
+"}\n"
+"# convert to JSON object\n"
+"m1 = json.dumps(x)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:801
+#, no-wrap
+msgid ""
+"# prebuild message 2\n"
+"x = {                               # <1>\n"
+"  \"FUNCTION\": \"test_zmq_function\",\n"
+"  \"ARGS\": [False,0],\n"
+"}\n"
+"# convert to JSON object\n"
+"m2 = json.dumps(x)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:807
+#, no-wrap
+msgid ""
+"if __name__ == '__main__':\n"
+"    while True:\n"
+"        print('send message 1')\n"
+"        socket.send_multipart([topic, bytes((m1).encode('utf-8'))])\n"
+"        sleep(ms(1000))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:811
+#, no-wrap
+msgid ""
+"        print('send message 2')\n"
+"        socket.send_multipart([topic, bytes((m2).encode('utf-8'))])\n"
+"        sleep(ms(1000))\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:814
+msgid "Set the *function to call* and the *arguments to send* to that function."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:819
+msgid ""
+"You will need to know the _signature_ of the function you wish to call.  "
+"Also note that the _message is converted to a JSON object_.  This is because "
+"ZMQ sends byte messages not Python objects.  `json` converts Python objects "
+"to bytes and will be converted back when received."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-code-snippets.adoc:820
+#, no-wrap
+msgid "ZMQ Messages Writing"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:823
+msgid "You may also want to *communicate with an external program from the screen*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:826
+msgid ""
+"In the `ScreenOptions` widget, you can select the property "
+"*`use_send_zmq_message`*.  You can also set this property directly _in the "
+"handler file_, as in this sample."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:829
+#, no-wrap
+msgid "Enable sending of ZMQ messages"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:840
+#, no-wrap
+msgid ""
+"########################\n"
+"# **** INITIALIZE **** #\n"
+"########################\n"
+"# widgets allows access to  widgets from the QtVCP files\n"
+"# at this point the widgets and hal pins are not instantiated\n"
+"def __init__(self, halcomp,widgets,paths):\n"
+"    # directly select ZMQ message sending\n"
+"    self.w.screen_options.setProperty('use_send_zmq_option',True)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:844
+#, no-wrap
+msgid ""
+"This allows sending messages to a separate program.\n"
+"The message sent will depend on what the external program is expecting."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:845
+#, no-wrap
+msgid "Create a function to send ZMQ messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:849
+#, no-wrap
+msgid ""
+"Let's add a specific function for testing.\n"
+"You will need to run LinuxCNC from a terminal to see the printed text.\n"
+"Also, something needs to be added to call this function, such as a button "
+"click."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:859
+#, no-wrap
+msgid ""
+"#####################\n"
+"# general functions #\n"
+"#####################\n"
+"def send_zmq_message(self):\n"
+"    # This could be any Python object JSON can convert\n"
+"    message = {\"name\": \"John\", \"age\": 30}\n"
+"    self.w.screen_options.send_zmq_message(message)\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:861
+#, no-wrap
+msgid "Use or create a program that will receive ZMQ messages"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:863
+msgid ""
+"Here is a sample program that will receive the message and print it to the "
+"terminal:"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:886
+#, no-wrap
+msgid "Sending Messages To Status Bar Or Desktop Notify Dialogs"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:889
+msgid "There are several ways to *report information to the user*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:891
+msgid "A *status bar* is used for _short information_ to show the user."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:893
+msgid "Not all screens have a status bar."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:894
+#, no-wrap
+msgid "Status bar usage example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:898
+#, no-wrap
+msgid "self.w.statusbar.showMessage(message, timeout * 1000)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:901
+msgid ""
+"`timeout` is in seconds and we assume `statusbar` is the Qt Designer set "
+"name of the widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:904
+msgid ""
+"You can also use the `Status` library to send a message to the `notify` "
+"library if it is enabled (usually set in `ScreenOptions` widget): This will "
+"send the message to the statusbar and the *desktop notify dialog*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:907
+msgid ""
+"The messages are also recorded until the user erases them using controls.  "
+"The users can recall any recorded messages."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:909
+msgid "There are several options:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:911
+#, no-wrap
+msgid "*`STATUS.TEMPORARY_MESSAGE`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:912
+msgid "Show the message for a short time only."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:912
+#, no-wrap
+msgid "*`STATUS.OPERATOR_ERROR`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:913
+#, no-wrap
+msgid "*`STATUS.OPERATOR_TEXT`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:914
+#, no-wrap
+msgid "*`STATUS.NML_ERROR`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-code-snippets.adoc:915
+#, no-wrap
+msgid "*`STATUS.NML_TEXT`*"
+msgstr ""
+
+#.  end definition list
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:918
+#, no-wrap
+msgid "Example of sending an operator message:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:922
+#, no-wrap
+msgid "STATUS.emit('error', STATUS.OPERATOR_ERROR, 'message')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:927
+msgid ""
+"You can send messages thru LinuxCNC's operator message functions.  These are "
+"usually caught by the notify system, so are equal to above.  They would be "
+"printed to the terminal as well."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:932
+#, no-wrap
+msgid ""
+"ACTION.SET_DISPLAY_MESSAGE('MESSAGE')\n"
+"ACTION.SET_ERROR_MESSAGE('MESSAGE')\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:934
+#, no-wrap
+msgid "Catch Focus Changes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:937
+msgid ""
+"Focus is used to *direct user action* such as keyboard entry to the proper "
+"widget."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:938
+#, no-wrap
+msgid "Get currently focused widget"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:944
+#, no-wrap
+msgid ""
+"fwidget = QtWidgets.QApplication.focusWidget()\n"
+"if fwidget is not None:\n"
+"    print(\"focus widget class: {} name: {} \".format(fwidget, "
+"fwidget.objectName()))\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:946
+#, no-wrap
+msgid "Get focused widget when focus changes"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:954
+#, no-wrap
+msgid ""
+"# at this point:\n"
+"# the widgets are instantiated.\n"
+"# the HAL pins are built but HAL is not set ready\n"
+"def initialized__(self):\n"
+"    "
+"QtWidgets.QApplication.instance().event_filter.focusIn.connect(self.focusInChanged)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:966
+#, no-wrap
+msgid ""
+"def focusInChanged(self, widget):\n"
+"    if isinstance(widget.parent(),type(self.w.gcode_editor.editor)):\n"
+"        print('G-code Editor')\n"
+"    elif isinstance(widget,type(self.w.gcodegraphics)):\n"
+"        print('G-code Display')\n"
+"    elif isinstance(widget.parent(),type(self.w.mdihistory) ):\n"
+"        print('MDI History')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:969
+msgid "Notice we sometimes compare to `widget`, sometimes to `widget.parent()`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:971
+msgid ""
+"This is because _some QtVCP widgets are built from multiple_ *_sub-widgets_* "
+"and the latter actually get the focus; so we need to *check the parent* of "
+"those sub-widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:974
+msgid ""
+"Other times the main widget is what gets the focus, e.g., the G-code display "
+"widget can be set to accept the focus.  In that case there are no "
+"sub-widgets in it, so comparing to the `widget.parent()` would get you the "
+"container that holds the G-code widget."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-code-snippets.adoc:975
+#, no-wrap
+msgid "Read Command Line Load Time Options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:980
+#, no-wrap
+msgid ""
+"Some panels need information at load time for setup/options. QtVCP covers "
+"this requirement with '-o' options.\n"
+"The '-o' argument is good for a few, relatively short options, that can be "
+"added to the loading command line.\n"
+"For more involved information, reading an INI or preference file is probably "
+"a better idea. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-code-snippets.adoc:984
+#, no-wrap
+msgid ""
+"Multiple '-o' options can be used on the command line so you must decode "
+"them.\n"
+"'self.w.USEROPTIONS_' will hold any found '-o' options as a list of "
+"strings. You must parse and define what is accepted and what to do with it."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-code-snippets.adoc:985
+#, no-wrap
+msgid "Example code to get -o options for camera number and window size"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:989
+#, no-wrap
+msgid "    def initialized__(self):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:992
+#, no-wrap
+msgid ""
+"        # set a default camera number\n"
+"        number = 0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:995
+#, no-wrap
+msgid ""
+"        # check if there are any -o options at all\n"
+"        if self.w.USEROPTIONS_ is not None:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:998
+#, no-wrap
+msgid ""
+"            # if in debug mode print the options to the terminal\n"
+"            LOG.debug('cam_align user options: "
+"{}'.format(self.w.USEROPTIONS_))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:1001
+#, no-wrap
+msgid ""
+"            # go through the found options one by one\n"
+"            for num, i in enumerate(self.w.USEROPTIONS_):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:1011
+#, no-wrap
+msgid ""
+"                # if the -o option has 'size=' in it, assume it's width and "
+"height of window\n"
+"                # override the default width and height of the window\n"
+"                if 'size=' in self.w.USEROPTIONS_[num]:\n"
+"                    try:\n"
+"                        strg = self.w.USEROPTIONS_[num].strip('size=')\n"
+"                        arg = strg.split(',')\n"
+"                        self.w.resize(int(arg[0]),int(arg[1]))\n"
+"                    except Exception as e:\n"
+"                        print('Error with cam_align size "
+"setting:',self.w.USEROPTIONS_[num])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:1018
+#, no-wrap
+msgid ""
+"                #  # if the -o option has 'camnumber=' in it, assume it's "
+"the camera number to use\n"
+"                elif 'camnumber=' in self.w.USEROPTIONS_[num]:\n"
+"                    try:\n"
+"                        number = "
+"int(self.w.USEROPTIONS_[num].strip('camnumber='))\n"
+"                    except Exception as e:\n"
+"                        print('Error with cam_align camera selection - not a "
+"number - using 0')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-code-snippets.adoc:1021
+#, no-wrap
+msgid ""
+"        # set the camera number either as default or if -o option changed "
+"the 'number' variable, to that number.\n"
+"        self.w.camview._camNum = number\n"
+msgstr ""
+
+#. type: Title =
+#: src/gui/qtvcp-custom-widgets.adoc:5
+#, no-wrap
+msgid "QtVCP: Building Custom Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:11
+msgid ""
+"Building custom widgets allows one to *use the Qt Designer editor to place a "
+"custom widget* _rather than doing it manually in a handler file_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:13
+msgid "A useful custom widgets would be a great way to contribute back to LinuxCNC."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:14
+#, no-wrap
+msgid "Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:17
+#, no-wrap
+msgid ""
+"*Widget* is the _general name for the UI objects_ such as buttons and labels "
+"in PyQt.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:19
+msgid ""
+"There are also *special widgets made for LinuxCNC* that make integration "
+"easier."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:22
+msgid ""
+"All these widgets can be _placed with Qt Designer editor_ - allowing one to "
+"_see the result_ before actually loading the panel in LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:23 src/gui/qtvcp-widgets.adoc:2154
+#, no-wrap
+msgid "Qt Designer"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:27
+#, no-wrap
+msgid ""
+"*Qt Designer* is a _WYSIWYG (What You See is What You Get) editor for\n"
+"placing PyQt widgets_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:30
+#, no-wrap
+msgid ""
+"It's original intend was for building the graphic widgets for programs.\n"
+"We leverage it to *build screens and panels for LinuxCNC*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:32
+msgid ""
+"In Qt Designer, on the left side of the editor, you find *three categories "
+"of LinuxCNC widgets*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:34
+msgid "_HAL only widgets_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:35
+msgid "_LinuxCNC controller widgets_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:36
+msgid "_dialog widgets_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:38
+msgid ""
+"For Qt Designer to _add custom widgets_ to it's editor it must have a "
+"*plugin* added to the right folder."
+msgstr ""
+
+#. FIXME Aren't the following two sub-sections duplicates of the 'startup
+#.   to shutdown section in qtvcp-development.adoc ?
+#.   Shouldn't they be merged in one place, and linked in others when
+#.   needed
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:44
+#, no-wrap
+msgid "Initialization Process"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:48
+msgid ""
+"QtVCP does _extra setup_ for *widgets subclassed from `_HALWidgetBase`*, aka "
+"\"HAL-ified\" widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:50
+msgid "This includes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:52
+msgid "Injecting _important variables_,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:53
+msgid "Calling an _extra setup function_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:54
+msgid "Calling a _closing cleanup function_ at shutdown."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:56
+msgid ""
+"These functions are not called when the Qt Designer editor displays the "
+"widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:58
+msgid "When QtVCP builds a screen from the `.ui` file:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:60
+msgid "It searches for all the HAL-ified widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:61
+msgid ""
+"It finds the `ScreenOptions` widget, to collect information it needs to "
+"inject into the other widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:63
+#, no-wrap
+msgid ""
+"It instantiates each widget and if it is a HAL-ified widget, calls the "
+"`hal_init()` function.\n"
+"*`hal_init()`* is defined in the base class and it:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:64
+msgid "Adds variables such as the preference file to every HAL-ified widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:66
+#, no-wrap
+msgid ""
+"Call `+_hal_init()+` on the widget.\n"
+"`+_hal_init()+` allows the widget designer to do setup that requires access "
+"to the extra variables."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:68
+msgid ""
+"Here is a description of the extra variables injected into \"HAL-ified\" "
+"widgets:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:70
+msgid "The _HAL component instance_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:72
+msgid "This _widget's object instance_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:74
+msgid "The _QtVCP's path library instance_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:75
+msgid "The _optional preference file instance_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:76
+msgid "The `Qsettings` _object instance_"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:77
+#, no-wrap
+msgid "cleanup process"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:80
+msgid ""
+"When QtVCP closes, it calls the *`+_hal_cleanup()+`* function _on all "
+"HAL-ified widgets_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:82
+msgid ""
+"The base class creates an empty `+_hal_cleanup()+` function, which can be "
+"redefined in the custom widget subclass."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:84
+msgid "This can be used to do such things as record preferences, etc."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:86
+msgid ""
+"This function is not called when the Qt Designer editor displays the "
+"widgets."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-custom-widgets.adoc:87
+#, no-wrap
+msgid "Custom HAL Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:91
+#, no-wrap
+msgid ""
+"HAL widgets are the simplest to show example of.\n"
+"`qtvcp/widgets/simple_widgets.py` holds many HAL only widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:93
+msgid "Lets look at a snippet of `simple_widgets.py`:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-custom-widgets.adoc:94
+#, no-wrap
+msgid "In the 'Imports' section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:96 src/gui/qtvcp-custom-widgets.adoc:247
+msgid "This is where we import libraries that our widget class needs."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:108
+#, no-wrap
+msgid ""
+"###############################\n"
+"# Imports\n"
+"###############################\n"
+"from PyQt5 import QtWidgets                     # <1>\n"
+"from qtvcp.widgets.widget_baseclass \\\n"
+"    import _HalWidgetBase, _HalSensitiveBase    # <2>\n"
+"import hal                                      # <3>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:111
+msgid "In this case we need access to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:113
+msgid "PyQt's QtWidgets library,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:114
+msgid "LinuxCNC's HAL library, and"
+msgstr ""
+
+#. TODO explain `_HalToggleBase` and `_HalScaleBase` too
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:118
+#, no-wrap
+msgid ""
+"QtVCP's widget `baseclass` 's *`_HalSensitiveBase`* for _automatic HAL pin "
+"setup_ and to _disable/enable the widget_ (also known as input "
+"sensitivity).\n"
+"There is also `_HalToggleBase`, and `_HalScaleBase` functions available in "
+"the library.`_HalToggleBase`, and `_HalScaleBase`."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-custom-widgets.adoc:120
+#, no-wrap
+msgid "In the 'WIDGET' section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:122
+msgid "Here is a _custom widget_ based on PyQt's *`QGridLayout`* widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:124
+msgid "`QGridLayout` allows one to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:126
+msgid "_Place objects in a grid_ fashion."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:127
+msgid "_Enable/disable all widgets inside it_ based on a *HAL pin state*."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:133
+#, no-wrap
+msgid ""
+"######################\n"
+"# WIDGET\n"
+"######################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:137
+#, no-wrap
+msgid ""
+"class Lcnc_GridLayout(QtWidgets.QWidget, _HalSensitiveBase):    # <1>\n"
+"    def __init__(self, parent = None):                          # <2>\n"
+"        super(GridLayout, self).__init__(parent)                # <3>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:140
+msgid "Line by Line:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:149
+#, no-wrap
+msgid ""
+"This defines the _class name_ and the _libraries it inherits from_.\n"
+"This class, named `Lcnc_GridLayout`, inherits the functions of `QWidget` and "
+"`+_HalSensitiveBase+`.\n"
+"`+_HalSensitiveBase+` is 'subclass' of *`+_HalWidgetBase+`*, the _base class "
+"of most QtVCP widgets_, meaning it has all the functions of "
+"`+_HalWidgetBase+` plus the functions of `+_HalSensitiveBase+`.\n"
+"It adds the function to make the widget be enabled or disabled based on a "
+"HAL input BIT pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:151
+msgid ""
+"This is the function _called when the widget is first made_ (said "
+"instantiated) - this is pretty standard."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:155
+#, no-wrap
+msgid ""
+"This function initializes our widget's *`Super` classes*.\n"
+"`Super` just means the _inherited baseclasses_, that is `QWidget` and "
+"`_HalSensitiveBase`.\n"
+"Pretty standard other than the widget name will change."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-custom-widgets.adoc:156
+#, no-wrap
+msgid "Custom Controller Widgets Using `STATUS`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:159
+msgid ""
+"Widget that interact with LinuxCNC's controller are only a little more "
+"complicated and they require some _extra libraries_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:161
+msgid ""
+"In this cut down example we will add properties that can be changed in Qt "
+"Designer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:163
+msgid ""
+"This LED indicator widget will respond to selectable LinuxCNC controller "
+"states."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:177
+#, no-wrap
+msgid ""
+"###############################\n"
+"# Imports\n"
+"###############################\n"
+"from PyQt5.QtCore import pyqtProperty\n"
+"from qtvcp.widgets.led_widget import LED\n"
+"from qtvcp.core import Status\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:182 src/gui/qtvcp-custom-widgets.adoc:276
+#, no-wrap
+msgid ""
+"###########################################\n"
+"# **** instantiate libraries section **** #\n"
+"###########################################\n"
+"STATUS = Status()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:194
+#, no-wrap
+msgid ""
+"##########################################\n"
+"# custom widget class definition\n"
+"##########################################\n"
+"class StateLED(LED):\n"
+"    def __init__(self, parent=None):\n"
+"        super(StateLED, self).__init__(parent)\n"
+"        self.has_hal_pins = False\n"
+"        self.setState(False)\n"
+"        self.is_estopped = False\n"
+"        self.is_on = False\n"
+"        self.invert_state = False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:202 src/gui/qtvcp-custom-widgets.adoc:322
+#, no-wrap
+msgid ""
+"    def _hal_init(self):\n"
+"        if self.is_estopped:\n"
+"            STATUS.connect('state-estop', lambda w:self._flip_state(True))\n"
+"            STATUS.connect('state-estop-reset', lambda "
+"w:self._flip_state(False))\n"
+"        elif self.is_on:\n"
+"            STATUS.connect('state-on', lambda w:self._flip_state(True))\n"
+"            STATUS.connect('state-off', lambda w:self._flip_state(False))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:207 src/gui/qtvcp-custom-widgets.adoc:370
+#, no-wrap
+msgid ""
+"    def _flip_state(self, data):\n"
+"            if self.invert_state:\n"
+"                data = not data\n"
+"            self.change_state(data)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:211 src/gui/qtvcp-custom-widgets.adoc:396
+#, no-wrap
+msgid ""
+"    "
+"#########################################################################\n"
+"    # Qt Designer properties setter/getters/resetters\n"
+"    "
+"########################################################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:219 src/gui/qtvcp-custom-widgets.adoc:404
+#, no-wrap
+msgid ""
+"    # invert status\n"
+"    def set_invert_state(self, data):\n"
+"        self.invert_state = data\n"
+"    def get_invert_state(self):\n"
+"        return self.invert_state\n"
+"    def reset_invert_state(self):\n"
+"        self.invert_state = False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:227 src/gui/qtvcp-custom-widgets.adoc:412
+#, no-wrap
+msgid ""
+"    # machine is estopped status\n"
+"    def set_is_estopped(self, data):\n"
+"        self.is_estopped = data\n"
+"    def get_is_estopped(self):\n"
+"        return self.is_estopped\n"
+"    def reset_is_estopped(self):\n"
+"        self.is_estopped = False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:235 src/gui/qtvcp-custom-widgets.adoc:420
+#, no-wrap
+msgid ""
+"    # machine is on status\n"
+"    def set_is_on(self, data):\n"
+"        self.is_on = data\n"
+"    def get_is_on(self):\n"
+"        return self.is_on\n"
+"    def reset_is_on(self):\n"
+"        self.is_on = False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:242 src/gui/qtvcp-custom-widgets.adoc:435
+#, no-wrap
+msgid ""
+"    #######################################\n"
+"    # Qt Designer properties\n"
+"    #######################################\n"
+"    invert_state_status = pyqtProperty(bool, get_invert_state, "
+"set_invert_state, reset_invert_state)\n"
+"    is_estopped_status = pyqtProperty(bool, get_is_estopped, "
+"set_is_estopped, reset_is_estopped)\n"
+"    is_on_status = pyqtProperty(bool, get_is_on, set_is_on, reset_is_on)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:244
+#, no-wrap
+msgid "In The 'Imports' Section"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:258
+#, no-wrap
+msgid ""
+"###############################\n"
+"# Imports\n"
+"###############################\n"
+"from PyQt5.QtCore import pyqtProperty       # <1>\n"
+"from qtvcp.widgets.led_widget import LED    # <2>\n"
+"from qtvcp.core import Status               # <3>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:261
+msgid "We import"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:263
+msgid "`pyqtProperty` so we can interact with the Qt Designer editor,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:264
+msgid "`LED` because our custom widget is based on it,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:265
+msgid "`Status` because it gives us status messages from LinuxCNC. +"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:266
+#, no-wrap
+msgid "In The 'Instantiate Libraries' Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:269
+msgid "Here we create the `Status` library instance:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:280
+msgid ""
+"Typically we instantiated the library _outside of the widget class_ so that "
+"the reference to it is *global* - meaning you don't need to use `self.` in "
+"front of it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:282
+msgid ""
+"By convention we use _all capital_ letters in the name for global "
+"references."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:283
+#, no-wrap
+msgid "In The 'Custom Widget Class Definition' Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:286
+msgid "This is the meat and potatoes of our custom widget."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-custom-widgets.adoc:287
+#, no-wrap
+msgid "Class definition and instance initialization function"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:298
+#, no-wrap
+msgid ""
+"class StateLed(LED):                            # <1>\n"
+"    def __init__(self, parent=None):            # <2>\n"
+"        super(StateLed, self).__init__(parent)  # <3>\n"
+"        self.has_hal_pins = False               # <4>\n"
+"        self.setState(False)                    # <5>\n"
+"        self.is_estopped = False\n"
+"        self.is_on = False\n"
+"        self.invert_state = False\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:302
+#, no-wrap
+msgid ""
+"Defines the *name* _of our custom widget_ and what other _class it inherits "
+"from_.\n"
+"In this case we inherit `LED` - a QtVCP widget that represents a status "
+"light."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:303
+msgid "Typical of most widgets - called when the widget is first made."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:304
+msgid ""
+"Typical of most widgets - calls the parent (super) widget initialization "
+"code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:306
+msgid "Then we set some attributes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:308
+msgid "Inherited from `Lcnc_Led` - we set it here so no HAL pin is made."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:309
+msgid "Inherited from `Lcnc_led` - we set it to make sure the LED is off."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:311
+msgid "The other attributes are for the selectable options of our widget."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-custom-widgets.adoc:312
+#, no-wrap
+msgid "Widget's HAL initialization function"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:326
+msgid ""
+"This function connects `STATUS` (LinuxCNC status message library) to our "
+"widget, so that the LED will on or off based on the selected state of the "
+"controller."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:329
+#, no-wrap
+msgid ""
+"We have two states we can choose from `is_estopped` or `is_on`.\n"
+"Depending on which is active our widget get connected to the appropriate "
+"STATUS messages."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:334
+#, no-wrap
+msgid ""
+"*`+_hal_init()+`* is _called on each widget that inherits_ "
+"`+_HalWidgetBase+`,\n"
+"when QtVCP first builds the screen. +\n"
+"You might wonder why it's called on this widget since we didn't have "
+"`+_HalWidgetBase+` in our class definition (`class "
+"Lcnc_State_Led(Lcnc_Led):`) -\n"
+"it's called because `Lcnc_Led` inherits `+_HalWidgetBase+`.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:336
+msgid ""
+"In this function you have access to some extra information (though we don't "
+"use them in this example):"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:346
+msgid "We could use this information to create HAL pins or look up image paths etc."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:350
+#, no-wrap
+msgid "STATUS.connect('state-estop', lambda w:self._flip_state(True))\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:353
+msgid "Lets look at this line more closely:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:357
+#, no-wrap
+msgid ""
+"`STATUS` is very common theme is widget building.\n"
+"`STATUS` uses `GObject` message system to send messages to widgets that "
+"register to it.\n"
+"This line is the registering process."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:359
+msgid ""
+"`state-estop` is the message we wish to listen for and act on.  There are "
+"many messages available."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:363
+#, no-wrap
+msgid ""
+"`lambda w:self._flip_state(True)` is what happens when the message is "
+"caught.\n"
+"The lambda function accepts the widget instance (`w`) that GObject sends it "
+"and then calls the function `self._flip_state(True)`.\n"
+"Lambda was used to strip the (`w`) object before calling the "
+"`self._flip_state` function.\n"
+"It also allowed use to send `self._flip_state()` the True state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:374
+#, no-wrap
+msgid ""
+"This is the function that actually flips the state of the LED.\n"
+"It is what gets called when the appropriate STATUS message is accepted."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:378
+#, no-wrap
+msgid "STATUS.connect('current-feed-rate', self._set_feedrate_text)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:381
+msgid "The function called looks like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:385
+#, no-wrap
+msgid "    def _set_feedrate_text(self, widget, data):\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:388
+msgid "in which the widget and any data must be accepted by the function."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-custom-widgets.adoc:389
+#, no-wrap
+msgid "In the 'Designer Properties Setter/Getters/Resetters' Section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:424
+#, no-wrap
+msgid ""
+"This is _how Qt Designer sets the attributes of the widget_.\n"
+"This _can also be called directly_ in the widget."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-custom-widgets.adoc:425
+#, no-wrap
+msgid "In the 'Designer properties' section"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:438
+msgid "This is the *registering of properties in Qt Designer*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:440
+msgid "The *property name*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:442
+msgid "is the _text used in Qt Designer_,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:443
+msgid "_cannot be the same as the attributes_ they represent."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:445
+msgid "These properties show in Qt Designer in the order they appear here."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-custom-widgets.adoc:446
+#, no-wrap
+msgid "Custom Controller Widgets with Actions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:449
+msgid "Here is an example of a widget that sets the user reference system."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:451
+msgid "It changes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:453
+msgid "the machine controller state using the `ACTION` library,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:454
+msgid "whether the button can be clicked or not using the `STATUS` library."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:459
+#, no-wrap
+msgid ""
+"import os\n"
+"import hal\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:463
+#, no-wrap
+msgid ""
+"from PyQt5.QtWidgets import QWidget, QToolButton, QMenu, QAction\n"
+"from PyQt5.QtCore import Qt, QEvent, pyqtProperty, QBasicTimer, pyqtSignal\n"
+"from PyQt5.QtGui import QIcon\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:467
+#, no-wrap
+msgid ""
+"from qtvcp.widgets.widget_baseclass import _HalWidgetBase\n"
+"from qtvcp.widgets.dialog_widget import EntryDialog\n"
+"from qtvcp.core import Status, Action, Info\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:475
+#, no-wrap
+msgid ""
+"# Instantiate the libraries with global reference\n"
+"# STATUS gives us status messages from LinuxCNC\n"
+"# INFO holds INI details\n"
+"# ACTION gives commands to LinuxCNC\n"
+"STATUS = Status()\n"
+"INFO = Info()\n"
+"ACTION = Action()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:485
+#, no-wrap
+msgid ""
+"class SystemToolButton(QToolButton, _HalWidgetBase):\n"
+"    def __init__(self, parent=None):\n"
+"        super(SystemToolButton, self).__init__(parent)\n"
+"        self._joint = 0\n"
+"        self._last = 0\n"
+"        self._block_signal = False\n"
+"        self._auto_label_flag = True\n"
+"        SettingMenu = QMenu()\n"
+"        for system in('G54', 'G55', 'G56', 'G57', 'G58', 'G59', 'G59.1', "
+"'G59.2', 'G59.3'):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:489
+#, no-wrap
+msgid ""
+"            Button = QAction(QIcon('exit24.png'), system, self)\n"
+"            Button.triggered.connect(self[system.replace('.','_')])\n"
+"            SettingMenu.addAction(Button)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:492
+#, no-wrap
+msgid ""
+"        self.setMenu(SettingMenu)\n"
+"        self.dialog = EntryDialog()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:499
+#, no-wrap
+msgid ""
+"    def _hal_init(self):\n"
+"        if not self.text() == '':\n"
+"            self._auto_label_flag = False\n"
+"        def homed_on_test():\n"
+"            return (STATUS.machine_is_on()\n"
+"                    and (STATUS.is_all_homed() or INFO.NO_HOME_REQUIRED))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:508
+#, no-wrap
+msgid ""
+"        STATUS.connect('state-off', lambda w: self.setEnabled(False))\n"
+"        STATUS.connect('state-estop', lambda w: self.setEnabled(False))\n"
+"        STATUS.connect('interp-idle', lambda w: "
+"self.setEnabled(homed_on_test()))\n"
+"        STATUS.connect('interp-run', lambda w: self.setEnabled(False))\n"
+"        STATUS.connect('all-homed', lambda w: self.setEnabled(True))\n"
+"        STATUS.connect('not-all-homed', lambda w, data: "
+"self.setEnabled(False))\n"
+"        STATUS.connect('interp-paused', lambda w: self.setEnabled(True))\n"
+"        STATUS.connect('user-system-changed', self._set_user_system_text)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:511
+#, no-wrap
+msgid ""
+"    def G54(self):\n"
+"        ACTION.SET_USER_SYSTEM('54')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:514
+#, no-wrap
+msgid ""
+"    def G55(self):\n"
+"        ACTION.SET_USER_SYSTEM('55')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:517
+#, no-wrap
+msgid ""
+"    def G56(self):\n"
+"        ACTION.SET_USER_SYSTEM('56')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:520
+#, no-wrap
+msgid ""
+"    def G57(self):\n"
+"        ACTION.SET_USER_SYSTEM('57')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:523
+#, no-wrap
+msgid ""
+"    def G58(self):\n"
+"        ACTION.SET_USER_SYSTEM('58')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:526
+#, no-wrap
+msgid ""
+"    def G59(self):\n"
+"        ACTION.SET_USER_SYSTEM('59')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:529
+#, no-wrap
+msgid ""
+"    def G59_1(self):\n"
+"        ACTION.SET_USER_SYSTEM('59.1')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:532
+#, no-wrap
+msgid ""
+"    def G59_2(self):\n"
+"        ACTION.SET_USER_SYSTEM('59.2')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:535
+#, no-wrap
+msgid ""
+"    def G59_3(self):\n"
+"        ACTION.SET_USER_SYSTEM('59.3')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:540
+#, no-wrap
+msgid ""
+"    def _set_user_system_text(self, w, data):\n"
+"        convert = { 1:\"G54\", 2:\"G55\", 3:\"G56\", 4:\"G57\", 5:\"G58\", "
+"6:\"G59\", 7:\"G59.1\", 8:\"G59.2\", 9:\"G59.3\"}\n"
+"        if self._auto_label_flag:\n"
+"            self.setText(convert[int(data)])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:547
+#, no-wrap
+msgid ""
+"    def ChangeState(self, joint):\n"
+"        if int(joint) != self._joint:\n"
+"            self._block_signal = True\n"
+"            self.setChecked(False)\n"
+"            self._block_signal = False\n"
+"            self.hal_pin.set(False)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-custom-widgets.adoc:558
+#, no-wrap
+msgid "Stylesheet Property Changes Based On Events"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:561
+msgid "It's possible to *have widgets restyled when events change*."
+msgstr ""
+
+#. FIXME What does "polish" really mean ?
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:565
+#, no-wrap
+msgid ""
+"You must explicitly _\"polish\" the widget_ to have PyQt redo the style.\n"
+"This is a relatively expensive function so should be used sparingly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:567
+msgid ""
+"This example sets an `isHomed` property based on LinuxCNC's homed state and "
+"in turn uses it to change stylesheet properties:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-custom-widgets.adoc:568
+#, no-wrap
+msgid "This example will set the property isHomed based on LinuxCNC's homed state."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:577
+#, no-wrap
+msgid ""
+"class HomeLabel(QLabel, _HalWidgetBase):\n"
+"    def __init__(self, parent=None):\n"
+"        super(HomeLabel, self).__init__(parent)\n"
+"        self.joint_number = 0\n"
+"        # for stylesheet reading\n"
+"        self._isHomed = False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:582
+#, no-wrap
+msgid ""
+"    def _hal_init(self):\n"
+"        super(HomeLabel, self)._hal_init()\n"
+"        STATUS.connect('homed', lambda w,d: self._home_status_polish(int(d), "
+"True))\n"
+"        STATUS.connect('unhomed', lambda w,d: "
+"self._home_status_polish(int(d), False))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:591
+#, no-wrap
+msgid ""
+"    # update ishomed property\n"
+"    # polish widget so stylesheet sees the property change\n"
+"    # some stylesheets color the text on home/unhome\n"
+"    def _home_status_polish(self, d, state):\n"
+"        if self.joint_number = d:\n"
+"            self.setProperty('isHomed', state)\n"
+"            self.style().unpolish(self)\n"
+"            self.style().polish(self)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:597
+#, no-wrap
+msgid ""
+"    # Qproperty getter and setter\n"
+"    def getisHomed(self):\n"
+"        return self._isHomed\n"
+"    def setisHomed(self, data):\n"
+"        self._isHomed = data\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:600
+#, no-wrap
+msgid ""
+"    # Qproperty\n"
+"    isHomed = QtCore.pyqtProperty(bool, getisHomed, setisHomed)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:603
+msgid "Here is a sample stylesheet to change text color based on home state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:606
+#, no-wrap
+msgid ""
+"In this case any widget based on the HomeLabel widget above will change text "
+"color.\n"
+"You would usually pick specific widgets using `HomeLabel "
+"#specific_widget_name[homed=true]`:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:615
+#, no-wrap
+msgid ""
+"HomeLabel[homed=true] {\n"
+"    color: green;\n"
+"}\n"
+"HomeLabel[homed=false] {\n"
+"    color: red;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-custom-widgets.adoc:617
+#, no-wrap
+msgid "Use Stylesheets To Change Custom Widget Properties"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:625
+#, no-wrap
+msgid ""
+"class Label(QLabel):\n"
+"    def __init__(self, parent=None):\n"
+"        super(Label, self).__init__(parent)\n"
+"        alternateFont0 = self.font\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:633
+#, no-wrap
+msgid ""
+"    # Qproperty getter and setter\n"
+"    def getFont0(self):\n"
+"        return self.aleternateFont0\n"
+"    def setFont0(self, value):\n"
+"        self.alternateFont0(value)\n"
+"    # Qproperty\n"
+"    styleFont0 = pyqtProperty(QFont, getFont0, setFont0)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:636
+msgid "Sample stylesheet that sets a custom widget property."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:642
+#, no-wrap
+msgid ""
+"Label{\n"
+"    qproperty-styleFont0: \"Times,12,-1,0,90,0,0,0,0,0\";\n"
+"}\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-custom-widgets.adoc:644
+#, no-wrap
+msgid "Widget Plugins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:647
+msgid "We must _register our custom widget_ for Qt Designer to use them. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:651
+#, no-wrap
+msgid ""
+"Here are a typical samples.\n"
+"They would need to be added to `qtvcp/plugins/`\n"
+"Then `qtvcp/plugins/qtvcp_plugin.py` would need to be adjusted to _import_ "
+"them."
+msgstr ""
+
+#. FIXME split samples below in independent py files and simply link them
+#.       as they're not documented, or possibly include them if we really
+#.       want to have them here in full text
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:656
+#, no-wrap
+msgid "Gridlayout Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:667
+#, no-wrap
+msgid ""
+"from PyQt5 import QtCore, QtGui\n"
+"from PyQt5.QtDesigner import QPyDesignerCustomWidgetPlugin\n"
+"from qtvcp.widgets.simple_widgets import Lcnc_GridLayout\n"
+"from qtvcp.widgets.qtvcp_icons import Icon\n"
+"ICON = Icon()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:699
+#, no-wrap
+msgid ""
+"####################################\n"
+"# GridLayout\n"
+"####################################\n"
+"class LcncGridLayoutPlugin(QPyDesignerCustomWidgetPlugin):\n"
+"    def __init__(self, parent = None):\n"
+"        QPyDesignerCustomWidgetPlugin.__init__(self)\n"
+"        self.initialized = False\n"
+"    def initialize(self, formEditor):\n"
+"        if self.initialized:\n"
+"            return\n"
+"        self.initialized = True\n"
+"    def isInitialized(self):\n"
+"        return self.initialized\n"
+"    def createWidget(self, parent):\n"
+"        return Lcnc_GridLayout(parent)\n"
+"    def name(self):\n"
+"        return \"Lcnc_GridLayout\"\n"
+"    def group(self):\n"
+"        return \"LinuxCNC - HAL\"\n"
+"    def icon(self):\n"
+"        return "
+"QtGui.QIcon(QtGui.QPixmap(ICON.get_path('lcnc_gridlayout')))\n"
+"    def toolTip(self):\n"
+"        return \"HAL enable/disable GridLayout widget\"\n"
+"    def whatsThis(self):\n"
+"        return \"\"\n"
+"    def isContainer(self):\n"
+"        return True\n"
+"    def domXml(self):\n"
+"        return '<widget class=\"Lcnc_GridLayout\" name=\"lcnc_gridlayout\" "
+"/>\\n'\n"
+"    def includeFile(self):\n"
+"        return \"qtvcp.widgets.simple_widgets\"\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:701
+#, no-wrap
+msgid "SystemToolbutton Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:712
+#, no-wrap
+msgid ""
+"from PyQt5 import QtCore, QtGui\n"
+"from PyQt5.QtDesigner import QPyDesignerCustomWidgetPlugin\n"
+"from qtvcp.widgets.system_tool_button import SystemToolButton\n"
+"from qtvcp.widgets.qtvcp_icons import Icon\n"
+"ICON = Icon()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:744
+#, no-wrap
+msgid ""
+"####################################\n"
+"# SystemToolButton\n"
+"####################################\n"
+"class SystemToolButtonPlugin(QPyDesignerCustomWidgetPlugin):\n"
+"    def __init__(self, parent = None):\n"
+"        super(SystemToolButtonPlugin, self).__init__(parent)\n"
+"        self.initialized = False\n"
+"    def initialize(self, formEditor):\n"
+"        if self.initialized:\n"
+"            return\n"
+"        self.initialized = True\n"
+"    def isInitialized(self):\n"
+"        return self.initialized\n"
+"    def createWidget(self, parent):\n"
+"        return SystemToolButton(parent)\n"
+"    def name(self):\n"
+"        return \"SystemToolButton\"\n"
+"    def group(self):\n"
+"        return \"LinuxCNC - Controller\"\n"
+"    def icon(self):\n"
+"        return "
+"QtGui.QIcon(QtGui.QPixmap(ICON.get_path('systemtoolbutton')))\n"
+"    def toolTip(self):\n"
+"        return \"Button for selecting a User Coordinate System\"\n"
+"    def whatsThis(self):\n"
+"        return \"\"\n"
+"    def isContainer(self):\n"
+"        return False\n"
+"    def domXml(self):\n"
+"        return '<widget class=\"SystemToolButton\" name=\"systemtoolbutton\" "
+"/>\\n'\n"
+"    def includeFile(self):\n"
+"        return \"qtvcp.widgets.system_tool_button\"\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-custom-widgets.adoc:746
+#, no-wrap
+msgid "Making a plugin with a MenuEntry dialog box"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:749
+msgid ""
+"It possible to add an entry to the dialog that pops up when you right click "
+"the widget in the layout."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:751
+msgid "This can do things such as selecting options in a more convenient way."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-custom-widgets.adoc:753
+msgid "This is the plugin used for _action buttons_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:766
+#, no-wrap
+msgid ""
+"import sip\n"
+"from PyQt5 import QtCore, QtGui, QtWidgets\n"
+"from PyQt5.QtDesigner import QPyDesignerCustomWidgetPlugin, \\\n"
+"                QPyDesignerTaskMenuExtension, QExtensionFactory, \\\n"
+"                QDesignerFormWindowInterface, "
+"QPyDesignerMemberSheetExtension\n"
+"from qtvcp.widgets.action_button import ActionButton\n"
+"from qtvcp.widgets.qtvcp_icons import Icon\n"
+"ICON = Icon()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:773
+#, no-wrap
+msgid ""
+"Q_TYPEID = {\n"
+"    'QDesignerContainerExtension':     "
+"'org.qt-project.Qt.Designer.Container',\n"
+"    'QDesignerPropertySheetExtension': "
+"'org.qt-project.Qt.Designer.PropertySheet',\n"
+"    'QDesignerTaskMenuExtension': 'org.qt-project.Qt.Designer.TaskMenu',\n"
+"    'QDesignerMemberSheetExtension': "
+"'org.qt-project.Qt.Designer.MemberSheet'\n"
+"}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:778
+#, no-wrap
+msgid ""
+"####################################\n"
+"# ActionBUTTON\n"
+"####################################\n"
+"class ActionButtonPlugin(QPyDesignerCustomWidgetPlugin):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:784
+#, no-wrap
+msgid ""
+"    # The __init__() method is only used to set up the plugin and define "
+"its\n"
+"    # initialized variable.\n"
+"    def __init__(self, parent=None):\n"
+"        super(ActionButtonPlugin, self).__init__(parent)\n"
+"        self.initialized = False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:789
+#, no-wrap
+msgid ""
+"    # The initialize() and isInitialized() methods allow the plugin to set "
+"up\n"
+"    # any required resources, ensuring that this can only happen once for "
+"each\n"
+"    # plugin.\n"
+"    def initialize(self, formEditor):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:797
+#, no-wrap
+msgid ""
+"        if self.initialized:\n"
+"            return\n"
+"        manager = formEditor.extensionManager()\n"
+"        if manager:\n"
+"            self.factory = ActionButtonTaskMenuFactory(manager)\n"
+"            manager.registerExtensions(self.factory, "
+"Q_TYPEID['QDesignerTaskMenuExtension'])\n"
+"        self.initialized = True\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:800
+#, no-wrap
+msgid ""
+"    def isInitialized(self):\n"
+"        return self.initialized\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:804
+#, no-wrap
+msgid ""
+"    # This factory method creates new instances of our custom widget\n"
+"    def createWidget(self, parent):\n"
+"        return ActionButton(parent)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:808
+#, no-wrap
+msgid ""
+"    # This method returns the name of the custom widget class\n"
+"    def name(self):\n"
+"        return \"ActionButton\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:812
+#, no-wrap
+msgid ""
+"    # Returns the name of the group in Qt Designer's widget box\n"
+"    def group(self):\n"
+"        return \"LinuxCNC - Controller\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:816
+#, no-wrap
+msgid ""
+"    # Returns the icon\n"
+"    def icon(self):\n"
+"        return QtGui.QIcon(QtGui.QPixmap(ICON.get_path('actionbutton')))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:820
+#, no-wrap
+msgid ""
+"    # Returns a tool tip short description\n"
+"    def toolTip(self):\n"
+"        return \"Action button widget\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:825
+#, no-wrap
+msgid ""
+"    # Returns a short description of the custom widget for use in a "
+"\"What's\n"
+"    # This?\" help message for the widget.\n"
+"    def whatsThis(self):\n"
+"        return \"\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:829
+#, no-wrap
+msgid ""
+"    # Returns True if the custom widget acts as a container for other "
+"widgets;\n"
+"    def isContainer(self):\n"
+"        return False\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:834
+#, no-wrap
+msgid ""
+"    # Returns an XML description of a custom widget instance that "
+"describes\n"
+"    # default values for its properties.\n"
+"    def domXml(self):\n"
+"        return '<widget class=\"ActionButton\" name=\"actionbutton\" "
+"/>\\n'\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:839
+#, no-wrap
+msgid ""
+"    # Returns the module containing the custom widget class. It may "
+"include\n"
+"    # a module path.\n"
+"    def includeFile(self):\n"
+"        return \"qtvcp.widgets.action_button\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:842
+#, no-wrap
+msgid "class ActionButtonDialog(QtWidgets.QDialog):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:844
+#, no-wrap
+msgid "   def __init__(self, widget, parent = None):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:846
+#, no-wrap
+msgid "      QtWidgets.QDialog.__init__(self, parent)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:848
+#, no-wrap
+msgid "      self.widget = widget\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:850
+#, no-wrap
+msgid "      self.previewWidget = ActionButton()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:854
+#, no-wrap
+msgid ""
+"      buttonBox = QtWidgets.QDialogButtonBox()\n"
+"      okButton = buttonBox.addButton(buttonBox.Ok)\n"
+"      cancelButton = buttonBox.addButton(buttonBox.Cancel)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:857
+#, no-wrap
+msgid ""
+"      okButton.clicked.connect(self.updateWidget)\n"
+"      cancelButton.clicked.connect(self.reject)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:862
+#, no-wrap
+msgid ""
+"      layout = QtWidgets.QGridLayout()\n"
+"      self.c_estop = QtWidgets.QCheckBox(\"Estop Action\")\n"
+"      self.c_estop.setChecked(widget.estop )\n"
+"      layout.addWidget(self.c_estop)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:865
+#, no-wrap
+msgid ""
+"      layout.addWidget(buttonBox, 5, 0, 1, 2)\n"
+"      self.setLayout(layout)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:867
+#, no-wrap
+msgid "      self.setWindowTitle(self.tr(\"Set Options\"))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:869
+#, no-wrap
+msgid "   def updateWidget(self):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:875
+#, no-wrap
+msgid ""
+"      formWindow = "
+"QDesignerFormWindowInterface.findFormWindow(self.widget)\n"
+"      if formWindow:\n"
+"          formWindow.cursor().setProperty(\"estop_action\",\n"
+"              QtCore.QVariant(self.c_estop.isChecked()))\n"
+"      self.accept()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:877
+#, no-wrap
+msgid "class ActionButtonMenuEntry(QPyDesignerTaskMenuExtension):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:884
+#, no-wrap
+msgid ""
+"    def __init__(self, widget, parent):\n"
+"        super(QPyDesignerTaskMenuExtension, self).__init__(parent)\n"
+"        self.widget = widget\n"
+"        self.editStateAction = QtWidgets.QAction(\n"
+"          self.tr(\"Set Options...\"), self)\n"
+"        self.editStateAction.triggered.connect(self.updateOptions)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:887
+#, no-wrap
+msgid ""
+"    def preferredEditAction(self):\n"
+"        return self.editStateAction\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:890
+#, no-wrap
+msgid ""
+"    def taskActions(self):\n"
+"        return [self.editStateAction]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:894
+#, no-wrap
+msgid ""
+"    def updateOptions(self):\n"
+"        dialog = ActionButtonDialog(self.widget)\n"
+"        dialog.exec_()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:898
+#, no-wrap
+msgid ""
+"class ActionButtonTaskMenuFactory(QExtensionFactory):\n"
+"    def __init__(self, parent = None):\n"
+"        QExtensionFactory.__init__(self, parent)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:900
+#, no-wrap
+msgid "    def createExtension(self, obj, iid, parent):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-custom-widgets.adoc:908
+#, no-wrap
+msgid ""
+"        if not isinstance(obj, ActionButton):\n"
+"            return None\n"
+"        if iid == Q_TYPEID['QDesignerTaskMenuExtension']:\n"
+"            return ActionButtonMenuEntry(obj, parent)\n"
+"        elif iid == Q_TYPEID['QDesignerMemberSheetExtension']:\n"
+"            return ActionButtonMemberSheet(obj, parent)\n"
+"        return None\n"
+msgstr ""
+
+#. type: Title =
+#: src/gui/qtvcp-development.adoc:5
+#, no-wrap
+msgid "QtVCP Development"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:10
+msgid ""
+"The intention of QtVCP is to *supply an infrastructure to support screen and "
+"VCP panel building for LinuxCNC*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:14
+msgid ""
+"By providing a _diverse widget_ set and supporting _custom coding_, QtVCP "
+"hopes that development energy will be expended in _one toolkit_ rather than "
+"continuous re-invention."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:18
+msgid ""
+"By using the same toolkit across many screens/panels, users should have an "
+"easier time customizing/creating these, and developers should find it easier "
+"to help trouble shoot with less effort."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:20
+msgid "QtVCP uses a *Qt Designer built `.ui` file* and a *Python handler file*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:22
+msgid "to *load and control a screen/panel that displays Qt widgets* and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:23
+msgid "to *control LinuxCNC's motion controller or HAL pins*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:25
+msgid ""
+"There are _builtin screens and panels_, easily loaded by a user, or users "
+"can build/modify one of their own."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:28
+msgid ""
+"QtVCP uses *libraries and custom widgets* to hide some of the complexity of "
+"interfacing to LinuxCNC.  By using QtVCP's library rather than LinuxCNC's, "
+"we can mitigate minor LinuxCNC code changes."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-development.adoc:29
+#, no-wrap
+msgid "Builtin Locations"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:32
+msgid "Builtin screens and panels are stored in separate folders:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:34
+msgid "_Screens_ in `share/qtvcp/screens`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:35
+msgid "_Panels_ in `share/qtvcp/panels`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:36
+msgid "_Stock images_ in `share/qtvcp/images`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:38
+msgid ""
+"Screens and panels are sorted by their folder name, which is also the name "
+"used to load them."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:40
+msgid "Inside the folder would be:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:42
+msgid "the `.ui` _file_,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:43
+msgid "the _handler file_, and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:44
+msgid "possibly the `.qss` _theme file_."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-development.adoc:45
+#, no-wrap
+msgid "QtVCP Startup To Shutdown"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:48
+#, no-wrap
+msgid ""
+"*QtVCP source* is located in `+src/emc/usr_intf/qtvcp+` folder of LinuxCNC "
+"source tree.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:49
+#, no-wrap
+msgid "QtVCP Startup"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:52
+msgid "When QtVCP first starts:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:54
+msgid "It must decide if this object is a screen or a panel."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:55
+msgid ""
+"It searches for and collects information about paths of required files and "
+"useful folders."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:56
+msgid "It then:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:57
+msgid "Builds the HAL component,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:58
+msgid "Loads the window instance,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:59
+msgid "Adds handler extensions,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:60
+msgid "Installs an event filter."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:63
+msgid ""
+"Now the window/widgets are instantiated, the HAL pins are built.  This also "
+"initiates the `+_init_hal()+` function of the widgets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:64
+msgid "The `+initialized__()+` handler function is called"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:65
+msgid "The `STATUS` library is forced to update."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:66
+msgid "HAL component is set ready at this point."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:67
+msgid ""
+"A variety of optional switch arguments are set, including calling a "
+"`POSTGUI` HAL file (if a screen)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:68
+msgid "Terminate signals are trapped and QtVCP now polls for events."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:69
+#, no-wrap
+msgid "QtVCP Shutdown"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:72
+msgid "Finally when QtVCP is asked to shutdown:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:74
+msgid "It calls shutdown functions in the handler file,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:75
+msgid "`STATUS` monitoring is shut down"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:76
+msgid "HAL component gets killed"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-development.adoc:77
+#, no-wrap
+msgid "Path Information"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:80
+msgid "When QtVCP loads it collects paths information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:82
+msgid "This is available in the handler file's `+__init__()+` function as *`path`*:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:83
+#, no-wrap
+msgid "*`IMAGEDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:84
+msgid "Path of builtin images"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:84
+#, no-wrap
+msgid "*`SCREENDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:85
+msgid "Path of builtin motion controller screens"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:85
+#, no-wrap
+msgid "*`PANELDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:86
+msgid "Path of builtin accessory panels"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:86
+#, no-wrap
+msgid "*`WORKINGDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:87
+msgid "Path of where QtVCP was launched from"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:87
+#, no-wrap
+msgid "*`CONFIGPATH`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:88
+msgid "Path of the launched configuration"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:88
+#, no-wrap
+msgid "*`BASEDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:89
+msgid "General path, used to derive all paths"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:89
+#, no-wrap
+msgid "*`BASENAME`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:90
+msgid "Generic name used to derive all paths"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:90
+#, no-wrap
+msgid "*`LIBDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:91
+msgid "Path of QtVCP's Python library"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:91
+#, no-wrap
+msgid "*`HANDLER`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:92
+msgid "Path of handler file"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:92
+#, no-wrap
+msgid "*`XML`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:93
+msgid "Path of .ui file"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:93
+#, no-wrap
+msgid "*`DOMAIN`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:94
+msgid "Path of translation"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-development.adoc:94
+#, no-wrap
+msgid "*`IS_SCREEN`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:95
+msgid "Screen/panel switch"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-development.adoc:96
+#, no-wrap
+msgid "Idiosyncrasies"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:99
+msgid "These try to cover non-obvious situations."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:100
+#, no-wrap
+msgid "Error Code Collecting"
+msgstr ""
+
+#. FIXME which place ?
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:103
+#, no-wrap
+msgid "*LinuxCNC's error code collecting can only be read from one place*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:106
+msgid "When read, it is *'consumed'*, i.e. _no other object can read it_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:108
+msgid ""
+"In QtVCP screens, it is recommended to _use the_ `ScreenOptions` _widget to "
+"set up error reading_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:110
+msgid "_Errors are then *sent to other objects* via_ *`STATUS`* _signals_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:111
+#, no-wrap
+msgid "Jog Rate"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:114
+#, no-wrap
+msgid ""
+"*LinuxCNC has no internal record of jog rate*: _you must specify it at the "
+"time of jogging_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:116
+msgid ""
+"QtVCP uses the `STATUS` library to _keep track of the latest linear and "
+"angular jog rates_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:124
+#, no-wrap
+msgid ""
+"It is *always specified in machine units per minute* and _must be converted "
+"when in non-machine units mode_.\n"
+"So, if your machine is imperial based but you are in metric mode, changes to "
+"jog rate sent to `ACTION` functions must be converted to imperial.\n"
+"In the same manner, if the machine is metric based and you are in imperial "
+"mode, changes to jog rate must be sent to `ACTION` functions in metric "
+"units.\n"
+"_For angular jog rates the units don't change in metric/imperial mode_ so "
+"you can send them to `ACTION` functions without conversion."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:128
+msgid ""
+"While you are free to ignore this jogging record while building screens, "
+"anyone modifying your screen and using the builtin jog rate widgets would "
+"not get the desired results as the `ACTION` library's *`DO_JOG`* function "
+"gets it's jog rate from the `STATUS` library."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:129
+#, no-wrap
+msgid "Keybinding"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:132
+msgid "Keybinding is always a _difficult-to-get-right-in-all-cases_ affair."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:134
+msgid "Custom keybinding functions are to be _defined in the handler file_."
+msgstr ""
+
+#. TODO Elaborate ?
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:137
+msgid ""
+"Most importantly widgets that require regular key input and not jogging, "
+"should be checked for in the `processed_key_event__` function."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:139
+#, no-wrap
+msgid "Preference File"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:143
+msgid "Some QtVCP widgets use the preference file to record important information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:146
+#, no-wrap
+msgid ""
+"This _requires the preference file to be set up early_ in the widget "
+"initialization process.\n"
+"The easiest way to do this is to *use the `ScreenOptions` widget*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:147
+#, no-wrap
+msgid "Widget Special Setup Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:150
+msgid ""
+"QtVCP looks for and calls the `+_hal_init()+` function _when the widget is "
+"first loaded_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:152
+msgid "It is not called when using Qt Designer editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:154
+msgid ""
+"After this function is called the widget has access to some special "
+"variables:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:156
+msgid "The _HAL component_ instance"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:161
+msgid "The _instance of an optional preference file_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:162
+msgid "The `Qsettings` _object_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:164
+msgid ""
+"When making a custom widget, _import and sub class _the *`+_HalWidgetBase+`* "
+"class for this behavior."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:165
+#, no-wrap
+msgid "Dialogs"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:169
+msgid ""
+"Dialogs (AKA \"pop up windows\") are _best loaded with the_ `ScreenOptions` "
+"_widget_, but they can be placed on the screen in Qt Designer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:171
+msgid ""
+"It doesn't matter where on the layout but _to make them hidden_, cycle the "
+"`state` property to true then false."
+msgstr ""
+
+#. TODO How ?
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:174
+#, no-wrap
+msgid ""
+"By default, if there is a preference file, the dialogs will remember their "
+"last size/placement.\n"
+"It is possible to override this so they open in the same location each time."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-development.adoc:176
+#, no-wrap
+msgid "Styles (Themes)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-development.adoc:181
+msgid ""
+"While it is possible to set styles _in Qt Designer_, it is more convenient "
+"to change them later if they are all set in a *_separate_ `.qss` _file_*.  "
+"The file should be put in the _same location as the handler file_."
+msgstr ""
+
+#. type: Title =
+#: src/gui/qtvcp-libraries.adoc:5
+#, no-wrap
+msgid "QtVCP Libraries modules"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:15
+msgid ""
+"Libraries are *prebuilt Python modules that give added features to QtVCP*.  "
+"In this way you can select what features you want - yet don't have to build "
+"common ones yourself."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:16
+#, no-wrap
+msgid "`Status`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:20
+#, no-wrap
+msgid ""
+"*`Status`* is a library that *sends GObject messages based on LinuxCNC's "
+"current state*.\n"
+"It is an _extension of GladeVCP's <<cha:gstat,GStat>> object_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:22
+msgid ""
+"It also has some functions to report status on such things as internal jog "
+"rate."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:25
+msgid ""
+"You _connect a function_ call to the `STATUS` message you are interested in, "
+"and QtVCP will call this function when the message is sent from `STATUS`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:30
+#, no-wrap
+msgid ""
+"*Import `Status` modules* +\n"
+"Add this Python code to your import section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:38
+#, no-wrap
+msgid "from qtvcp.core import Status\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:42
+#, no-wrap
+msgid ""
+"*Instantiate `Status` module* +\n"
+"Add this Python code to your instantiate section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:46
+#, no-wrap
+msgid "STATUS = Status()\n"
+msgstr ""
+
+#. FIXME explicit GObject syntax
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:50
+#, no-wrap
+msgid ""
+"*Connect to `STATUS` messages* +\n"
+"Use _GObject syntax_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:55
+msgid "For example, you can catch machine on and off messages."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:61
+msgid ""
+"The example below shows the _two common ways of connecting signals_, one of "
+"them _using lambda_.  *`lambda`* is _used to strip off or manipulate "
+"arguments_ from the status message before calling the function.  You can see "
+"the difference in the called function signature: The one that uses lambda "
+"does not accept the status object - lambda did not pass it to the function."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:63
+msgid ""
+"Place these commands into the `[INITIALIZE]` section of the Python handler "
+"file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:68
+#, no-wrap
+msgid ""
+"STATUS.connect('state-on', self.on_state_on)\n"
+"STATUS.connect('state-off', lambda: w, self.on_state_off())\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:72
+#, no-wrap
+msgid ""
+"In this example code, when LinuxCNC is in _\"machine on\" state_ the "
+"function `self.on_state_on` will be called.\n"
+"When LinuxCNC is in _\"machine off\" state_ the function `self.on_state_off` "
+"will be called. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:74
+msgid "These would call functions that looks like these:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:81
+#, no-wrap
+msgid ""
+"def on_state_on(self, status_object):\n"
+"    print('LinuxCNC machine is on')\n"
+"def on_state_off(self):\n"
+"    print('LinuxCNC machine is off')\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:83
+#, no-wrap
+msgid "`Info`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:86
+#, no-wrap
+msgid "*`Info`* is a library to *collect and filter data from the INI file*.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:87
+#, no-wrap
+msgid "Available data and defaults"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:151
+#, no-wrap
+msgid "User message dialog info"
+msgstr ""
+
+#. TODO convert to definition list ?
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:162
+#, no-wrap
+msgid ""
+"USRMESS_BOLDTEXT = self.INI.findall(\"DISPLAY\", \"MESSAGE_BOLDTEXT\")\n"
+"USRMESS_TEXT = self.INI.findall(\"DISPLAY\", \"MESSAGE_TEXT\")\n"
+"USRMESS_TYPE = self.INI.findall(\"DISPLAY\", \"MESSAGE_TYPE\")\n"
+"USRMESS_PINNAME = self.INI.findall(\"DISPLAY\", \"MESSAGE_PINNAME\")\n"
+"USRMESS_DETAILS = self.INI.findall(\"DISPLAY\", \"MESSAGE_DETAILS\")\n"
+"USRMESS_ICON = self.INI.findall(\"DISPLAY\", \"MESSAGE_ICON\")\n"
+"ZIPPED_USRMESS =\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:166
+#, no-wrap
+msgid "Embedded program info"
+msgstr ""
+
+#. TODO convert to definition list ?
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:174
+#, no-wrap
+msgid ""
+"TAB_NAMES = (self.INI.findall(\"DISPLAY\", \"EMBED_TAB_NAME\")) or None\n"
+"TAB_LOCATION = (self.INI.findall(\"DISPLAY\", \"EMBED_TAB_LOCATION\")) or "
+"[]\n"
+"TAB_CMD = (self.INI.findall(\"DISPLAY\", \"EMBED_TAB_COMMAND\")) or None\n"
+"ZIPPED_TABS =\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:180 src/gui/qtvcp-libraries.adoc:237
+#: src/gui/qtvcp-libraries.adoc:484 src/gui/qtvcp-libraries.adoc:592
+#: src/gui/qtvcp-libraries.adoc:667
+#, no-wrap
+msgid "Helpers"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:183
+msgid "There are some _helper functions_ - mostly used for widget support:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:184
+#, no-wrap
+msgid "*`get_error_safe_setting(_self_, _heading_, _detail_, default=_None_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:185
+#, no-wrap
+msgid "*`convert_metric_to_machine(_data_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:186
+#, no-wrap
+msgid "*`convert_imperial_to_machine(_data_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:187
+#, no-wrap
+msgid "*`convert_9_metric_to_machine(_data_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:188
+#, no-wrap
+msgid "*`convert_9_imperial_to_machine(_data_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:189
+#, no-wrap
+msgid "*`convert_units(_data_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:190
+#, no-wrap
+msgid "*`convert_units_9(_data_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:191
+#, no-wrap
+msgid "*`get_filter_program(_fname_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:192
+#, no-wrap
+msgid "*`get_qt_filter_extensions()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:193
+msgid "Get filter extensions in Qt format."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:198
+#, no-wrap
+msgid ""
+"*Import `Info` module* +\n"
+"Add this Python code to your import section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:206
+#, no-wrap
+msgid "from qtvcp.core import Info\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:210
+#, no-wrap
+msgid ""
+"*Instantiate `Info` module*. +\n"
+"Add this Python code to your instantiate section:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:221
+#, no-wrap
+msgid "*Access `INFO` data* Use this general syntax:\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:229
+#, no-wrap
+msgid "`Action`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:232
+#, no-wrap
+msgid "*`Action`* library is used to *command LinuxCNC's motion controller*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:234
+msgid ""
+"It tries to hide incidental details and add convenience methods for "
+"developers."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:240
+msgid "There are some *helper functions*, mostly used for this library's support:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:241
+#, no-wrap
+msgid "*`get_jog_info (_num_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:242
+#, no-wrap
+msgid "*`jnum_check(_num_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:243
+#, no-wrap
+msgid "*`ensure_mode(_modes_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:244
+#, no-wrap
+msgid "*`open_filter_program(_filename_, _filter_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:245
+msgid "Open G-code filter program."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:250
+#, no-wrap
+msgid ""
+"*Import `Action` module* +\n"
+"Add this Python code to your import section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:258
+#, no-wrap
+msgid "from qtvcp.core import Action\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:262
+#, no-wrap
+msgid ""
+"*Instantiate `Action` module* +\n"
+"Add this Python code to your instantiate section:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:274
+#, no-wrap
+msgid ""
+"*Access `ACTION` commands* +\n"
+"Use general syntax such as these:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:308
+#, no-wrap
+msgid ""
+"ACTION.RUN()\n"
+"ACTION.ABORT()\n"
+"ACTION.PAUSE()          # Toggles pause/resume\n"
+"ACTION.PAUSE_MACHINE()\n"
+"ACTION.RESUME()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:363
+#, no-wrap
+msgid "ACTION.CALL_DIALOG(command):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:365
+#, no-wrap
+msgid "ACTION.HIDE_POINTER(state):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:374
+#, no-wrap
+msgid ""
+"ACTION.PLAY_SOUND(path):\n"
+"ACTION.PLAY_ERROR():\n"
+"ACTION.PLAY_DONE():\n"
+"ACTION.PLAY_READY():\n"
+"ACTION.PLAY_ATTENTION():\n"
+"ACTION.PLAY_LOGIN():\n"
+"ACTION.PLAY_LOGOUT():\n"
+"ACTION.SPEAK(speech):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:378
+#, no-wrap
+msgid ""
+"ACTION.BEEP():\n"
+"ACTION.BEEP_RING():\n"
+"ACTION.BEEP_START():\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:384
+#, no-wrap
+msgid ""
+"ACTION.TOUCHPLATE_TOUCHOFF(search_vel, probe_vel, max_probe,\n"
+"       z_offset, retract_distance, z_safe_travel, rtn_method=None, error_rtn "
+"= None)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:386
+#, no-wrap
+msgid "Qhal"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:389
+msgid "A library for HAL component interactions."
+msgstr ""
+
+#.  end definition list
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:390 src/gui/qtvcp-libraries.adoc:432
+#: src/gui/qtvcp-widgets.adoc:603
+#, no-wrap
+msgid "Attributes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:393
+msgid "These are the functions that can be called on the Qhal object:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:394
+#, no-wrap
+msgid "*`newpin(name, pin type constant, pin direction constant)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:395
+msgid "returns a new QPin object"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:395
+#, no-wrap
+msgid "*`getpin(name)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:396
+msgid "returns an existing named QPin object"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:396
+#, no-wrap
+msgid "*`getvalue(name)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:397
+msgid "returns the named pin's value, use the full component/pin name."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:397
+#, no-wrap
+msgid "*`setp(name,value)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:398
+msgid "sets the named pin's value, use the full component/pin name."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:398
+#, no-wrap
+msgid "*`makeUniqueName(name)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:399
+msgid ""
+"returns an unique HAL pin name string by adding '-x' (a number) to the base "
+"name"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:399
+#, no-wrap
+msgid "*`exit()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:400
+msgid "kills the component"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:403
+msgid "Here are the available constants:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:405
+#, no-wrap
+msgid "*HAL_BIT*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:406
+#, no-wrap
+msgid "*HAL_FLOAT*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:407
+#, no-wrap
+msgid "*HAL_S32*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:408
+#, no-wrap
+msgid "*HAL_U32*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:410
+#, no-wrap
+msgid "*HAL_IN*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:411
+#, no-wrap
+msgid "*HAL_OUT*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:412
+#, no-wrap
+msgid "*HAL_IO*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:413
+#, no-wrap
+msgid "*HAL_RO*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:414
+#, no-wrap
+msgid "*HAL_RW*\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:415 src/gui/qtvcp-libraries.adoc:439
+#, no-wrap
+msgid "References"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:417 src/gui/qtvcp-libraries.adoc:441
+msgid "Available object references:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:419
+#, no-wrap
+msgid "*comp* the component object\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:420 src/gui/qtvcp-libraries.adoc:443
+#, no-wrap
+msgid "*hal* the hal library object\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:421
+#, no-wrap
+msgid "QPin"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:423
+msgid "A wrapper class around HAL pins"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:426
+msgid "There are 3 Qt signals that the QPin pin can be connect to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:428
+#, no-wrap
+msgid ""
+"*value_changed* will call a named function with an argument of the current "
+"value\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:429
+#, no-wrap
+msgid ""
+"*pinValueChanged* will call a named function with arguments of the pin "
+"object and the current value\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:430
+#, no-wrap
+msgid ""
+"*isDrivenChanged* will call a named function with arguments of the pin "
+"object and current state when\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:431
+#, no-wrap
+msgid "the pin is (un)connected to a driving pin\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:434
+msgid "These are the functions that can be called on a QPin object:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:436
+#, no-wrap
+msgid "*<Pin object>.get()* returns the current value of the pin object\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:437
+#, no-wrap
+msgid "*<Pin object>.set(X)* sets the value of the pin object to the value X\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:438
+#, no-wrap
+msgid "*<Pin object>.text()* returns the pin name string\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:451
+#, no-wrap
+msgid ""
+"from qtvcp.core import Qhal\n"
+"QHAL = Qhal()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:463
+#, no-wrap
+msgid ""
+"# at this point:\n"
+"# the widgets are instantiated.\n"
+"# the HAL pins are built but HAL is not set ready\n"
+"def initialized__(self):\n"
+"    self.pin_button_in = QHAL.newpin('cycle-start-in',QHAL.HAL_BIT, "
+"QHAL.HAL_IN)\n"
+"    self.pin_button_in.pinValuechanged.connect(self.buttonChanged)\n"
+"    self.pin_button_in.isDrivenChanged.connect(lambda p,s: "
+"self.buttonDriven(p,s))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:466
+#, no-wrap
+msgid ""
+"def buttonChanged(self, pinObject, value):\n"
+"    print('Pin name:{} changed value to {}'.format(pinObject.text(), "
+"value))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:472
+#, no-wrap
+msgid ""
+"def buttonDriven(self, pinObject, state):\n"
+"    message = 'not driven by an output pin'\n"
+"    if state:\n"
+"        message = 'is driven by an output pin'\n"
+"    print('Pin name:{} is {}'.format(pinObject.text(), message))\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:474
+#, no-wrap
+msgid "`Tool`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:477
+msgid "This library *handles tool offset file changes*."
+msgstr ""
+
+#. TODO Tool: Usage
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:481
+#, no-wrap
+msgid "*LinuxCNC doesn't handle third party manipulation of the tool file well.*\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:486
+#, no-wrap
+msgid "*`GET_TOOL_INFO(_toolnumber_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:488
+msgid ""
+"This will return a Python *list of information on the requested tool "
+"number*. +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:489
+#, no-wrap
+msgid "*`GET_TOOL_ARRAY()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:491
+msgid "This return a single Python *list of Python lists of tool information*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:493
+msgid "This is a raw list formed _from the system tool file_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:494
+#, no-wrap
+msgid ""
+"*`ADD_TOOL(_newtool_ = [_-99, "
+"0,'0','0','0','0','0','0','0','0','0','0','0','0', 0,'New Tool'_])`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:496
+msgid ""
+"This will return a Python *tuple of two Python lists of Python lists of tool "
+"information*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:498
+#, no-wrap
+msgid "*`[0]`* will be _real tools information_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:499
+#, no-wrap
+msgid ""
+"*`[1]`* will be _wear tools information_ (tool numbers will be over 10000; "
+"Fanuc style tool wear)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:503
+#, no-wrap
+msgid ""
+"By default, adds a blank tool entry with tool number -99.\n"
+"You can preload the `newtool` array with tool information."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:504
+#, no-wrap
+msgid "*`DELETE_TOOLS(_toolnumber_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:506
+#, no-wrap
+msgid "*Delete the numbered tool*.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:507
+#, no-wrap
+msgid "*`SAVE_TOOLFILE(_toolarray_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:509
+msgid ""
+"This will *parse the `toolarray` and save it to the tool file* specified in "
+"the _INI file_ as the tool path."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:511
+msgid "This tool _array must contain all the available tools information_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:513
+msgid ""
+"This array is expected to use the LinuxCNC _raw tool array_, i.e. it does "
+"not feature tool wear entries."
+msgstr ""
+
+#. FIXME Really ??
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:516
+msgid "It will return True if there was an error."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:517
+#, no-wrap
+msgid "*`CONVERT_TO_WEAR_TYPE(_toolarray_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:519
+msgid "This function *converts a LinuxCNC raw tool array to a QtVCP tool array*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:521
+msgid "_QtVCP's tool array includes entries for X and Z axis tool wear_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:523 src/gui/qtvcp-libraries.adoc:532
+msgid ""
+"_LinuxCNC supports tool wear_ by adding *tool wear information into tool "
+"entries above 10000*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:525
+msgid "This also *requires remap code to add the wear offsets at tool change time*."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:526
+#, no-wrap
+msgid "*`CONVERT_TO_STANDARD_TYPE(_toolarray_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:528
+msgid "This function *converts QtVCP's tool array into a LinuxCNC raw tool array*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:530
+msgid "_QtVCP's array includes entries for X and Z axis tool wear_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:534
+msgid "This also *requires remap code to add the wear offsets t tool change time*."
+msgstr ""
+
+#. TODO Tools: Usage
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:537
+#, no-wrap
+msgid "`Path`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:540
+#, no-wrap
+msgid "*`Path`* module gives *reference to important files paths*.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:541
+#, no-wrap
+msgid "Referenced Paths"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:543
+#, no-wrap
+msgid "*`PATH.PREFS_FILENAME`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:545
+msgid "The preference file path."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:545
+#, no-wrap
+msgid "*`PATH.WORKINGDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:547
+msgid "The directory QtVCP was launched from."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:547
+#, no-wrap
+msgid "*`PATH.IS_SCREEN`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:549
+msgid "Is this a screen or a VCP?"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:549
+#, no-wrap
+msgid "*`PATH.CONFIGPATH`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:551
+msgid "Launched configuration folder."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:551
+#, no-wrap
+msgid "*`PATH.RIPCONFIGDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:553
+msgid "The Run-in-place config folder for QtVCP screens."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:553
+#, no-wrap
+msgid "*`PATH.BASEDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:555
+msgid "Base folder for LinuxCNC."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:555
+#, no-wrap
+msgid "*`PATH.BASENAME`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:557
+msgid "The Qt Designer files name (no ending)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:557
+#, no-wrap
+msgid "*`PATH.IMAGEDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:559
+msgid "The QtVCP image folder."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:559
+#, no-wrap
+msgid "*`PATH.SCREENDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:561
+msgid "The QtVCP builtin Screen folder."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:561
+#, no-wrap
+msgid "*`PATH.PANELDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:563
+msgid "The QtVCP builtin VCP folder."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:563
+#, no-wrap
+msgid "*`PATH.HANDLER`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:565
+msgid "Handler file Path."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:565 src/gui/qtvcp-libraries.adoc:570
+#, no-wrap
+msgid "*`PATH.HANDLERDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:567
+msgid "Directory where the Python handler file was found."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:567
+#, no-wrap
+msgid "*`PATH.XML`*"
+msgstr ""
+
+#. FIXME PATH.HANDLERDIR for both handler and ui files ?
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:569
+msgid "QtVCP UI file path."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:572
+msgid "Directory where the UI file was found."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:572
+#, no-wrap
+msgid "*`PATH.QSS`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:574
+msgid "QtVCP QSS file path."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:574
+#, no-wrap
+msgid "*`PATH.PYDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:576
+msgid "LinuxCNC's Python library."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:576
+#, no-wrap
+msgid "*`PATH.LIBDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:578
+msgid "The QtVCP library folder."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:578
+#, no-wrap
+msgid "*`PATH.WIDGET`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:580
+msgid "The QtVCP widget folder."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:580
+#, no-wrap
+msgid "*`PATH.PLUGIN`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:582
+msgid "The QtVCP widget plugin folder."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:582
+#, no-wrap
+msgid "*`PATH.VISMACHDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:584
+msgid "Directory where prebuilt Vismach files are found."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:586
+msgid "Not currently used:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:587
+#, no-wrap
+msgid "*`PATH.LOCALEDIR`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:589
+msgid "Locale translation folder."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:589
+#, no-wrap
+msgid "*`PATH.DOMAIN`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:591
+msgid "Translation domain."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:595
+msgid "There are some helper functions available:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:601
+#, no-wrap
+msgid ""
+"file_list = PATH.find_vismach_files()\n"
+"directory_list = PATH.find_screen_dirs()\n"
+"directory_list = PATH.find_panel_dirs()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:607
+#, no-wrap
+msgid ""
+"*Import `Path` module* +\n"
+"Add this Python code to your import section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:615
+#, no-wrap
+msgid "from qtvcp.core import Path\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:619
+#, no-wrap
+msgid ""
+"*Instantiate `Path` module* +\n"
+"Add this Python code to your instantiate section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:627 src/gui/qtvcp-vcp-panels.adoc:512
+#, no-wrap
+msgid "PATH = Path()\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:629
+#, no-wrap
+msgid "`VCPWindow`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:632
+#, no-wrap
+msgid "*`VCPWindow`* module gives *reference to the `MainWindow` and widgets*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:635
+msgid ""
+"Typically this would be used for a library (e.g., the toolbar library uses "
+"it)  as the widgets get a reference to the `MainWindow` from the "
+"`_hal_init()` function."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:640
+#, no-wrap
+msgid ""
+"*Import `VCPWindow` module* +\n"
+"Add this Python code to your import section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:648
+#, no-wrap
+msgid "from qtvcp.qt_makegui import VCPWindow\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:652
+#, no-wrap
+msgid ""
+"*Instantiate `VCPWindow` module*+\n"
+"Add this Python code to your instantiate section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:660
+#, no-wrap
+msgid "WIDGETS = VCPWindow()\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:662
+#, no-wrap
+msgid "`Aux_program_loader`"
+msgstr ""
+
+#. FIXME Aux_program_loader: load (into QtVCP) or launch ?
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:666
+#, no-wrap
+msgid ""
+"*`Aux_program_loader`* module allows an easy way to *load auxiliary programs "
+"LinuxCNC often uses*.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:669
+#, no-wrap
+msgid "*`load_halmeter()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:672
+#, no-wrap
+msgid ""
+"_Halmeter_ is used to *display one HAL pin data*.\n"
+"Load a `halmeter` with:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:676
+#, no-wrap
+msgid "AUX_PRGM.load_halmeter()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:678
+#, no-wrap
+msgid "*`load_ladder()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:680
+msgid "Load _ClassicLadder_ PLC program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:684
+#, no-wrap
+msgid "AUX_PRGM.load_ladder()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:686
+#, no-wrap
+msgid "*`load_status()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:688
+msgid "Load LinuxCNC `status` program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:692
+#, no-wrap
+msgid "AUX_PRGM.load_status()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:694
+#, no-wrap
+msgid "*`load_halshow()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:696
+msgid "Load _HALshow_, configure display program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:700
+#, no-wrap
+msgid "AUX_PRGM.load_halshow()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:702
+#, no-wrap
+msgid "*`load_halscope()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:704
+msgid "Load _HALscope_ program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:708
+#, no-wrap
+msgid "AUX_PRGM.load_halscope()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:710
+#, no-wrap
+msgid "*`load_tooledit()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:712
+msgid "Load _Tooledit_ program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:716
+#, no-wrap
+msgid "AUX_PRGM.load_tooledit(<TOOLEFILE_PATH>)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:718
+#, no-wrap
+msgid "*`load_calibration()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:720
+msgid "Load _Calibration_ program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:724
+#, no-wrap
+msgid "AUX_PRGM.load_calibration()\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:726
+#, no-wrap
+msgid "*`keyboard_onboard()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:728
+msgid "Load _onboard/Matchbox keyboard_"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:732
+#, no-wrap
+msgid "AUX_PRGM.keyboard_onboard(<ARGS>)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:738
+#, no-wrap
+msgid ""
+"*Import `Aux_program_loader` module* +\n"
+"Add this Python code to your import section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:746
+#, no-wrap
+msgid "from qtvcp.lib.aux_program_loader import Aux_program_loader\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:750
+#, no-wrap
+msgid ""
+"*Instantiate `Aux_program_loader` module* +\n"
+"Add this Python code to your instantiate section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:758
+#, no-wrap
+msgid "AUX_PRGM = Aux_program_loader()\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:760
+#, no-wrap
+msgid "`Keylookup`"
+msgstr ""
+
+#. FIXME Shouldn't it be Keylookup ?!
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:765
+#, no-wrap
+msgid ""
+"*`Keylookup`* module is used to *allow keypresses to control behaviors* such "
+"as jogging.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:767
+msgid ""
+"It's used inside the handler file to facilitate creation of *key bindings* "
+"such as keyboard jogging, etc."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:770
+#, no-wrap
+msgid "Import `Keylookup` module"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:781
+#, no-wrap
+msgid "from qtvcp.lib.keybindings import Keylookup\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:783
+#, no-wrap
+msgid "Instantiate `Keylookup` module"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:786
+msgid ""
+"To instantiate `Keylookup` module* so you can use it, add this Python code "
+"to your instantiate section:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:794
+#, no-wrap
+msgid "KEYBIND = Keylookup()\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:796
+#, no-wrap
+msgid "Add Key Bindings"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:800
+#, no-wrap
+msgid ""
+"`Keylookup` requires code under the `processed_key_event` function to call "
+"`KEYBIND.call()`.\n"
+"Most handler files already have this code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:802
+msgid ""
+"In the handler file, under the _initialized function_ use this general "
+"syntax to *create keybindings*:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:806
+#, no-wrap
+msgid "KEYBIND.add_call(\"DEFINED_KEY\",\"FUNCTION TO CALL\", USER DATA)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:809
+msgid "Here we add a keybinding for `F10`, `F11` and `F12`:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:823
+#, no-wrap
+msgid ""
+"# at this point:\n"
+"# the widgets are instantiated.\n"
+"# the HAL pins are built but HAL is not set ready\n"
+"def initialized__(self):\n"
+"    KEYBIND.add_call('Key_F10','on_keycall_F10',None)\n"
+"    KEYBIND.add_call('Key_F11','on_keycall_override',10)\n"
+"    KEYBIND.add_call('Key_F12','on_keycall_override',20)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:827
+#, no-wrap
+msgid ""
+"And then we need to *add the functions that get called*.\n"
+"In the handler file, under the `KEY BINDING CALLS` section, add this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:833
+#, no-wrap
+msgid ""
+"#####################\n"
+"# KEY BINDING CALLS #\n"
+"#####################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:837
+#, no-wrap
+msgid ""
+"def on_keycall_F12(self,event,state,shift,cntrl,value):\n"
+"    if state:\n"
+"        print('F12 pressed')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:841
+#, no-wrap
+msgid ""
+"def on_keycall_override(self,event,state,shift,cntrl,value):\n"
+"    if state:\n"
+"        print('value = {}'.format(value))\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:843
+#, no-wrap
+msgid "Key Defines"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:848
+#, no-wrap
+msgid ""
+"Here is a list of recognized key words. Use the quoted text.\n"
+"Letter keys use 'Key_' with the upper or lower letter added.\n"
+"e.g., 'Key_a' and 'Key_A'."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:967
+#, no-wrap
+msgid ""
+"keys = {\n"
+"    Qt.Key_Escape: \"Key_Escape\",\n"
+"    Qt.Key_Tab: \"Key_Tab\",\n"
+"    Qt.Key_Backtab: \"Key_Backtab\",\n"
+"    Qt.Key_Backspace: \"Key_Backspace\",\n"
+"    Qt.Key_Return: \"Key_Return\",\n"
+"    Qt.Key_Enter: \"Key_Enter\",\n"
+"    Qt.Key_Insert: \"Key_Insert\",\n"
+"    Qt.Key_Delete: \"Key_Delete\",\n"
+"    Qt.Key_Pause: \"Key_Pause\",\n"
+"    Qt.Key_Print: \"Key_Print\",\n"
+"    Qt.Key_SysReq: \"Key_SysReq\",\n"
+"    Qt.Key_Clear: \"Key_Clear\",\n"
+"    Qt.Key_Home: \"Key_Home\",\n"
+"    Qt.Key_End: \"Key_End\",\n"
+"    Qt.Key_Left: \"Key_Left\",\n"
+"    Qt.Key_Up: \"Key_Up\",\n"
+"    Qt.Key_Right: \"Key_Right\",\n"
+"    Qt.Key_Down: \"Key_Down\",\n"
+"    Qt.Key_PageUp: \"Key_PageUp\",\n"
+"    Qt.Key_PageDown: \"Key_PageDown\",\n"
+"    Qt.Key_Shift: \"Key_Shift\",\n"
+"    Qt.Key_Control: \"Key_Control\",\n"
+"    Qt.Key_Meta: \"Key_Meta\",\n"
+"    # Qt.Key_Alt: \"Key_Alt\",\n"
+"    Qt.Key_AltGr: \"Key_AltGr\",\n"
+"    Qt.Key_CapsLock: \"Key_CapsLock\",\n"
+"    Qt.Key_NumLock: \"Key_NumLock\",\n"
+"    Qt.Key_ScrollLock: \"Key_ScrollLock\",\n"
+"    Qt.Key_F1: \"Key_F1\",\n"
+"    Qt.Key_F2: \"Key_F2\",\n"
+"    Qt.Key_F3: \"Key_F3\",\n"
+"    Qt.Key_F4: \"Key_F4\",\n"
+"    Qt.Key_F5: \"Key_F5\",\n"
+"    Qt.Key_F6: \"Key_F6\",\n"
+"    Qt.Key_F7: \"Key_F7\",\n"
+"    Qt.Key_F8: \"Key_F8\",\n"
+"    Qt.Key_F9: \"Key_F9\",\n"
+"    Qt.Key_F10: \"Key_F10\",\n"
+"    Qt.Key_F11: \"Key_F11\",\n"
+"    Qt.Key_F12: \"Key_F12\",\n"
+"    Qt.Key_F13: \"Key_F13\",\n"
+"    Qt.Key_F14: \"Key_F14\",\n"
+"    Qt.Key_F15: \"Key_F15\",\n"
+"    Qt.Key_F16: \"Key_F16\",\n"
+"    Qt.Key_F17: \"Key_F17\",\n"
+"    Qt.Key_F18: \"Key_F18\",\n"
+"    Qt.Key_F19: \"Key_F19\",\n"
+"    Qt.Key_F20: \"Key_F20\",\n"
+"    Qt.Key_F21: \"Key_F21\",\n"
+"    Qt.Key_F22: \"Key_F22\",\n"
+"    Qt.Key_F23: \"Key_F23\",\n"
+"    Qt.Key_F24: \"Key_F24\",\n"
+"    Qt.Key_F25: \"Key_F25\",\n"
+"    Qt.Key_F26: \"Key_F26\",\n"
+"    Qt.Key_F27: \"Key_F27\",\n"
+"    Qt.Key_F28: \"Key_F28\",\n"
+"    Qt.Key_F29: \"Key_F29\",\n"
+"    Qt.Key_F30: \"Key_F30\",\n"
+"    Qt.Key_F31: \"Key_F31\",\n"
+"    Qt.Key_F32: \"Key_F32\",\n"
+"    Qt.Key_F33: \"Key_F33\",\n"
+"    Qt.Key_F34: \"Key_F34\",\n"
+"    Qt.Key_F35: \"Key_F35\",\n"
+"    Qt.Key_Super_L: \"Key_Super_L\",\n"
+"    Qt.Key_Super_R: \"Key_Super_R\",\n"
+"    Qt.Key_Menu: \"Key_Menu\",\n"
+"    Qt.Key_Hyper_L: \"Key_HYPER_L\",\n"
+"    Qt.Key_Hyper_R: \"Key_Hyper_R\",\n"
+"    Qt.Key_Help: \"Key_Help\",\n"
+"    Qt.Key_Direction_L: \"Key_Direction_L\",\n"
+"    Qt.Key_Direction_R: \"Key_Direction_R\",\n"
+"    Qt.Key_Space: \"Key_Space\",\n"
+"    Qt.Key_Any: \"Key_Any\",\n"
+"    Qt.Key_Exclam: \"Key_Exclam\",\n"
+"    Qt.Key_QuoteDbl: \"Key_QuoteDdl\",\n"
+"    Qt.Key_NumberSign: \"Key_NumberSign\",\n"
+"    Qt.Key_Dollar: \"Key_Dollar\",\n"
+"    Qt.Key_Percent: \"Key_Percent\",\n"
+"    Qt.Key_Ampersand: \"Key_Ampersand\",\n"
+"    Qt.Key_Apostrophe: \"Key_Apostrophe\",\n"
+"    Qt.Key_ParenLeft: \"Key_ParenLeft\",\n"
+"    Qt.Key_ParenRight: \"Key_ParenRight\",\n"
+"    Qt.Key_Asterisk: \"Key_Asterisk\",\n"
+"    Qt.Key_Plus: \"Key_Plus\",\n"
+"    Qt.Key_Comma: \"Key_Comma\",\n"
+"    Qt.Key_Minus: \"Key_Minus\",\n"
+"    Qt.Key_Period: \"Key_Period\",\n"
+"    Qt.Key_Slash: \"Key_Slash\",\n"
+"    Qt.Key_0: \"Key_0\",\n"
+"    Qt.Key_1: \"Key_1\",\n"
+"    Qt.Key_2: \"Key_2\",\n"
+"    Qt.Key_3: \"Key_3\",\n"
+"    Qt.Key_4: \"Key_4\",\n"
+"    Qt.Key_5: \"Key_5\",\n"
+"    Qt.Key_6: \"Key_6\",\n"
+"    Qt.Key_7: \"Key_7\",\n"
+"    Qt.Key_8: \"Key_8\",\n"
+"    Qt.Key_9: \"Key_9\",\n"
+"    Qt.Key_Colon: \"Key_Colon\",\n"
+"    Qt.Key_Semicolon: \"Key_Semicolon\",\n"
+"    Qt.Key_Less: \"Key_Less\",\n"
+"    Qt.Key_Equal: \"Key_Equal\",\n"
+"    Qt.Key_Greater: \"Key_Greater\",\n"
+"    Qt.Key_Question: \"Key_Question\",\n"
+"    Qt.Key_At: \"Key_At\",\n"
+"    Qt.Key_BracketLeft: \"Key_BracketLeft\",\n"
+"    Qt.Key_Backslash: \"Key_Backslash\",\n"
+"    Qt.Key_BracketRight: \"Key_BracketRight\",\n"
+"    Qt.Key_AsciiCircum: \"Key_AsciiCircum\",\n"
+"    Qt.Key_Underscore: \"Key_Underscore\",\n"
+"    Qt.Key_QuoteLeft: \"Key_QuoteLeft\",\n"
+"    Qt.Key_BraceLeft: \"Key_BraceLeft\",\n"
+"    Qt.Key_Bar: \"Key_Bar\",\n"
+"    Qt.Key_BraceRight: \"Key_BraceRight\",\n"
+"    Qt.Key_AsciiTilde: \"Key_AsciiTilde\",\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:970
+#, no-wrap
+msgid "`Messages`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:973
+#, no-wrap
+msgid ""
+"*`Messages`* module is used to *display pop up dialog messages on the "
+"screen*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:975
+msgid "These messages are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:977
+msgid "_defined in the INI file under the `[DISPLAY]` heading_, and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:978
+msgid "_controlled by HAL pins_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:981
+#, no-wrap
+msgid "*`_BOLDTEXT`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:982
+msgid "Generally is a title."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:982
+#, no-wrap
+msgid "*`_TEXT`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:983
+msgid "Text below title, and usually longer."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:983
+#, no-wrap
+msgid "*`_DETAIL`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:984
+msgid "Text hidden unless clicked on."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:984
+#, no-wrap
+msgid "*`_PINNAME`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:985
+msgid "Basename of the HAL pin(s)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:985
+#, no-wrap
+msgid "*`_TYPE`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:986
+msgid "Specifies whether it is a:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:988
+#, no-wrap
+msgid ""
+"*Status message* - shown in the _status bar and the notify dialog_. +\n"
+"Requires no user intervention.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:990
+#, no-wrap
+msgid ""
+"*OK message* - _requiring the user to click OK to close the dialog_. +\n"
+"OK messages have _two HAL pins_:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:991
+#, no-wrap
+msgid "One HAL pin to launch the dialog, and\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:992
+#, no-wrap
+msgid "One to signify it's waiting for response.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:994
+#, no-wrap
+msgid ""
+"*Yes/No message* - _requiring the user to select yes or no buttons to close "
+"the dialog_. +\n"
+"Yes/No messages have _three HAL pins_:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:995
+#, no-wrap
+msgid "One to show the dialog,\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:996
+#, no-wrap
+msgid "One for waiting, and\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:997
+#, no-wrap
+msgid "one for the answer.\n"
+msgstr ""
+
+#. FIXME Messages: means STATUS messages will be generated each
+#.   time a focus_overlay is called or an alert sound emitted ?
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1001
+msgid ""
+"By default it will send `STATUS` messages for `focus_overlay` and alert "
+"sound."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1007
+msgid ""
+"Here are sample INI message definition code blocks that would be found under "
+"the `[DISPLAY]` heading:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1009
+msgid "Status bar and desktop notify pop up message:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1017
+#, no-wrap
+msgid ""
+"MESSAGE_BOLDTEXT = NONE\n"
+"MESSAGE_TEXT = This is a statusbar test\n"
+"MESSAGE_DETAILS = STATUS DETAILS\n"
+"MESSAGE_TYPE = status\n"
+"MESSAGE_PINNAME = statustest\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1020
+msgid "Pop up dialog asking a Yes/No question:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1028
+#, no-wrap
+msgid ""
+"MESSAGE_BOLDTEXT = NONE\n"
+"MESSAGE_TEXT = This is a yes no dialog test\n"
+"MESSAGE_DETAILS = Y/N DETAILS\n"
+"MESSAGE_TYPE = yesnodialog\n"
+"MESSAGE_PINNAME = yndialogtest\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1031
+msgid "Pop up dialog asking an OK answer + Status bar and desktop notification:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1039
+#, no-wrap
+msgid ""
+"MESSAGE_BOLDTEXT = This is the short text\n"
+"MESSAGE_TEXT = This is the longer text of the both type test. It can be "
+"longer then the status bar text\n"
+"MESSAGE_DETAILS = BOTH DETAILS\n"
+"MESSAGE_TYPE = okdialog status\n"
+"MESSAGE_PINNAME = bothtest\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1042
+msgid "The `ScreenOptions` widget can automatically set up the message system."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:1043
+#, no-wrap
+msgid "`Notify`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1046
+#, no-wrap
+msgid ""
+"*`Notify`* module is used to *send messages that are integrated into the "
+"desktop*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1048
+msgid "It uses the `pynotify` library."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1053
+#, no-wrap
+msgid ""
+"Ubuntu/Mint does not follow the standard so you can't set how long the "
+"message stays up for.\n"
+"I suggest fixing this with the `notify-osd` package available from "
+"https://launchpad.net/~leolik/+archive/leolik?field.series_filter=lucid[this "
+"PPA] (DISCONTINUED due to move of Ubuntu to Gnome)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1056
+#, no-wrap
+msgid ""
+"Notify _keeps a list of all the alarm messages since starting_ in "
+"*`self.alarmpage`*.\n"
+"If you click _'Show all messages'_ in the notify popup, it will print them "
+"to the terminal."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1058
+msgid "The `ScreenOptions` widget can automatically set up the notify system."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1060
+msgid "Typically `STATUS` _messages_ are used to sent notify messages. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1064
+msgid "You can set the:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1065
+#, no-wrap
+msgid "*`title`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1066
+msgid "Notification message title text."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1066
+#, no-wrap
+msgid "*`message`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1067
+msgid "Notification message content text."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1067
+#, no-wrap
+msgid "*`icon`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1068
+msgid "Notification message icon."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1068
+#, no-wrap
+msgid "*`timeout`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1069
+msgid "How long the message stays up for."
+msgstr ""
+
+#. TODO Notify: Usage
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:1072
+#, no-wrap
+msgid "`Preferences`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1075
+#, no-wrap
+msgid ""
+"*`Preferences`* module allows one to *load and save preference data "
+"permanently to storage media*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1077
+msgid "The `ScreenOptions` widget can automatically set up the preference system."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1081
+#, no-wrap
+msgid ""
+"QtVCP searches for the `ScreenOptions` widget first and, if found, calls "
+"*`_pref_init()`*.\n"
+"This will _create the preferences object_ and return it to QtVCP to pass to "
+"all the widgets and add it to the window object attributes.\n"
+"In this case the preferences object would be accessible from the handler "
+"file's `initialized_` method as *`self.w.PREFS_`*."
+msgstr ""
+
+#. FIXME Global or per widget prefs file ?
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1084
+msgid ""
+"Also all widgets can have access to a specific preferences file at "
+"initialization time."
+msgstr ""
+
+#.  FIXME Preference file vs preference system ?
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1087
+msgid "The `ScreenOptions` widget can automatically set up the preference file."
+msgstr ""
+
+#. FIXME So ScreenOptions set prefs are automatically saved and loaded to/from prefs file(s) ?
+#. TODO: Preferences: Usage
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:1092
+#, no-wrap
+msgid "`Player`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1095
+msgid "This module *allows playing sounds using Gstreamer, beep and Espeak*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1097
+msgid "It can:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1099
+#, no-wrap
+msgid "*play sound/music files* using _Gstreamer_ (non blocking),\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1100
+#, no-wrap
+msgid "*play sounds* using the `beep` library (currently blocks while beeping),\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1101
+#, no-wrap
+msgid "*speak words* using the `espeak` library (non blocking while speaking).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1103
+msgid "There are _default alert sounds_ using Mint or FreeDesktop default sounds."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1105
+msgid "You can play arbitrary sounds or even songs by specifying the path."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1107
+msgid "`STATUS` has _messages to control `Player` module_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1109
+msgid "The `ScreenOptions` widget can automatically set up the audio system."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:1110
+#, no-wrap
+msgid "Sounds"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:1112
+#, no-wrap
+msgid "Alerts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1114
+msgid "There are default *alerts* to choose from:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1116 src/gui/qtvcp-widgets.adoc:2084
+msgid "`ERROR`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1117 src/gui/qtvcp-widgets.adoc:2085
+msgid "`READY`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1118 src/gui/qtvcp-widgets.adoc:2087
+msgid "`ATTENTION`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1119 src/gui/qtvcp-widgets.adoc:2088
+msgid "`RING`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1120 src/gui/qtvcp-widgets.adoc:2086
+msgid "`DONE`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1121 src/gui/qtvcp-widgets.adoc:2089
+msgid "`LOGIN`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1122 src/gui/qtvcp-widgets.adoc:2090
+msgid "`LOGOUT`"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:1123
+#, no-wrap
+msgid "Beeps"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1125
+msgid "There are three *beeps*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1127 src/gui/qtvcp-widgets.adoc:2104
+msgid "`BEEP_RING`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1128 src/gui/qtvcp-widgets.adoc:2105
+msgid "`BEEP_START`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1129 src/gui/qtvcp-widgets.adoc:2103
+msgid "`BEEP`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1134
+#, no-wrap
+msgid ""
+"*Import `Player` module* +\n"
+"Add this Python code to your import section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1142
+#, no-wrap
+msgid "from qtvcp.lib.audio_player import Player\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1146
+#, no-wrap
+msgid ""
+"*Instantiate `Player` module* +\n"
+"Add this Python code to your instantiated section:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1155
+#, no-wrap
+msgid ""
+"SOUND = Player()\n"
+"SOUND._register_messages()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1159
+msgid ""
+"The *`_register_messages()`* function connects the audio player to the "
+"`STATUS` library so sounds can be played with the `STATUS` message system."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1163
+msgid "To play sounds upon `STATUS` messages, use these general syntaxes:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1170
+#, no-wrap
+msgid ""
+"STATUS.emit('play-alert','LOGOUT')\n"
+"STATUS.emit('play-alert','BEEP')\n"
+"STATUS.emit('play-alert','SPEAK This is a test screen for Q t V C P')\n"
+"STATUS.emit('play-sound', 'PATH TO SOUND')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1175
+msgid ""
+"This library allows you to *use `STATUS` messages to launch a virtual "
+"keyboard*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1177
+msgid ""
+"It uses https://launchpad.net/onboard[`Onboard`] or "
+"https://git.yoctoproject.org/matchbox-keyboard/[`Matchbox`] libraries for "
+"the keyboard."
+msgstr ""
+
+#. TODO Virtual Keyboard: usage
+#. TODO Virtual Keyboard: What about other VKB alternatives like:
+#.   * kvkbd https://github.com/KDE/kvkbd
+#.   * Florence https://florence.sourceforge.net/
+#.   * Maliit https://maliit.github.io/, https://github.com/maliit/keyboard
+#.     which seems to have interesting contextual features.
+#. TODO VKB: Usage
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:1188
+#, no-wrap
+msgid "Toolbar Actions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1191
+msgid ""
+"This library supplies *prebuilt submenus and actions for toolbar menus and "
+"toolbar buttons*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1193
+msgid "Toolbuttons, menu and toolbar menus are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1195
+msgid "_built in Qt Designer_, and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1196
+msgid "_assigned actions/submenus in the handler file_."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:1197 src/gui/qtvcp-widgets.adoc:539
+#, no-wrap
+msgid "Actions"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1199
+#, no-wrap
+msgid "*`estop`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1200
+#, no-wrap
+msgid "*`power`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1201
+#, no-wrap
+msgid "*`load`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1202
+#, no-wrap
+msgid "*`reload`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1203
+#, no-wrap
+msgid "*`gcode_properties`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1204 src/gui/qtvcp-widgets.adoc:548
+#, no-wrap
+msgid "*`run`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1205 src/gui/qtvcp-widgets.adoc:554
+#, no-wrap
+msgid "*`pause`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1206 src/gui/qtvcp-widgets.adoc:553
+#, no-wrap
+msgid "*`abort`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1207
+#, no-wrap
+msgid "*`block_delete`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1208
+#, no-wrap
+msgid "*`optional_stop`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1209
+#, no-wrap
+msgid "*`touchoffworkplace`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1210
+#, no-wrap
+msgid "*`touchofffixture`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1211
+#, no-wrap
+msgid "*`runfromline`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1212
+#, no-wrap
+msgid "*`load_calibration`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1213
+#, no-wrap
+msgid "*`load_halmeter`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1214
+#, no-wrap
+msgid "*`load_halshow`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1215
+#, no-wrap
+msgid "*`load_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1216
+#, no-wrap
+msgid "*`load_halscope`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1217
+#, no-wrap
+msgid "*`about`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1218
+#, no-wrap
+msgid "*`zoom_in`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1219
+#, no-wrap
+msgid "*`zoom_out`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1220
+#, no-wrap
+msgid "*`view_x`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1221
+#, no-wrap
+msgid "*`view_y`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1222
+#, no-wrap
+msgid "*`view_y2`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1223
+#, no-wrap
+msgid "*`view_z`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1224
+#, no-wrap
+msgid "*`view_z2`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1225
+#, no-wrap
+msgid "*`view_p`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1226
+#, no-wrap
+msgid "*`view_clear`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1227
+#, no-wrap
+msgid "*`show_offsets`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1228
+#, no-wrap
+msgid "*`quit`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1229
+#, no-wrap
+msgid "*`system_shutdown`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1230
+#, no-wrap
+msgid "*`tooloffsetdialog`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1231
+#, no-wrap
+msgid "*`originoffsetdialog`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1232
+#, no-wrap
+msgid "*`calculatordialog`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1233
+#, no-wrap
+msgid "*`alphamode`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1234
+#, no-wrap
+msgid "*`inhibit_selection`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1235
+#, no-wrap
+msgid "*`show_dimensions`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1236
+msgid "Toggles dimensions display."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:1237
+#, no-wrap
+msgid "Submenus"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1239
+#, no-wrap
+msgid "*`recent_submenu`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1240
+#, no-wrap
+msgid "*`home_submenu`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1241
+#, no-wrap
+msgid "*`unhome_submenu`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1242
+#, no-wrap
+msgid "*`zero_systems_submenu`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1243
+#, no-wrap
+msgid "*`grid_size_submenu`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1244
+msgid "Menu to set graphic grid size"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1248
+msgid "Here is the typical code to add to the relevant _handler file_ sections:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1260
+#, no-wrap
+msgid ""
+"###########################################\n"
+"# **** instantiate libraries section **** #\n"
+"###########################################\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1267
+msgid "Assigning Tool Actions To Toolbar Buttons"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1284
+#, no-wrap
+msgid ""
+"# At this point:\n"
+"#   * the widgets are instantiated,\n"
+"#   * the HAL pins are built but HAL is not set ready.\n"
+"def initialized__(self):\n"
+"    TOOLBAR.configure_submenu(self.w.menuHoming, 'home_submenu')\n"
+"    TOOLBAR.configure_action(self.w.actionEstop, 'estop')\n"
+"    TOOLBAR.configure_action(self.w.actionQuit, 'quit', lambda "
+"d:self.w.close())\n"
+"    TOOLBAR.configure_action(self.w.actionEdit, 'edit', self.edit)\n"
+"    # Add a custom function\n"
+"    TOOLBAR.configure_action(self.w.actionMyFunction, 'my_Function', "
+"self.my_function)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1287
+msgid "Add a custom toolbar function:"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-libraries.adoc:1298
+#, no-wrap
+msgid "Qt Vismach Machine Graphics library"
+msgstr ""
+
+#. FIXME: Remove from here and merge in qtvcp-vismach.adoc
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1303
+#, no-wrap
+msgid ""
+"*`Qt_vismach`* is a _set of Python functions_ that can be *used to create "
+"and animate models of machines*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1305
+msgid "_Vismach_:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1307
+msgid "_displays the model_ in a *3D viewport*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1308
+msgid "_animates the model parts_ as the values of associated HAL pins change."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1310
+msgid ""
+"This is the _Qt based version_ of the library, there is also a tkinter "
+"version available in LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1312
+msgid "The Qt version _allows embedding the simulation in other screens_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:1313
+#, no-wrap
+msgid "Builtin Samples"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1316
+msgid "There are included _sample panels_ in QtVCP for:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1318
+msgid "a 3-Axis XYZ mill,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1319
+msgid "a 5-Axis gantry mill,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1320
+msgid "a 3-Axis mill with an A axis/spindle, and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1321
+msgid "a scara mill."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1325
+#, no-wrap
+msgid ""
+"Most of these samples, if loaded after a running LinuxCNC configuration "
+"(including non-QtVCP based screens), will react to machine movement.\n"
+"Some require HAL pins to be connected for movement."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1327
+msgid "From a terminal (pick one):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1333
+#, no-wrap
+msgid ""
+"qtvcp vismach_mill_xyz\n"
+"qtvcp vismach_scara\n"
+"qtvcp vismach_millturn\n"
+"qtvcp vismach_5axis_gantry\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-libraries.adoc:1335
+#, no-wrap
+msgid "Primitives Library"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1338
+msgid "Provides the *basic building blocks of a simulated machine*."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1339
+#, no-wrap
+msgid "*`Collection`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1340
+msgid "A `collection` is an *object of individual machine parts*."
+msgstr ""
+
+#. TODO Can't a collection hold other collections ?
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1342
+msgid ""
+"This holds a *hierarchical list* of primitive shapes or _STL objects_ that "
+"operations can be applied to."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1344
+#, no-wrap
+msgid "*`Translate`*"
+msgstr ""
+
+#. TODO Not on primitives ?
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1345
+msgid ""
+"This object will perform an *OpenGL translation* calculation _on a "
+"Collection object_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1348
+msgid ""
+"Translation refers to _moving an object in straight line_ to a different "
+"position on screen."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1349
+#, no-wrap
+msgid "*`Scale`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1350
+msgid ""
+"This object will perform an *OpenGL scale* function _on a collection "
+"object_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1351
+#, no-wrap
+msgid "*`HalTranslate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1352
+msgid ""
+"This object will perform an *OpenGL translation* calculation _on a "
+"Collection object_, *offset by the HAL pin value*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1354
+msgid ""
+"Translation refers to moving an object in straight line to a different "
+"position on screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1356 src/gui/qtvcp-libraries.adoc:1364
+msgid "You can either:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1358
+msgid "_read a pin from a component owned by the Vismach object_, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1359 src/gui/qtvcp-libraries.adoc:1367
+msgid "_read a HAL system pin directly_ if the component argument is set to `None`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1360
+#, no-wrap
+msgid "*`Rotate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1361
+msgid ""
+"This object will perform an *OpenGL rotation* calculation _on a Collection "
+"object_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1361
+#, no-wrap
+msgid "*`HalRotate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1362
+msgid ""
+"This object will perform an *OpenGL rotation* calculation _on a Collection "
+"object_, *offset by the HAL pin value*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1366
+msgid "_read a pin from a component owned by the vismach_ object, or"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1368
+#, no-wrap
+msgid "*`HalToolCylinder`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1369
+msgid ""
+"This object will build a _CylinderZ object_ that will *change size and "
+"length based on loaded tool dimensition* (from the tool table) +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1371
+msgid "It reads the `halui.tool.diameter` and `motion.tooloffset.z` _HAL pins_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1373
+msgid "Example from mill_xyz sample:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1382
+#, no-wrap
+msgid ""
+"toolshape = CylinderZ(0)\n"
+"toolshape = Color([1, .5, .5, .5], [toolshape])\n"
+"tool = Collection([\n"
+"    Translate([HalTranslate([tooltip], None, \"motion.tooloffset.z\", 0, 0, "
+"-MODEL_SCALING)], 0, 0, 0),\n"
+"    HalToolCylinder(toolshape)\n"
+"])\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1384
+#, no-wrap
+msgid "*`Track`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1386
+#, no-wrap
+msgid ""
+"*Move and rotate an object to point from one `capture()` 'd coordinate "
+"system to another*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1388
+msgid "Base object to _hold coordinates for primitive shapes_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1389
+#, no-wrap
+msgid "*`CylinderX`, `CylinderY`, `CylinderZ`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1390
+#, no-wrap
+msgid ""
+"*Build a cylinder on the X, Y or Z axis* by giving _endpoint_ (X, Y, or Z) "
+"and _radii_ coordinates.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1391
+#, no-wrap
+msgid "*`Sphere`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1392
+#, no-wrap
+msgid "*Build a sphere* from _center_ and _radius_ coordinates.\n"
+msgstr ""
+
+#. FIXME Vismach: Triangle: Don't coordinates need 2 axes and not be limited to Z !?
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1394
+#, no-wrap
+msgid "*`TriangleXY`, `TriangleXZ`, `TriangleYZ`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1396
+#, no-wrap
+msgid ""
+"*Build a triangle* in the _specified plane_ by giving the _corners Z "
+"coordinates_ for each side.\n"
+msgstr ""
+
+#. FIXME Vismach: Arc: how to specify ?
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1398
+#, no-wrap
+msgid "*`ArcX`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1400
+#, no-wrap
+msgid "*Build an arc* by specifying\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1401
+#, no-wrap
+msgid "*`Box`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1403
+#, no-wrap
+msgid "*Build a box* specified by the _6 vertex coordinates_.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1404
+#, no-wrap
+msgid "*`BoxCentered`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1406
+#, no-wrap
+msgid ""
+"*Build a box centered on origin* by specifying the _width in X and Y_, and "
+"the _height in Z_.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1407
+#, no-wrap
+msgid "*`BoxCenteredXY`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1409
+#, no-wrap
+msgid ""
+"*Build a box centered in X and Y, and running from Z=0*, by specifying the "
+"_width in X and Y_, and running up or down to the specified _height in Z_.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1410
+#, no-wrap
+msgid "*`Capture`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1412
+#, no-wrap
+msgid "*Capture current transformation matrix of a collection*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1414
+msgid ""
+"This _transforms from the current coordinate system to the viewport system_, "
+"NOT to the world system."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1415
+#, no-wrap
+msgid "*`Hud`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1417
+#, no-wrap
+msgid "*Heads up display* draws a _semi-transparent text box_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1419
+msgid "Use:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1421
+msgid "`HUD.strs` for things that must be _updated constantly_,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1422
+msgid "`HUD.show(\"stuff\")` for one-shot things like error messages."
+msgstr ""
+
+#. FIXME: Vismach: Color: can it be applied to a primitive ?
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1424
+#, no-wrap
+msgid "*`Color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1426
+#, no-wrap
+msgid "*Applies a color* to the _parts of a collection_.\n"
+msgstr ""
+
+#. FIXME: Vismach: Ascii(STL|OJ): is a "part" a collection ?
+#. type: Labeled list
+#: src/gui/qtvcp-libraries.adoc:1428
+#, no-wrap
+msgid "*`AsciiSTL`, `AsciiOBJ`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1430
+#, no-wrap
+msgid "*Loads a STL or OBJ data file* as a _Vismach part_.\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:1433
+#, no-wrap
+msgid "Import a simulation"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1435
+msgid ""
+"Here is how one might import the XYZ_mill simulation in a QtVCP panel or "
+"screen handler file."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1443
+#, no-wrap
+msgid "import mill_xyz as MILL\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-libraries.adoc:1445
+#, no-wrap
+msgid "Instantiate and use the simulation widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1447
+msgid "Instantiate the simulation widget and add it to the screen's main layout:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-libraries.adoc:1460
+#, no-wrap
+msgid ""
+"# At this point:\n"
+"#   * the widgets are instantiated,\n"
+"#   * the HAL pins are built but HAL is not set ready.\n"
+"def initialized__(self):\n"
+"    machine = MILL.Window()\n"
+"    self.w.mainLayout.addWidget(machine)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-libraries.adoc:1465
+msgid ""
+"More information on how to build a custom machine simulation in the "
+"<<cha:qtvcp:vismach,Qt Vismach>> chapter."
+msgstr ""
+
+#. type: Title =
+#: src/gui/qtvcp-vcp-panels.adoc:5
+#, no-wrap
+msgid "QtVCP Virtual Control Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:14
+msgid "QtVCP can be used to *create control panels* that interface with _HAL_."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vcp-panels.adoc:16
+#, no-wrap
+msgid "Builtin Virtual Control Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:21
+msgid "In a terminal type `qtvcp list` to see a list."
+msgstr ""
+
+#. TODO Add list output
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:25
+#, no-wrap
+msgid "`copy`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:28
+msgid ""
+"Used for *copying QtVCP's builtin Screens/VCP Panels/QtVismach code to a "
+"folder* so one can _customize_ it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:30
+msgid "In a terminal run:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:36
+#, no-wrap
+msgid "QtVCP `copy` Dialog - Screen, VCP Panel or QtVismach Code Copy Panel"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:37
+#, no-wrap
+msgid "QtVCP copy Dialog - Screen, Panel or Vismach Code Copy Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:37
+#, no-wrap
+msgid "images/qtvcp_copy_dialog.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:40
+#, no-wrap
+msgid "spindle_belts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:43
+msgid ""
+"This panel is designed to display additional RS485 VFD data and also to "
+"configure a 4 sheave, 2 belt spindle drive via a series of buttons."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:44
+#, no-wrap
+msgid "QtVCP spindle_belts Panel - Spindle Belts VCP"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:44
+#, no-wrap
+msgid "images/qtvcp_spindle_belts.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:47
+msgid ""
+"In addition, it is also a useful template to use for your custom panel "
+"because it includes:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:49
+msgid "Display of additional HAL data"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:50
+msgid "Buttons and button groups"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:51
+msgid ""
+"Dynamic changes to button enabled/disabled state based on the state of other "
+"buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:52
+msgid "Saving data to the qtdragon.prefs file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:53
+msgid "Custom button to reset the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:56
+msgid ""
+"Modify this panel to suit your own requirements. Most common features are "
+"used.  The advantage of using panels is that it separates your custom "
+"display code from the qtdragon core code so upgrading the system will not "
+"break your customization."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-vcp-panels.adoc:57
+#, no-wrap
+msgid "Additional Requirements"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:60
+msgid "A spindle drive (for instance VFDMOD)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:61
+msgid ""
+"A custom component that scales the VFD frequency to obtain the desired "
+"spindle speed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:62
+msgid ""
+"A belt driven spindle that uses two belts and an intermediate idler pulley "
+"much like a drill press."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:63
+msgid "Connect the input pins qtdragon.belts.<pin-name> in your postgui HAL file."
+msgstr ""
+
+#. [grid=none,frame=ends]
+#. type: Table
+#: src/gui/qtvcp-vcp-panels.adoc:64 src/hal/intro.adoc:333
+#: src/plasma/qtplasmac.adoc:496 src/plasma/qtplasmac.adoc:518
+#: src/plasma/qtplasmac.adoc:3116 src/plasma/qtplasmac.adoc:3759
+#, no-wrap
+msgid "Function"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:68
+msgid ""
+"The belts are broken into two button groups, the front belts and the rear "
+"belts.  These are numbered as per the plate on the machine.  Buttons in a "
+"group are mutually exclusive, i.e., only one can be selected in the group."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:72
+msgid ""
+"Additionally, it's not possible to have both belts on the same level with "
+"this kind of mechanism because you cannot fit two belts to the one idler "
+"pulley sheave.  So if a belt is selected, its opposite button is disabled.  "
+"E.g., if belt 3 is selected, belt 7 is disabled."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-vcp-panels.adoc:73
+#, no-wrap
+msgid "Embedding commands"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:76
+#, no-wrap
+msgid ""
+"Add these lines to the [DISPLAY] section in your .ini file\n"
+"The example tab_location is for the QtDragon screen."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:80
+#, no-wrap
+msgid ""
+"EMBED_TAB_NAME=Spindle Extras\n"
+"EMBED_TAB_COMMAND=qtvcp spindle_belts\n"
+"EMBED_TAB_LOCATION=tabWidget_utilities\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:83
+msgid "Here is how to load `spindle_belt` from a HAL script:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:87
+#, no-wrap
+msgid "loadusr qtvcp spindle_belts\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-vcp-panels.adoc:89
+#, no-wrap
+msgid "Customization Hints"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:92
+msgid "Customizing the panel: +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:95
+msgid ""
+"Copy the files located in /user/share/qtvcp/qtdragon/panels/belts to: "
+"~/linuxcnc/configs/<my_configuration_folder>/qtvcp/panels/belts (you can use "
+"the copy dialog panel to do this)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:97
+msgid "Edit belts.ui with designer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:98
+msgid "Edit belts_handler.py with a text editor"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:99
+msgid "Connect the relevant pins in a postgui.hal file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:100
+msgid "Make sure your postgui file is loaded by your .ini file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:103
+msgid ""
+"For information on the finer points, consult the QtVCP and QtDragon "
+"documentation.  The Python handler file also provides a useful template for "
+"any custom panel."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:105
+#, no-wrap
+msgid "`test_dial`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:108
+msgid "This panel has a *dial that adjusts S32 and Float HAL output pins*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:109
+msgid "The dial's range can be adjusted from a drop down menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:110
+msgid "The output can be scaled with the `spinbox`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:111
+msgid "A `combobox` can be used to automatically select and connect to a signal."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:115
+#, no-wrap
+msgid "loadusr qtvcp test_dial\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:117
+#, no-wrap
+msgid "QtVCP `test_dial` Panel - Test Dial VCP"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:118
+#, no-wrap
+msgid "QtVCP test_dial Panel - Test Dial VCP"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:118
+#, no-wrap
+msgid "images/qtvcp_test_dial.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:120
+#, no-wrap
+msgid "test_button"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:123
+msgid "This panel has a *button that will set a HAL pin*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:124
+msgid "The button can be selected as a _momentary_ or a _toggle_ button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:125
+msgid "A HAL pin will be created that follows the button state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:126
+msgid "The button's _indicator color_ can be adjusted from a drop down menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:127
+msgid "A HAL pin or signal can be selected to follow the button state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:128
+msgid "You can add more buttons from the drop down menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:129
+msgid "You can load a Halmeter from the drop down menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:130
+msgid "You can load a test LED from the drop down menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:131
+msgid "The button can be detached from the main windows."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:133
+msgid "Here is how to load `test_button` from a HAL script:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:138
+#, no-wrap
+msgid ""
+"loadusr qtvcp test_button\n"
+"loadusr qtvcp -o 4 test_button\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:142
+#, no-wrap
+msgid ""
+"The `-o` switch sets how many buttons the panel starts with.\n"
+"If loading directly from a terminal omit the `loadusr`."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:143
+#, no-wrap
+msgid "QtVCP `test_button` - Test Button VCP"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:144
+#, no-wrap
+msgid "QtVCP test_button - Test Button VCP"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:144
+#, no-wrap
+msgid "images/qtvcp_test_button.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:147
+#, no-wrap
+msgid "`test_led`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:150
+msgid "This panel has an *LED that can selected to watch HAL bit pins/signals*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:151
+msgid "The LED's color can be adjusted from a drop down menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:152
+msgid "The text box and state can be output as speech if sound is selected."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:153
+msgid ""
+"A `combobox` can be used to automatically select and connect to a "
+"pin/signal."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:154
+msgid "You can add more LEDs from the drop down menu."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:155
+msgid "The LED can be detached from the main windows."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:157
+msgid "Here is how to load `test_led` from a HAL script:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:162
+#, no-wrap
+msgid ""
+"loadusr qtvcp test_led\n"
+"loadusr qtvcp -o 4 test_led\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:166
+#, no-wrap
+msgid ""
+"The `-o` switch sets how many LEDs the panel starts with.\n"
+"If loading directly from a terminal omit the 'loadusr'."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:167
+#, no-wrap
+msgid "QtVCP `test_dial` Panel - Test LED VCP"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:168
+#, no-wrap
+msgid "QtVCP test_dial Panel - Test LED VCP"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:168
+#, no-wrap
+msgid "images/qtvcp_test_led.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:171
+#, no-wrap
+msgid "`test_panel`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:175
+#, no-wrap
+msgid ""
+"*Collection of useful widgets for testing HAL component*, including\n"
+"speech of LED state.\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:181
+#, no-wrap
+msgid "QtVCP `test_panel` - HAL Component Testing Panel"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:182
+#, no-wrap
+msgid "QtVCP test_panel - HAL Component Testing Panel"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:185
+#, no-wrap
+msgid "`cam_align`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:188
+msgid "A *camera display widget for rotational alignment*."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:189
+#, no-wrap
+msgid "QtVCP `cam_align` Panel - Camera Based Alignment Panel"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:190
+#, no-wrap
+msgid "QtVCP cam_align Panel - Camera Based Alignment Panel"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:194
+msgid "Add these lines to the INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:201
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"EMBED_TAB_NAME = cam_align\n"
+"EMBED_TAB_COMMAND = halcmd loadusr -Wn qtvcp_embed qtvcp -d -c qtvcp_embed "
+"-x {XID} cam_align\n"
+"# The following line is needed if embedding in GMOCCAPY\n"
+"EMBED_TAB_LOCATION = ntb_preview\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:205
+msgid "All `<options>` must appear before the `cam_align` panel name."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:206
+#, no-wrap
+msgid "Qtvcp Options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:210
+msgid "`-d` Debugging on. or remove for no minimum output"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:211
+msgid "`-x {XID}` used for embedding into AXIS or Gmoccapy"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:212
+msgid "`-o <option>` Options passed to cam_align"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:213
+#, no-wrap
+msgid "Cam_align Options"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:216
+msgid "`size=400,400` Size of the embedded window (width,height)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:217
+msgid "`imagesize=300,300` Size of the image inside the window (width,height)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:218
+msgid "`rotincr=5` Sets the increment of the crosshair rotation. (degrees)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:219
+msgid ""
+"`xscale=100` Scales the image in X. A negative value will flip the image in "
+"X (percent)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:220
+msgid ""
+"`yscale=100` Scales the image in Y. A negative value will flip the image in "
+"Y (percent)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:221
+msgid "`camnumber=1` Sets what system camera to use"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:223
+msgid ""
+"For instance you can add window width and height size, rotation increment, "
+"and camera number from the INI with -o options."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:225
+#, no-wrap
+msgid ""
+"EMBED_TAB_COMMAND = halcmd loadusr -Wn qtvcp_embed qtvcp -d -c qtvcp_embed "
+"-x {XID} -o size=400,400 -o rotincr=.2 -o camnumber=0 cam_align\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:228
+msgid "Mouse controls:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:230
+msgid "left mouse single click - increase cross hair rotation one increment"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:231
+msgid "right mouse single click - decrease cross hair rotation one increment"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:232
+msgid "middle mouse single click - cycle through rotation increments"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:233
+msgid "left mouse hold and scroll - scroll camera zoom"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:234
+msgid "right mouse hold and scroll - scroll cross hair rotation angle"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:235
+msgid "mouse scroll only - scroll circle diameter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:236
+msgid "left mouse double click - reset zoom"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:237
+msgid "right mouse double click - reset rotation"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:238
+msgid "middle mouse double click - reset circle diameter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:240
+msgid ""
+"To use the top buttons you have to assign a command (or a sub-routine). This "
+"could look like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:245
+#, no-wrap
+msgid ""
+"[MDI_COMMAND_LIST]\n"
+"MDI_COMMAND_CAM_ALIGN1=G10 L20 P1 X0 Y0,Set XY\\nOrigin\n"
+"MDI_COMMAND_CAM_ALIGN2=G0 X0 Y0,Go To\\nOrigin\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:249
+#, no-wrap
+msgid ""
+"Where the first command is referring to the button \"SET origin\" and the "
+"second to the button \"GOTO Origin\".\n"
+"Note the comma and text after is optional - it will override the default "
+"button text.\n"
+"These buttons are QtVCP action buttons and follow those rules."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:251
+#, no-wrap
+msgid "`sim_panel`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:259
+#, no-wrap
+msgid ""
+"Small control panel to *simulate MPG jogging controls etc* for simulated "
+"configurations.\n"
+"The MPG, selection buttons and control buttons export HAL pins to connect to "
+"linuxcnc.\n"
+"The selection and control group boxes can be hidden if not needed by using "
+"the '-o hide=' option.\n"
+"'groupBoxControl' and 'groupBoxSelection' are the widget names that can be "
+"hidden.\n"
+"If you want to hide both, use a comma between them with no spaces.\n"
+"The '-a' option will make the panel always-on-top of all windows."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:263
+#, no-wrap
+msgid "loadusr qtvcp sim_panel\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:266
+msgid ""
+"Here we load the panel with no MPG selection buttons and the always-on-top "
+"option."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:270
+#, no-wrap
+msgid "loadusr qtvcp -a -o hide=groupBoxSelection sim_panel\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:272
+#, no-wrap
+msgid "QtVCP `sim_panel` - Simulated Controls Panel For Screen Testing."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:273
+#, no-wrap
+msgid "QtVCP sim_panel - Simulated Controls Panel For Screen Testing"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:276
+#, no-wrap
+msgid "`tool_dialog`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:279
+#, no-wrap
+msgid "*Manual tool change dialog* that gives tool description.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:283
+#, no-wrap
+msgid "loadusr -Wn tool_dialog qtvcp -o speak_on -o audio_on tool_dialog\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:286 src/hal/tools.adoc:224
+#, no-wrap
+msgid "Options:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:289
+msgid "`-o notify_on` - _use desktop notify_ dialogs instead of QtVCP native ones."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:290
+msgid "`-o audio_on` - _play sound on tool change_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:291
+msgid "`-o speak_on` - _speak announcement of tool change_"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:292
+#, no-wrap
+msgid "QtVCP `tool_dialog` - Manual Tool Change Dialog"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:293
+#, no-wrap
+msgid "QtVCP tool_dialog - Manual Tool Change Dialog"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:293 src/gui/qtvcp-widgets.adoc:2507
+#, no-wrap
+msgid "images/qtvcp_toolChange.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vcp-panels.adoc:297
+#, no-wrap
+msgid "`vismach` 3D Simulation Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:299
+msgid "These panels are prebuilt simulation of common machine types."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:301
+msgid "These are also embed-able in other screens such as AXIS or GMOCCAPY."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:302
+#, no-wrap
+msgid "QtVCP `vismach_mill_xyz`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:305
+msgid "3D OpenGL view of a _3-Axis milling machine_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:309
+#, no-wrap
+msgid "loadusr qtvcp vismach_mill_xyz\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:311
+#, no-wrap
+msgid "QtVCP `vismach_mill_xyz` - 3-Axis Mill 3D View Panel"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:312
+#, no-wrap
+msgid "QtVCP vismach_mill_xyz - 3-Axis Mill 3D View Panel"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:314
+#, no-wrap
+msgid "QtVCP `vismach_router_atc`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:319
+#, no-wrap
+msgid ""
+"3D OpenGL view of a _3-Axis router style, gantry bed milling machine_.\n"
+"This particular panel shows how to define and connect the model parts in the "
+"handler file, rather then importing the pre-built model from QtVCP's vismach "
+"library."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:323
+#, no-wrap
+msgid "loadusr qtvcp vismach_router_atc\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:325
+#, no-wrap
+msgid "QtVCP `vismach_router_atc` - 3-Axis Gantry Bed Mill 3D View Panel"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:326
+#, no-wrap
+msgid "QtVCP vismach_router_atc - 3-Axis Gantry Bed Mill 3D View Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:326
+#, no-wrap
+msgid "images/qtvismach_router_atc.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:328
+#, no-wrap
+msgid "QtVCP `vismach_scara`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:331
+msgid "3D OpenGL view of a _SCARA based milling machine_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:335
+#, no-wrap
+msgid "loadusr qtvcp vismach_scara\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:337
+#, no-wrap
+msgid "QtVCP `vismach_scara` - SCARA Mill 3D View Panel"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:338
+#, no-wrap
+msgid "QtVCP vismach_scara - SCARA Mill 3D View Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:338
+#, no-wrap
+msgid "images/qtvismach_scara.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:340
+#, no-wrap
+msgid "QtVCP `vismach_millturn`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:343
+msgid "3D OpenGL view of a _3-Axis milling machine with an A axis/spindle_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:347
+#, no-wrap
+msgid "loadusr qtvcp vismach_millturn\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:349
+#, no-wrap
+msgid "QtVCP `vismach_millturn` - 4 Axis MillTurn 3D View Panel"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:350
+#, no-wrap
+msgid "QtVCP vismach_millturn - 4 Axis MillTurn 3D View Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:350
+#, no-wrap
+msgid "images/qtvismach_millturn.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:352
+#, no-wrap
+msgid "QtVCP `vismach_mill_5axis_gantry`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:355
+msgid "3D OpenGL view of a _5-Axis gantry type milling machine_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:359
+#, no-wrap
+msgid "loadusr qtvcp vismach_mill_5axis_gantry\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:361
+#, no-wrap
+msgid "QtVCP `vismach_mill_5axis_gantry` - 5-AxIs Gantry Mill 3D View Panel"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:362
+#, no-wrap
+msgid "QtVCP vismach_mill_5axis_gantry - 5-Axis Gantry Mill 3D View Panel"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:362
+#, no-wrap
+msgid "images/qtvismach_5axis_gantry.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:364
+#, no-wrap
+msgid "QtVCP `vismach_fanuc_200f`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:367
+msgid "3D openGL view of a _6 joint robotic arm_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:371
+#, no-wrap
+msgid "loadusr qtvcp vismach_fanuc_200f\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-vcp-panels.adoc:373
+#, no-wrap
+msgid "QtVCP `vismach_fanuc_200f` - 6 Joint Robotic Arm"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vcp-panels.adoc:374
+#, no-wrap
+msgid "QtVCP vismach_fanuc_200f - 6 Joint Robotic Arm"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-vcp-panels.adoc:374
+#, no-wrap
+msgid "images/qtvismach_fanuc_200f.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vcp-panels.adoc:378
+#, no-wrap
+msgid "Custom Virtual Control Panels"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vcp-panels.adoc:419
+#, no-wrap
+msgid "Embedding QtVCP Virtual Control Panels into QtVCP Screens"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:421
+msgid ""
+"QtVCP panels can be embedded into most QtVCP screens and avoids problems "
+"such as focus transferring that can be a problem in non-native embedding."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:422
+#, no-wrap
+msgid "Embedding Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:424
+msgid ""
+"A typical screen such as QtDragon will search the INI file under the heading "
+"[DISPLAY] for commands to embed a panel."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:431
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"EMBED_TAB_NAME=Embedding demo\n"
+"EMBED_TAB_COMMAND=qtvcp simple_hal\n"
+"EMBED_TAB_LOCATION=tabWidget_utilities\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vcp-panels.adoc:433
+#, no-wrap
+msgid "*'EMBED_TAB_NAME'*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:434
+msgid "will typically be the title of the tab."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vcp-panels.adoc:434
+#, no-wrap
+msgid "*'EMBED_TAB_LOCATION'*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:435
+msgid ""
+"will be specific to the screen and specifies the tabWidget or stackedWidget "
+"to embed into."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vcp-panels.adoc:435
+#, no-wrap
+msgid "*'EMBED_TAB_COMMAND'*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:436
+msgid ""
+"is the command used to invoke loading of the panel. For native embedded "
+"panels the first word will always be 'qtvcp', the last will be the panel "
+"name to load. You can also pass options to the panel with -o switches in the "
+"command line between 'qtvcp' and the panel name. The panel will follow the "
+"debugging mode setting of the main screen."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:437
+#, no-wrap
+msgid "Location of builtin Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:443
+#, no-wrap
+msgid ""
+"There are panels available that are included with LinuxCNC. To see a list "
+"open a terminal and type 'qtvcp' and press return.\n"
+"You will get a help printout and a list of builtin screen and panels.\n"
+"Pick any of the names from the panel list and add that to the COMMAND entry "
+"after 'qtvcp'.\n"
+"The builtin panel search path is 'share/qtvcp/panels/PANELNAME'.\n"
+"Run-In-Place and installed versions of LinuxCNC have these in different "
+"locations on the system."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:444
+#, no-wrap
+msgid "Location of Custom Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:449
+#, no-wrap
+msgid ""
+"Custom panels can be embedded too -either a modified builtin panel or a new "
+"user-built one.\n"
+"When loading panels, QtVCP looks in the configuration folders path for "
+"'qtvcp/panels/PANELNAME/PANELNAME.ui'.\n"
+"'PANNELNAME' being any valid string with no spaces. If no path is found "
+"there, then looks in the builtin file path.\n"
+"QtVCP will do the same process for the optional handler file: "
+"'qtvcp/panels/PANELNAME/PANELNAME_handler.py'"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:450
+#, no-wrap
+msgid "Handler Programming Tips"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:456
+#, no-wrap
+msgid ""
+"In a screen handler file, the reference used for the window is 'self.w'.\n"
+"In QtVCP panels, that reference will refers to the panel's window.\n"
+"To reference the main window use 'self.w.MAIN'. If your panel is to be able "
+"to run independently and embedded, you must trap errors from referencing "
+"objects not available. (Note, main screen objects are not available in an "
+"independent panel.)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:458
+msgid "E.g., this would use the panel's preference file if there is one."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:464
+#, no-wrap
+msgid ""
+"try:\n"
+"    belt_en = self.w.PREFS_.getpref('Front_Belt_enabled', 1, int, "
+"'SPINDLE_EXTRAS')\n"
+"except:\n"
+"    belt_en = 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:467
+msgid "This would use the main screen preference file if there is one."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:473
+#, no-wrap
+msgid ""
+"try:\n"
+"    belt_en = self.w.MAIN.PREFS_.getpref('Front_Belt_enabled', 1, int, "
+"'SPINDLE_EXTRAS')\n"
+"except:\n"
+"    belt_en = 1\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:475
+#, no-wrap
+msgid "Designer Widget Tips"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:478
+msgid ""
+"When using Python command option in Action Button widgets of an embedded "
+"panel:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vcp-panels.adoc:479 src/gui/qtvcp-widgets.adoc:3052
+#, no-wrap
+msgid "*`INSTANCE`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:482
+msgid ""
+"refers to the panel window.  E.g., "
+"`INSTANCE.my_panel_handler_function_call(True)`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vcp-panels.adoc:483
+#, no-wrap
+msgid "*'MAIN_INSTANCE'*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:486
+msgid ""
+"refers to the main screen window.  E.g., "
+"`MAIN_INSTANCE.my_main_screen_handler_function_call(True)`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:488
+msgid "If the panel is not embedded, both refer to the panel window."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vcp-panels.adoc:489
+#, no-wrap
+msgid "Handler Patching - Subclassing Builtin Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:496
+msgid ""
+"You may still need to use the handler copy dialog to copy the original "
+"handler file to decide how to patch it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:500
+#, no-wrap
+msgid ""
+"There should be a folder in the config folder; for panel: named '<CONFIG "
+"FOLDER>/qtvcp/panels/<PANEL NAME>/'\n"
+"add the handle patch file there, named like so <ORIGINAL PANEL "
+"NAME>_handler.py,\n"
+"i.e. for cam_align the file would be called 'cam_align_handler.py'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vcp-panels.adoc:502
+msgid "Here is a sample to change the circle color in cam_align: +"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:510
+#, no-wrap
+msgid ""
+"import sys\n"
+"import os\n"
+"import importlib\n"
+"from PyQt5.QtCore import Qt\n"
+"from qtvcp.core import Path\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:521
+#, no-wrap
+msgid ""
+"# get reference to original handler file so we can subclass it\n"
+"sys.path.insert(0, PATH.PANELDIR)\n"
+"panel = os.path.splitext(os.path.basename(os.path.basename(__file__)))[0]\n"
+"base = panel.replace('_handler','')\n"
+"module = \"{}.{}\".format(base,panel)\n"
+"mod = importlib.import_module(module, PATH.PANELDIR)\n"
+"sys.path.remove(PATH.PANELDIR)\n"
+"HandlerClass = mod.HandlerClass\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:525
+#, no-wrap
+msgid ""
+"# return our subclassed handler object to Qtvcp\n"
+"def get_handlers(halcomp, widgets, paths):\n"
+"    return [UserHandlerClass(halcomp, widgets, paths)]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:529
+#, no-wrap
+msgid ""
+"# subclassed from HandlerClass which was imported above\n"
+"class UserHandlerClass(HandlerClass):\n"
+"    print('Custom subclassed panel handler loaded\\n')\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:533
+#, no-wrap
+msgid ""
+"    def initialized__(self):\n"
+"        # call original handler initialized function\n"
+"        super().initialized__()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vcp-panels.adoc:536
+#, no-wrap
+msgid ""
+"        # add our customization\n"
+"        self.w.camview.circle_color = Qt.green\n"
+msgstr ""
+
+#. type: Title =
+#: src/gui/qtvcp-vismach.adoc:5
+#, no-wrap
+msgid "QtVismach"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:8
+#, no-wrap
+msgid ""
+"*Vismach* is a set of *Python functions that can be used to create and "
+"animate models of machines*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:10
+msgid ""
+"This chapter is about the Qt embedded version of <<cha:vismach,Vismach>>, "
+"also see: https://sa-cnc.com/linuxcnc-vismach/ ."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:15
+msgid ""
+"Vismach displays the model in a *3D viewport* and the *model parts are "
+"animated as the values of associated HAL pins change*."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-vismach.adoc:16 src/gui/qtvcp-vismach.adoc:17
+#, no-wrap
+msgid "QtVismach 3D Viewport"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:20
+msgid "The Vismach 3D viewport view can be manipulated as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:22
+#, no-wrap
+msgid "*zoom* by _scroll wheel_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:23
+#, no-wrap
+msgid "*pan* by _middle button drag_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:24
+#, no-wrap
+msgid "*rotate* by _right-button drag_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:25
+#, no-wrap
+msgid "*tilt* by _left button drag_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:27
+msgid ""
+"A *Vismach model* takes the form of a _Python script_ and can use standard "
+"Python syntax."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:30
+msgid ""
+"This means that there is more than one way to lay out the script, but in the "
+"examples given in this document the simplest and most basic of them will be "
+"used."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:32
+msgid "The basic sequence in creating the Vismach model is:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:34
+msgid "Create the parts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:35
+msgid "Define how they move"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:36
+msgid "Assemble into movement groups"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:38
+#, no-wrap
+msgid "Hierarchy of Machine Design"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:41
+msgid "The model follows *logical tree design*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:45
+msgid ""
+"Picture the tree, with root/trunk, branches and smaller branches off it.  If "
+"you move the larger branch, smaller branches will move with it, but if you "
+"move the smaller branch, the larger will not."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:47
+msgid "_Machine design follows that conceptual design_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:49
+msgid "Taking the mill shown in the 3D Viewport picture above for example:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:51
+msgid "If you move X, it can move on its own,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:52
+msgid ""
+"but if you move Y, it will also move X assembly, as it is attached to Y "
+"assembly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:54
+msgid "So for this machine, the tree looks like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:93
+#, no-wrap
+msgid ""
+"model\n"
+"  |\n"
+"  |---frame\n"
+"  |     |\n"
+"  |     |---base\n"
+"  |     |\n"
+"  |     |---column\n"
+"  |     |\n"
+"  |     |---top\n"
+"  |\n"
+"  |---yassembly\n"
+"  |      |\n"
+"  |      |---xassembly\n"
+"  |      |      |\n"
+"  |      |      |---xbase\n"
+"  |      |      |\n"
+"  |      |      |---work\n"
+"  |      |\n"
+"  |      |---ybase\n"
+"  |\n"
+"  |---zassembly\n"
+"          |\n"
+"          |---zframe\n"
+"          |     |\n"
+"          |     |---zbody\n"
+"          |     |\n"
+"          |     |---spindle\n"
+"          |\n"
+"          |---toolassembly\n"
+"                    |\n"
+"                    |---cat30\n"
+"                    |\n"
+"                    |---tool\n"
+"                         |\n"
+"                         |---tooltip\n"
+"                         |\n"
+"                         |---(tool cylinder function)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:97
+msgid ""
+"As you can see, the _lowest parts must exist_ first _before those can be "
+"grouped with others into an assembly_.  So you _build upwards_ from lowest "
+"point in tree and assemble them together."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:101
+msgid ""
+"The same is applicable for any design of machine: look at the machine arm "
+"example and you will see that it starts with the tip and adds to the larger "
+"part of the arm, then it finally groups with the base."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:104 src/gui/vismach.adoc:32
+#, no-wrap
+msgid "Start the script"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:107
+msgid ""
+"It is useful for testing to include the `#!/usr/bin/env python3` shebang "
+"line to _allow the file to be executed directly from the command line."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:109
+msgid "The first thing to do is to _import the required libraries_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:117
+#, no-wrap
+msgid ""
+"import hal\n"
+"import math\n"
+"import sys\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:119
+#, no-wrap
+msgid "from qtvcp.lib.qt_vismach.qt_vismach import *\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:122
+#, no-wrap
+msgid "HAL pins."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:125
+msgid ""
+"Originally the vismach library required creating a component and connecting "
+"HAL pins to control the simulation."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:127
+msgid ""
+"`qt_vismach` can read the HAL system pins directly or if you wish, to use "
+"separate HAL pins that you must define in a HAL component:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:134 src/gui/vismach.adoc:64
+#, no-wrap
+msgid ""
+"c = hal.component(\"samplegui\")\n"
+"c.newpin(\"joint0\", hal.HAL_FLOAT, hal.HAL_IN)\n"
+"c.newpin(\"joint1\", hal.HAL_FLOAT, hal.HAL_IN)\n"
+"c.ready()\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:137 src/gui/vismach.adoc:70
+#, no-wrap
+msgid "Creating Parts"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vismach.adoc:140
+#, no-wrap
+msgid "Import STL or OBJ Files"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:143
+msgid "It is probably easiest to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:145
+msgid "_create geometry in a CAD package_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:146
+msgid ""
+"_import into the model script using the `AsciiSTL()` or `AsciiOBJ()` "
+"functions_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:148
+msgid ""
+"Both functions can take one of two named arguments, either a _filename_ or "
+"_data_:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:155
+#, no-wrap
+msgid ""
+"part = AsciiSTL(filename=\"path/to/file.stl\")\n"
+"part = AsciiSTL(data=\"solid part1 facet normal ...\")\n"
+"part = AsciiOBJ(filename=\"path/to/file.obj\")\n"
+"part = AsciiOBJ(data=\"v 0.123 0.234 0.345 1.0 ...\")\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:159
+msgid ""
+"STL model parts are added to the Vismach space in the _same locations as "
+"they were created in the STL or OBJ space_, i.e. ideally with a rotational "
+"point at their origin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:162
+msgid ""
+"It is much easier to move while building if the origin of the model is at a "
+"rotational pivot point."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vismach.adoc:164
+#, no-wrap
+msgid "Build from Geometric Primitives"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:167
+msgid ""
+"Alternatively parts can be _created inside the model script from a range of "
+"shape primitives_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:169
+msgid ""
+"Many shapes are _created at the origin_ and need to be _moved to the "
+"required location_ after creation."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:170
+#, no-wrap
+msgid "*`cylinder = CylinderX(x1, r1, x2, r2)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:171
+#, no-wrap
+msgid "*`cylinder = CylinderY(y1, r1, y2, r2)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:172
+#, no-wrap
+msgid "*`cylinder = CylinderZ(z1, r1, z2, r2)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:174
+msgid ""
+"Creates a _(optionally tapered) cylinder on the given axis_ with the given "
+"radii at the given points on the axis."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:174
+#, no-wrap
+msgid "*`sphere = Sphere(x, y, z, r)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:176
+msgid "Creates a _sphere of radius r at (x,y,z)_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:176
+#, no-wrap
+msgid "*`triangle = TriangleXY(x1, y1, x2, y2, x3, y3, z1, z2)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:177
+#, no-wrap
+msgid "*`triangle = TriangleXZ(x1, z1, x2, z2, x3, z3, y1, y2)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:178
+#, no-wrap
+msgid "*`triangle = TriangleYZ(y1, z1, y2, z2, y3, z3, x1, x2)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:181
+msgid ""
+"Creates a _triangular plate between planes_ defined by the last two values "
+"parallel to the specified plane, with vertices given by the three coordinate "
+"pairs."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:181
+#, no-wrap
+msgid "*`arc = ArcX(x1, x2, r1, r2, a1, a2)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:183
+msgid "Create an _arc shape_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:183
+#, no-wrap
+msgid "*`box = Box(x1, y1, z1, x2, y2, z2)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:185
+msgid ""
+"Creates a _rectangular prism with opposite corners_ at the specified "
+"positions and edges parallel to the XYZ axes."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:185
+#, no-wrap
+msgid "*`box = BoxCentered(xw, yw, zw)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:187
+msgid "Creates an xw by yw by zw _box centred on the origin_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:187
+#, no-wrap
+msgid "*`box = BoxCenteredXY(xw, yw, z)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:189
+msgid "Creates a _box ground on WY plane_ of width xw / yw and height z."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:191
+msgid ""
+"Composite parts may be created by assembling these primitives either at "
+"creation time or subsequently:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:198 src/gui/vismach.adoc:121
+#, no-wrap
+msgid ""
+"part1 = Collection([Sphere(100,100,100,50), CylinderX(100,40,150,30)])\n"
+"part2 = Box(50,40,75,100,75,100)\n"
+"part3 = Collection([part2, TriangleXY(10,10,20,10,15,20,100,101)])\n"
+"part4 = Collection([part1, part2])\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:201
+#, no-wrap
+msgid "Moving Model Parts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:205
+msgid ""
+"Parts may need to be moved in the Vismach space to assemble the model.  The "
+"origin does not move - Translate() and Rotate() move the Collection as you "
+"add parts, relative to a stationary origin."
+msgstr ""
+
+#. FIXME unclear
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:208
+msgid ""
+"They may also need to be moved to create the animation as the animation "
+"rotation axis is created at the origin (but moves with the Part)."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vismach.adoc:210
+#, no-wrap
+msgid "Translating Model parts"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:212
+#, no-wrap
+msgid "*`part1 = Translate([part1], x, y, z)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:213
+msgid "Move part1 the specified distances in x, y and z."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vismach.adoc:215
+#, no-wrap
+msgid "Rotating Model Parts"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:217
+#, no-wrap
+msgid "*`part1 = Rotate([part1], theta, x, y, z)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:219
+msgid ""
+"Rotate the part by angle theta [degrees] about an axis between the origin "
+"and x, y, z."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:221 src/gui/vismach.adoc:135
+#, no-wrap
+msgid "Animating Parts"
+msgstr ""
+
+#. FIXME 2 or 3 functions ? HalToolCylinder not documented here ?
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:226
+msgid ""
+"To *animate the model controlled by the values of HAL pins* there are four "
+"functions: `HalTranslate`, `HalRotate`, `HalToolCylinder` and "
+"`HalToolTriangle`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:228
+msgid ""
+"_For parts to move inside an assembly they need to have their HAL motions "
+"defined before being assembled with the \"Collection\" command_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:230
+msgid "The *rotation axis and translation vector move with the part*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:232
+msgid "as it is moved by the Vismach script during model assembly, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:233
+msgid "as it moves in response to the HAL pins as the model is animated."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vismach.adoc:235
+#, no-wrap
+msgid "`HalTranslate`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:237
+#, no-wrap
+msgid "*`part = HalTranslate([part], hal_comp, hal_pin, xs, ys, zs)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:238
+#, no-wrap
+msgid "`part`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:240
+#, no-wrap
+msgid ""
+"A _collection or part_.\n"
+"It can be pre-created earlier in the script, or could be created at this "
+"point if preferred, e.g., +"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:244
+#, no-wrap
+msgid "`part1 = HalTranslate([Box(....)], ...)`. +\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:245
+#, no-wrap
+msgid "`hal_comp`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:247
+#, no-wrap
+msgid ""
+"The _HAL component_ is the next argument.\n"
+"In QtVCP if you are reading _system pins_ directly then the component "
+"argument is set to `None`. +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:247
+#, no-wrap
+msgid "`hal_pin`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:249
+#, no-wrap
+msgid ""
+"The _name of the HAL pin_ that will animate the motion.\n"
+"This needs to match an existing HAL pin that describes the joint position "
+"such as:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:253
+#, no-wrap
+msgid "\"joint.2.pos-fb\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:256
+msgid ""
+"Otherwise the component instance would be specified and the pin name of that "
+"component would be specified."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:256
+#, no-wrap
+msgid "`xs, ys, zs`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:260
+#, no-wrap
+msgid ""
+"The _X, Y, Z scales_.\n"
+"For a Cartesian machine created at 1:1 scale this would typically be `1,0,0` "
+"for a motion in the positive X direction.\n"
+"However if the STL file happened to be in cm and the machine was in inches, "
+"this could be fixed at this point by using 0.3937 ( = "
+"1&#8239;cm/1&#8239;inch = 1&#8239;cm /2.54&#8239;cm ) as the scale."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vismach.adoc:262
+#, no-wrap
+msgid "`HalRotate`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:264
+#, no-wrap
+msgid "*`part = HalRotate([part], hal_comp, hal_pin, angle_scale, x, y, z)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:267
+msgid ""
+"This command is similar in its operation to `HalTranslate`, except that it "
+"is typically necessary to move the part to the origin first to define the "
+"axis. +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:267
+#, no-wrap
+msgid "`x, y, z`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:270
+#, no-wrap
+msgid ""
+"Defines the _axis of rotation_ from the origin the point of coordinates "
+"(x,y,z).\n"
+"When the part is moved back away from the origin to its correct location, "
+"the axis of rotation can be considered to remain \"embedded\" in the part."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:270
+#, no-wrap
+msgid "`angle_scale`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:271 src/gui/vismach.adoc:172
+msgid ""
+"_Rotation angles_ are in degrees, so for a rotary joint with a 0-1 scaling "
+"you would need to use an angle scale of 360."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vismach.adoc:272
+#, no-wrap
+msgid "'HalToolCylinder'"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:274
+#, no-wrap
+msgid "*`tool = HalToolCylinder()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:276
+msgid ""
+"Make a cylinder to represent a cylindrical mill tool, based on the tool "
+"table and current loaded tool."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:281
+#, no-wrap
+msgid ""
+"tool = HalToolCylinder()\n"
+"toolshape = Color([1, .5, .5, .5],[tool])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:284
+#, no-wrap
+msgid ""
+"# or more compact:\n"
+"toolshape = Color([1, .5, .5, .5], [HalToolCylinder()])\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-vismach.adoc:286
+#, no-wrap
+msgid "'HalToolTriangle'"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:288
+#, no-wrap
+msgid "*`tool = HalToolTriangle()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:290
+msgid ""
+"Make a triangle to represent a triangular lathe tool, based on the tool "
+"table and current loaded tool."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:295
+#, no-wrap
+msgid ""
+"tool = HalToolTriangle()\n"
+"toolshape = Color([1, 1, 0, 1],[tool])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:298
+#, no-wrap
+msgid ""
+"# or more compact:\n"
+"toolshape = Color([1, 1, 0, 1],[HalToolTriangle()])\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:301
+#, no-wrap
+msgid "Assembling the model"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:304
+msgid ""
+"In order for parts to move together they need to be assembled with the "
+"*`Collection()` command*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:306
+msgid ""
+"It is important to *assemble the parts and define their motions in the "
+"correct sequence*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:308
+msgid ""
+"For example to create a moving head milling machine with a rotating spindle "
+"and an animated draw bar you would:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:310 src/gui/vismach.adoc:182
+msgid "Create the head main body."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:311 src/gui/vismach.adoc:183
+msgid "Create the spindle at the origin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:312 src/gui/vismach.adoc:184
+msgid "Define the rotation."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:313 src/gui/vismach.adoc:185
+msgid "Move the head to the spindle or spindle to the head."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:314 src/gui/vismach.adoc:186
+msgid "Create the draw bar."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:315 src/gui/vismach.adoc:187
+msgid "Define the motion of the draw bar."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:316 src/gui/vismach.adoc:188
+msgid "Assemble the three parts into a head assembly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:317 src/gui/vismach.adoc:189
+msgid "Define the motion of the head assembly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:319 src/gui/vismach.adoc:192
+msgid ""
+"In this example the spindle rotation is indicated by rotation of a set of "
+"drive dogs:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:327 src/gui/vismach.adoc:200
+#, no-wrap
+msgid ""
+"#Drive dogs\n"
+"dogs = Box(-6,-3,94,6,3,100)\n"
+"dogs = Color([1,1,1,1],[dogs])\n"
+"dogs = HalRotate([dogs],c,\"spindle\",360,0,0,1)\n"
+"dogs = Translate([dogs],-1,49,0)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:333 src/gui/vismach.adoc:206
+#, no-wrap
+msgid ""
+"#Drawbar\n"
+"draw = CylinderZ(120,3,125,3)\n"
+"draw = Color([1,0,.5,1],[draw])\n"
+"draw = Translate([draw],-1,49,0)\n"
+"draw = HalTranslate([draw],c,\"drawbar\",0,0,1)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:340 src/gui/vismach.adoc:213
+#, no-wrap
+msgid ""
+"# head/spindle\n"
+"head = AsciiSTL(filename=\"./head.stl\")\n"
+"head = Color([0.3,0.3,0.3,1],[head])\n"
+"head = Translate([head],0,0,4)\n"
+"head = Collection([head, tool, dogs, draw])\n"
+"head = HalTranslate([head],c,\"Z\",0,0,0.1)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:346 src/gui/vismach.adoc:219
+#, no-wrap
+msgid ""
+"# base\n"
+"base = AsciiSTL(filename=\"./base.stl\")\n"
+"base = Color([0.5,0.5,0.5,1],[base])\n"
+"# mount head on it\n"
+"base = Collection([head, base])\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:349
+msgid ""
+"Finally a *single collection of all the machine parts, floor and work* (if "
+"any) needs to be created."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:351 src/gui/vismach.adoc:226
+msgid ""
+"For a _serial machine_ each new part will be added to the collection of the "
+"previous part."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:353 src/gui/vismach.adoc:227
+msgid "For a _parallel machine_ there may be several \"base\" parts."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:356
+msgid ""
+"Thus, for example, in `scaragui.py` link3 is added to link2, link2 to link1 "
+"and link1 to link0, so the final model is created by:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:360 src/gui/vismach.adoc:234
+#, no-wrap
+msgid "model = Collection([link0, floor, table])\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:363
+msgid "Whereas a VMC model with separate parts moving on the base might have"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:367 src/gui/vismach.adoc:241
+#, no-wrap
+msgid "model = Collection([base, saddle, head, carousel])\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:370 src/gui/vismach.adoc:243
+#, no-wrap
+msgid "Other functions"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:372
+#, no-wrap
+msgid "*`part = Color([_colorspec_], [_part_])`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:375
+#, no-wrap
+msgid ""
+"Sets the _display color of the part_.\n"
+"Note that unlike the other functions, the part definition comes second in "
+"this case. +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:375
+#, no-wrap
+msgid "`_colorspec_`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:377
+#, no-wrap
+msgid ""
+"Three RGB values and opacity.\n"
+"For example [1,0,0,0.5] for a 50% opacity red."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:378
+#, no-wrap
+msgid "*`myhud = Hud()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:380
+msgid ""
+"Creates a _heads-up display_ in the Vismach GUI to display items such as "
+"axis positions, titles, or messages."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:384
+#, no-wrap
+msgid ""
+"myhud = Hud()\n"
+"myhud.show(\"Mill_XYZ\")`\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:386
+#, no-wrap
+msgid "*`myhud = HalHud()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:388
+msgid "A more advanced version of the Hud that allows HAL pins to be displayed:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:398
+#, no-wrap
+msgid ""
+"myhud = HalHud()\n"
+"myhud.set_background_color(0,.1,.2,0)\n"
+"myhud.show_top(\"Mill_XYZ\")\n"
+"myhud.show_top(\"------------\")\n"
+"myhud.add_pin('axis-x: ',\"{:10.4f}\",\"axis.x.pos-cmd\")\n"
+"myhud.add_pin('axis-y: ',\"{:10.4f}\",\"axis.y.pos-cmd\")\n"
+"myhud.add_pin('axis-z: ',\"{:10.4f}\",\"axis.z.pos-cmd\")\n"
+"myhud.show(\"-------------\")\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:400
+#, no-wrap
+msgid "*`part = Capture()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:402
+msgid "This sets the current position in the model."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:403
+#, no-wrap
+msgid ""
+"*`main(model, tooltip, work, size=10, hud=myhud, rotation_vectors=None, "
+"lat=0, lon=0)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:406
+msgid ""
+"This is the command that makes it all happen, creates the display, etc. if "
+"invoked directly from Python.  Usually this file is imported by QtVCP and "
+"the `window()` object is instantiated and embedded into another screen."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:406
+#, no-wrap
+msgid "`_model_`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:407
+msgid "Should be a collection that contains all the machine parts."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:407
+#, no-wrap
+msgid "`_tooltip_` and `_work_`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:409
+msgid ""
+"Need to be created by `Capture()` to visualize their motion in the "
+"backplot.  See `mill_xyz.py` for an example of how to connect the tool tip "
+"to a tool and the tool to the model."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:409
+#, no-wrap
+msgid "`_size_`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:411
+#, no-wrap
+msgid ""
+"Sets the extent of the volume visualized in the initial view.\n"
+"hud refers to a head-up display of axis positions."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-vismach.adoc:411
+#, no-wrap
+msgid "`_rotation_vectors_` or `_lat, lon_`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:413
+msgid ""
+"Can be used to set the original viewpoint.  It is advisable to do as the "
+"default initial viewpoint is rather unhelpful from immediately overhead."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:415
+#, no-wrap
+msgid "Tips"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:419
+msgid ""
+"Create an axes origin marker to be able to see parts relative to it, for "
+"construction purposes.  You can remove it when you are done."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:430
+#, no-wrap
+msgid ""
+"# build axis origin markers\n"
+"X = CylinderX(-500,1,500,1)\n"
+"X = Color([1, 0, 0, 1], [X])\n"
+"Y = CylinderY(-500,1,500,1)\n"
+"Y = Color([0, 1, 0, 1], [Y])\n"
+"Z = CylinderZ(-500,1,500,1)\n"
+"Z = Color([0, 0, 1, 1], [Z])\n"
+"origin = Collection([X,Y,Z])\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:433
+msgid "Add it to the Window class Collection so it is never moved from the origin."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:437
+#, no-wrap
+msgid "v.model = Collection([origin, model, world])\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:442
+msgid ""
+"Start from the cutting tip and work your way back.  Add each collection to "
+"the model at the origin and run the script to confirm the location, then "
+"rotate/translate and run the script to confirm again."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:444
+#, no-wrap
+msgid "Basic structure of a `QtVismach` script"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:451
+#, no-wrap
+msgid ""
+"# imports\n"
+"import hal\n"
+"from qtvcp.lib.qt_vismach.qt_vismach import *\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:455
+#, no-wrap
+msgid ""
+"# create HAL pins here if needed\n"
+"#c = hal.component(\"samplegui\")\n"
+"#c.newpin(\"joint0\", hal.HAL_FLOAT, hal.HAL_IN)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:460
+#, no-wrap
+msgid ""
+"# create the floor, tool and work\n"
+"floor = Box(-50, -50, -3, 50, 50, 0)\n"
+"work = Capture()\n"
+"tooltip = Capture()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:466
+#, no-wrap
+msgid ""
+"# Build and assemble the model\n"
+"part1 = Collection([Box(-6,-3,94,6,3,100)])\n"
+"part1 = Color([1,1,1,1],[part1])\n"
+"part1 = HalRotate([part1],None,\"joint.0.pos-fb\",360,0,0,1)\n"
+"part1 = Translate([dogs],-1,49,0)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:469
+#, no-wrap
+msgid ""
+"# create a top-level model\n"
+"model = Collection([base, saddle, head, carousel])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:472
+#, no-wrap
+msgid ""
+"# we want to either embed into qtvcp or display directly with PyQt5\n"
+"# so build a window to display the model\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:474
+#, no-wrap
+msgid "class Window(QWidget):\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:480
+#, no-wrap
+msgid ""
+"    def __init__(self):\n"
+"        super(Window, self).__init__()\n"
+"        self.glWidget = GLWidget()\n"
+"        v = self.glWidget\n"
+"        v.set_latitudelimits(-180, 180)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:482
+#, no-wrap
+msgid "        world = Capture()\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:487
+#, no-wrap
+msgid ""
+"        # uncomment if there is a HUD\n"
+"        # HUD needs to know where to draw\n"
+"        #v.hud = myhud\n"
+"        #v.hud.app = v\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:496
+#, no-wrap
+msgid ""
+"        v.model = Collection([model, world])\n"
+"        size = 600\n"
+"        v.distance = size * 3\n"
+"        v.near = size * 0.01\n"
+"        v.far = size * 10.0\n"
+"        v.tool2view = tooltip\n"
+"        v.world2view = world\n"
+"        v.work2view = work\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:500
+#, no-wrap
+msgid ""
+"        mainLayout = QHBoxLayout()\n"
+"        mainLayout.addWidget(self.glWidget)\n"
+"        self.setLayout(mainLayout)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:503
+#, no-wrap
+msgid ""
+"# if you call this file directly from python3, it will display a PyQt5 "
+"window\n"
+"# good for confirming the parts of the assembly.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-vismach.adoc:506
+#, no-wrap
+msgid ""
+"if __name__ == '__main__':\n"
+"    main(model, tooltip, work, size=600, hud=None, lat=-75, lon=215)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-vismach.adoc:509
+#, no-wrap
+msgid "Builtin Vismach Sample Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-vismach.adoc:512
+msgid "<<sub:qtvcp:panels:vismach,QtVCP builtin Vismach Panels>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:15
+#, no-wrap
+msgid "*`Qtscreen`* uses _QtVCP widgets_ for LinuxCNC integration.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:18
+#, no-wrap
+msgid ""
+"*Widget* is the general name for the _UI objects_ such as buttons and\n"
+"labels in PyQt.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:20
+msgid ""
+"You are free to use any available *default widgets* in the _Qt Designer_ "
+"editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:23
+msgid ""
+"There are also *special widgets* made for LinuxCNC that make integration "
+"easier.  These are split in two, heading on the right side of the editor:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:25
+msgid "One is for *HAL only widgets*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:26
+msgid "The other is for *CNC control widgets*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:32
+msgid ""
+"This description of widget properties can easily be out of date due to "
+"further development and lack of people to write docs (a good way to give "
+"back to the project).  The definitive descriptions are found by looking in "
+"the "
+"https://github.com/LinuxCNC/linuxcnc/tree/master/lib/python/qtvcp/widgets[source "
+"code]."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-widgets.adoc:34
+#, no-wrap
+msgid "HAL Only Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:37
+msgid ""
+"These widgets usually have _HAL pins_ and *don't react to the machine "
+"controller*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:39
+#, no-wrap
+msgid "`CheckBox` Widget"
+msgstr ""
+
+#. TODO QtVCP checkbox widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:44
+msgid "This widget allows the user to *check a box to set a HAL pin true or false*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:46
+msgid "It is based on PyQt's _QCheckButton_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:48
+#, no-wrap
+msgid "'DetachTabWidget' - Container Widget With User Detachable Panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:53
+#, no-wrap
+msgid ""
+"This container widget works just like a QTabWidget -it displays multiple "
+"panels one at a time with tabs to select.\n"
+"If you double click the tab or drag the tab, the tab will detach from the "
+"main window.\n"
+"When a tab is detached, the contents are placed into a QDialog. \n"
+"The tab can be re-attached by closing the dialog or by double clicking on "
+"its window frame."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:55 src/gui/qtvcp-widgets.adoc:470
+msgid "It is based on PyQt's QTabWidget"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:57
+#, no-wrap
+msgid "`DoubleScale` - Spin Button Entry Widget"
+msgstr ""
+
+#. TODO DoubleScale widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:62
+msgid ""
+"This widget is a *spin button entry* widget used for _setting a s32 and "
+"float HAL pin_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:64
+msgid ""
+"It has an internal _scale factor_, set to a default of 1, that can be set "
+"programmatically or using a QtSignal."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:66
+msgid "The `setInput` slot can be connected to an integer, or a float signal."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:67
+#, no-wrap
+msgid "*`[HALLabelName].setInput(some_value)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:69
+msgid "This is a function call to change the internal scaling factor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:71
+msgid ""
+"The HAL pins will be set to the value of the _internal scale times the "
+"widget displayed value_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:73
+#, no-wrap
+msgid "`FocusOverlay` - Focus Overlay Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:76
+msgid ""
+"This widget places a *colored overlay over the screen*, usually while a "
+"dialog is showing."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:77
+#, no-wrap
+msgid "Focus overlay example for confirm close prompt"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:78
+#, no-wrap
+msgid "QtVCP focus overlay"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:78
+#, no-wrap
+msgid "images/qtvcp_focusOverlay.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:81
+msgid ""
+"Used to create a 'focused' feel and to draw attention to critical "
+"information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:84
+#, no-wrap
+msgid ""
+"It can also show a translucent image.\n"
+"It can also display message text and buttons."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:86
+msgid "This widget _can be controlled with `STATUS` messages_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:88
+#, no-wrap
+msgid "`Gauge` - Round Dial Gauge Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:90 src/gui/qtvcp-widgets.adoc:91
+#, no-wrap
+msgid "QtVCP `Gauge`: Round Dial Gauge Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:91
+#, no-wrap
+msgid "images/qtvcp_round_gauge.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:94
+msgid ""
+"Round Gauge can be used in a LinuxCNC GUI to *display an input parameter* on "
+"the dial face."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:95
+#, no-wrap
+msgid "Customizable Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:97
+msgid ""
+"There are several properties that are user settable in order to customize "
+"the _appearance of the gauge_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:99
+msgid ""
+"The following parameters can be set either programmatically or via the Qt "
+"Designer property editor."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:100 src/gui/qtvcp-widgets.adoc:388
+#: src/gui/qtvcp-widgets.adoc:714 src/gui/qtvcp-widgets.adoc:2130
+#: src/gui/qtvcp-widgets.adoc:2216
+#, no-wrap
+msgid "*`halpin_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:102
+msgid "Setting this to `True` will _create 2 HAL pins_:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:103
+msgid "One is for setting the `value` input"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:104
+msgid "The other is for setting the `setpoint`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:107
+msgid ""
+"If this option is not set, then `value` and `setpoint` must be connected "
+"programmatically, i.e., in the handler file."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:108
+#, no-wrap
+msgid "*`max_reading`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:110
+msgid "This value determines the _highest number displayed_ on the gauge face."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:110
+#, no-wrap
+msgid "*`max_value`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:113
+#, no-wrap
+msgid ""
+"This is the _maximum expected value of the value input signal_.\n"
+"In other words, it is the full scale input."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:113
+#, no-wrap
+msgid "*`num_ticks`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:117
+#, no-wrap
+msgid ""
+"This is the _number of ticks/gauge readings_ on the gauge face.\n"
+"It should be set to a number that ensures the text readings around the gauge "
+"face are readable.\n"
+"The minimum allowed value is 2."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:117
+#, no-wrap
+msgid "*`zone1_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:120
+#, no-wrap
+msgid ""
+"Zone1 extends _from the maximum reading to the threshold point_.\n"
+"It can be set to any RGB color."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:120
+#, no-wrap
+msgid "*`zone2_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:123
+#, no-wrap
+msgid ""
+"Zone2 extends _from the threshold point to the minimum reading_, which is "
+"0.\n"
+"It can be set to any RGB color."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:123
+#, no-wrap
+msgid "*`bezel_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:125
+msgid "This is the color of the _outer ring of the gauge_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:125
+#, no-wrap
+msgid "*`bezel_width`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:127
+msgid "This is the width of the _outer ring of the gauge_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:127
+#, no-wrap
+msgid "*`threshold`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:131
+#, no-wrap
+msgid ""
+"The threshold is the _transition point between the zones_.\n"
+"It should be set to a value between 0 and the maximum value.\n"
+"The maximum allowed value is set to the gauge's `max_value` and minimum "
+"value is 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:131
+#, no-wrap
+msgid "*`gauge_label`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:134
+#, no-wrap
+msgid ""
+"This is the _text below the value readout_, near the bottom of the gauge.\n"
+"The function of the gauge is then easily visible."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:134
+#, no-wrap
+msgid "*`base_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:136
+msgid "The color of the gauge."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:136
+#, no-wrap
+msgid "*`base_gradient_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:138
+msgid "The highlight color of the gauge."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:138
+#, no-wrap
+msgid "*`center_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:140
+msgid "The color of the center of the gauge."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:140
+#, no-wrap
+msgid "*`center_gradient_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:142
+msgid "The highlight color of the center of the gauge."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:143
+#, no-wrap
+msgid "Non Customizable Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:146
+msgid ""
+"There are 2 inputs that are not customizable.  They can be set via HAL pins, "
+"programmatically or via signals from other widgets:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:147
+#, no-wrap
+msgid "*`value`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:150
+#, no-wrap
+msgid ""
+"This is the _actual input value_ that will be displayed with the gauge "
+"needle and in the digital readout.\n"
+"It must be set to a value between 0 and `max_value` maximum value."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:150
+#, no-wrap
+msgid "*`setpoint`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:153
+msgid ""
+"This is a value that determines the location of a small _marker on the gauge "
+"face_.  It must be set to a value between 0 and the maximum value."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:155
+#, no-wrap
+msgid "`GeneralHALInput` - General Signals/Slots Input Connection Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:158 src/gui/qtvcp-widgets.adoc:165
+msgid ""
+"This widget is used to *connect an arbitrary Qt widget to HAL using "
+"signals/slots*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:160
+msgid "It is used _for widgets that should *respond* to HAL pin changes_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:162
+#, no-wrap
+msgid "`GeneralHALOutput` - General Signals/Slots Output Connection Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:167
+msgid "It is used _for widgets that should *control* HAL pins_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:169
+#, no-wrap
+msgid "`GridLayout` - Grid Layout Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:172
+msgid "This widget *controls if the widgets inside it are enabled or disabled*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:174
+msgid ""
+"Disabled widgets typically have a different color and do not respond to "
+"actions."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:176
+msgid "It is based on PyQt's `QGridLayout`."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:178
+#, no-wrap
+msgid "'HalBar' - HAL Bar Level Indicator"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:180
+#, no-wrap
+msgid "QtVCP `HalBar`: Panel demonstrating the HAL Bar Level Indicator"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:181
+#, no-wrap
+msgid "QtVCP HalBar: Panel demonstrating the HAL Bar Level Indicator "
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:181
+#, no-wrap
+msgid "images/qthalbar.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:185
+#, no-wrap
+msgid ""
+"This widget is used to indicate level or value, usually of a HAL s32/float "
+"pin.\n"
+"You can also disable the HAL pin and use Qt signals or Python commands to "
+"change the level. +"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-widgets.adoc:186
+#, no-wrap
+msgid "Bar Properties"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:188
+msgid "HalBar is a subclass of the Bar widget, so it inherits these properties: +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:190
+msgid ""
+"'stepColorList': a list of color strings, the number of colors defines the "
+"number of bars."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:191
+msgid "'backgroundColor': a QColor definition of the background color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:192
+msgid "'setMaximum': an integer that defines the maximum level of indication."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:193
+msgid "'setMinimum': an integer that defines the lowest level of indication."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-widgets.adoc:194
+#, no-wrap
+msgid "HalBar Properties"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:197
+msgid "'pinType': to select *HAL pins type*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:198
+msgid "`NONE` no HAL pin will be added"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:199
+msgid "`S32` A S32 integer pin will be added"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:200
+msgid "`FLOAT` A Float pin will be added"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:202
+msgid ""
+"'pinName': to change the *HAL pin name* otherwise the widget base name is "
+"used."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-widgets.adoc:203
+#, no-wrap
+msgid "HalBar style sheets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:206
+#, no-wrap
+msgid ""
+"The above Bar properties could be set in _styles sheets_.\n"
+"pinType and pinName properties can not be changed in stylesheets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:209
+msgid ""
+"In style sheets, stepColorList is a single string of color names separated "
+"by commas."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:216
+#, no-wrap
+msgid ""
+"HalBar{\n"
+"    qproperty-backgroundColor: #000;\n"
+"    qproperty-stepColorList: "
+"'green,green,#00b600,#00b600,#00d600,#00d600,yellow,yellow,red,red';\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:219
+#, no-wrap
+msgid "`HALPad` - HAL Buttons Joypad"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:221
+#, no-wrap
+msgid "QtVCP `HALPad`: HAL Buttons Joypad"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:222
+#, no-wrap
+msgid "QtVCP HALPad: HAL Buttons Joypad "
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:222
+#, no-wrap
+msgid "images/qtvcp_HALPad.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:225
+msgid "This widget looks and acts like a *5 buttons D-pad*, with an LED ring."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:227
+msgid "Each button has an selectable type (Bit, S32 or Float) output HAL pin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:229
+msgid ""
+"The LED center ring has selectable colors for off and on and is controlled "
+"by a bit HAL pin."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:230
+#, no-wrap
+msgid "`HALPad` `ENUMS`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:232
+msgid "There are _enumerated constants_ used:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:234
+msgid "To reference *indicator positions*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:235 src/gui/qtvcp-widgets.adoc:245
+#: src/gui/qtvcp-widgets.adoc:264
+msgid "`NONE`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:236
+msgid "`LEFT`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:237
+msgid "`RIGHT`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:238
+msgid "`CENTER`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:239
+msgid "`TOP`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:240
+msgid "`BOTTOM`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:241
+msgid "`LEFTRIGHT`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:242
+msgid "`TOPBOTTOM`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:244
+msgid "For *HAL pins type*:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:246 src/gui/qtvcp-widgets.adoc:265
+msgid "`BIT`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:247 src/gui/qtvcp-widgets.adoc:266
+msgid "`S32`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:248 src/gui/qtvcp-widgets.adoc:267
+msgid "`FLOAT`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:250
+msgid "You use the widget name in Qt Designer plus the reference constant:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:254
+#, no-wrap
+msgid "self.w.halpadname.set_highlight(self.w.halpadname.LEFTRIGHT)\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:256
+#, no-wrap
+msgid "`HALPad` Properties"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:257 src/gui/qtvcp-widgets.adoc:364
+#, no-wrap
+msgid "*`pin_name`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:259
+msgid ""
+"Optional name to use for the _HAL pins basename_. If left blank, the Qt "
+"Designer widget name will be used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:259
+#, no-wrap
+msgid "*`pin_type`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:262
+msgid ""
+"Select the _HAL output pin type_. This property is only used at startup.  "
+"Selection can be set in Qt Designer:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:270 src/gui/qtvcp-widgets.adoc:2819
+#, no-wrap
+msgid "*`left_image_path`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:271 src/gui/qtvcp-widgets.adoc:2820
+#, no-wrap
+msgid "*`right_image_path`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:272 src/gui/qtvcp-widgets.adoc:2821
+#, no-wrap
+msgid "*`center_image_path`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:273 src/gui/qtvcp-widgets.adoc:2822
+#, no-wrap
+msgid "*`top_image_path`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:274 src/gui/qtvcp-widgets.adoc:2823
+#, no-wrap
+msgid "*`bottom_image_path`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:277
+#, no-wrap
+msgid ""
+"File or resource path to an image to display in the described button "
+"location.\n"
+"If the reset button is pressed in the Qt Designer editor property, the image "
+"will not be displayed (allowing optional text)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:277 src/gui/qtvcp-widgets.adoc:2826
+#, no-wrap
+msgid "*`left_text`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:278 src/gui/qtvcp-widgets.adoc:2827
+#, no-wrap
+msgid "*`right_text`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:279 src/gui/qtvcp-widgets.adoc:2828
+#, no-wrap
+msgid "*`center_text`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:280 src/gui/qtvcp-widgets.adoc:2829
+#, no-wrap
+msgid "*`top_text`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:281 src/gui/qtvcp-widgets.adoc:2830
+#, no-wrap
+msgid "*`bottom_text`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:284 src/gui/qtvcp-widgets.adoc:2833
+#, no-wrap
+msgid ""
+"A text string to be displayed in the described button location.\n"
+"If left blank an image can be designated to be displayed."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:284 src/gui/qtvcp-widgets.adoc:2833
+#, no-wrap
+msgid "*`true_color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:285 src/gui/qtvcp-widgets.adoc:2834
+#, no-wrap
+msgid "*`false_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:287
+msgid ""
+"Color selection for the center LED ring to be displayed when the "
+"`<BASENAME>.light.center` HAL pin is `True` or `False`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:287 src/gui/qtvcp-widgets.adoc:2836
+#, no-wrap
+msgid "*`text_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:289 src/gui/qtvcp-widgets.adoc:2838
+msgid "Color selection for the button text."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:289
+#, no-wrap
+msgid "*`text_font`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:291 src/gui/qtvcp-widgets.adoc:2840
+msgid "Font selection for the button text."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:292
+#, no-wrap
+msgid "`HALPad` Styles"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:294
+msgid "The above properties could be set in _styles sheets_."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:301
+#, no-wrap
+msgid ""
+"HALPad{\n"
+"    qproperty-on_color: #000;\n"
+"    qproperty-off_color: #444;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:304
+#, no-wrap
+msgid "`HALLabel` - HAL Label Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:307
+msgid "This widget *displays values sent to it*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:309
+msgid "Values can be sent from:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:312
+#, no-wrap
+msgid ""
+"_HAL pins_\n"
+"The input pin can be selected as Bit, S32, Float or no pin selected"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:313
+msgid "_Programmatically_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:314
+msgid "_A `QtSignal`_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:317
+#, no-wrap
+msgid ""
+"There is a `textTemplate` property to set the rich text and/or to format the "
+"text.\n"
+"Basic formatting might be:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:319
+msgid "`%r` for booleans"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:320
+msgid "`%d` for integers"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:321
+msgid "`%0.4f` for floats."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:323
+msgid "A rich text example might be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:335
+#, no-wrap
+msgid ""
+"self.w.my_hal_label.setProperty(textTemplate,\"\"\"\n"
+"<html>\n"
+"<head/>\n"
+"<body>\n"
+"  <p><span "
+"style=\"font-size:12pt;font-weight:600;color:#f40c11;\">%0.4f</span></p>\n"
+"</body>\n"
+"</html>\n"
+"\"\"\"\n"
+")\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:338
+msgid ""
+"The `setDisplay` slot can be connected to an integer, a float or a bool "
+"signal."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:340
+msgid "If the property `pin_name` is not set the widget name will be used."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:342
+msgid "There are function calls to display values:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:343
+#, no-wrap
+msgid "*`[HALLabelName].setDisplay(some_value)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:345
+msgid "Can be used to set the display if no HAL pin is selected."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:345
+#, no-wrap
+msgid "*`[HALLabelName].setProperty(textTemplate,\"%d\")`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:347
+msgid "Sets the template of the display."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:349 src/gui/qtvcp-widgets.adoc:867
+#: src/gui/qtvcp-widgets.adoc:1689 src/gui/qtvcp-widgets.adoc:1803
+msgid "It is based on PyQt's _QLabel_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:351
+#, no-wrap
+msgid "`LCDNumber` - LCD Style Number Readout Widget"
+msgstr ""
+
+#. TODO MCDNumber widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:356
+msgid "This widget _displays HAL float/s32/bit values in a LCD looking way_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:358
+msgid ""
+"It can display numbers in decimal, hexadecimal, binary and octal formats by "
+"setting the *`mode`* property."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:360
+msgid "When using floats you can set a formatting string."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:362
+msgid ""
+"You must set the *`digitCount`* property to an appropriate setting to "
+"display the largest number."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:367
+#, no-wrap
+msgid ""
+"Option string to be used as the HAL pin name.\n"
+"If set to an empty string the widget name will be used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:367
+#, no-wrap
+msgid "*`bit_pin_type`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:369
+msgid "Selects the input pin as type BIT."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:369
+#, no-wrap
+msgid "*`s32_pin_type`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:371
+msgid "Selects the input pin as type S32."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:371
+#, no-wrap
+msgid "*`float_pin_type`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:373
+msgid "Select the input pin as type `FLOAT`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:373
+#, no-wrap
+msgid "*`floatTemplate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:377
+#, no-wrap
+msgid ""
+"A string that will be used as a Python3 format template to tailor the LCD "
+"display.\n"
+"Only used when a `FLOAT` pin is selected, e.g., `{:.2f}` will display a "
+"float rounded to 2 numbers after the decimal.\n"
+"A blank setting will allow the decimal to move as required."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:379
+msgid "It is based on PyQt's _QLCDNumber_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:381
+#, no-wrap
+msgid "`LED` - Indicator Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:383
+#, no-wrap
+msgid "QtVCP `LED`: LED Indicator Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:384
+#, no-wrap
+msgid "QtVCP LED: LED Indicator Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:384
+#, no-wrap
+msgid "images/qtvcp_ledWidget.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:387
+msgid "A *LED like indicator* that optionally follows a HAL pin's logic."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:390
+msgid "Selects if the LED follows an input HAL pin or program state."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:390 src/gui/qtvcp-widgets.adoc:2220
+#, no-wrap
+msgid "*`diameter`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:392
+msgid "Diameter of the LED. defaults to 15)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:392 src/gui/qtvcp-widgets.adoc:2222
+#, no-wrap
+msgid "*`color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:394
+msgid "Color of the LED when on. (defaults to green)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:394 src/gui/qtvcp-widgets.adoc:2224
+#: src/gui/qtvcp-widgets.adoc:2904
+#, no-wrap
+msgid "*`off_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:396
+msgid "Color of the LED when off. (defaults to black)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:396
+#, no-wrap
+msgid "*`gradient`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:398
+msgid "turns the gradient high light on or off. (defaults to on)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:398
+#, no-wrap
+msgid "*`on_gradient_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:400
+msgid "Color highlight of the LED when on. (defaults to white)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:400
+#, no-wrap
+msgid "*`off_gradient_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:402
+msgid "Color highlight of the LED when off. (defaults to white)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:402 src/gui/qtvcp-widgets.adoc:2226
+#, no-wrap
+msgid "*`alignment`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:404
+msgid "Qt alignment hint."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:404 src/gui/qtvcp-widgets.adoc:2228
+#, no-wrap
+msgid "*`state`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:406
+msgid "Current state of LED"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:406 src/gui/qtvcp-widgets.adoc:2230
+#, no-wrap
+msgid "*`flashing`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:408 src/gui/qtvcp-widgets.adoc:2232
+msgid "Turns flashing option on and off."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:408 src/gui/qtvcp-widgets.adoc:2232
+#: src/gui/qtvcp-widgets.adoc:2906
+#, no-wrap
+msgid "*`flashRate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:410 src/gui/qtvcp-widgets.adoc:2234
+msgid "Sets the flash rate."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:413
+msgid ""
+"The `LED` properties can be defined in a _stylesheet_ with the following "
+"code added to the `.qss` file, `name_of_led` being the widget name defined "
+"in Qt Designer's editor:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:421
+#, no-wrap
+msgid ""
+"LED #name_0f_led{\n"
+"  qproperty-color: red;\n"
+"  qproperty-diameter: 20;\n"
+"  qproperty-flashRate: 150;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:424
+#, no-wrap
+msgid "`PushButton` - HAL Pin Toggle Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:427
+msgid ""
+"This widget allows a user to *set a HAL pin true or false* with the push of "
+"a button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:429
+msgid "As an option it can be a _toggle button_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:431
+msgid ""
+"For a _LED Indicator Option_, see "
+"<<sub:qtvcp:widgets:indicatedpushbutton>>[IndicatedPushButton] below for "
+"more info."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:433
+msgid "It also has other options."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:435
+msgid "It is based on PyQt's _QPushButton_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:437
+#, no-wrap
+msgid "`RadioButton` Widget"
+msgstr ""
+
+#. TODO QtVCP radio button widget capture
+#. FIXME Is that one HAL pin per button ?
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:443
+msgid ""
+"This widget allows a user to *set HAL pins true or false*.  Only one "
+"`RadioButton` widget of a group can be true at a time."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:445
+msgid "It is based on PyQt's _QRadioButton_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:447
+#, no-wrap
+msgid "`Slider` - HAL Pin Value Adjusting Widget"
+msgstr ""
+
+#. TODO QtVCP slider widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:452
+msgid "Allows one to *adjust a HAL pin value using a sliding pointer*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:454
+#, no-wrap
+msgid "`TabWidget` - Tab Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:456
+msgid "This widget allows the tab height to be adjusted with stylesheets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:461
+#, no-wrap
+msgid ""
+"The `TabWidget` properties can be defined in a _stylesheet_ with the "
+"following code added to the `.qss` file.\n"
+"`name_of_tab` being the widget name defined in Qt Designer's editor.\n"
+"If you omit the '#name_of_tab' text, all TabWidgets tab height will be "
+"set.\n"
+"This shows how to set a particular widget's tab height:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:467
+#, no-wrap
+msgid ""
+"TabWidget #name_of_tab{\n"
+"  qproperty-tabsize: 1.5;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:472
+#, no-wrap
+msgid "`WidgetSwitcher` - Multi-widget Layout View Switcher Widget"
+msgstr ""
+
+#. TODO WidgetSwitcher widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:478
+msgid ""
+"This is used to switch the view of a multi-widget layout to show just one "
+"widget, i.e. to *flip between a large view of a widget and a smaller multi "
+"widget view*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:481
+msgid ""
+"It is _different from a stacked widget_ as it can pull a widget from "
+"anywhere in the screen and place it in its page with a different layout than "
+"it originally had."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:483
+msgid "The _original widget must be in a layout_ for switcher to put it back."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:485
+msgid "In Qt Designer you will:"
+msgstr ""
+
+#. FIXME Add an entry about widget numbering
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:488
+msgid "Add the `WidgetSwitcher` widget on screen."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:489
+msgid "Right click the `WidgetSwitcher` and add a page."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:490
+msgid "Populate it with the widgets/layouts you wish to see in a default form."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:491
+msgid "Add as many pages as there are views to switch to."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:493
+#, no-wrap
+msgid ""
+"On each page, add a layout widget.\n"
+"After adding the layout you must right click the widget switcher again and "
+"set the layout option."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:494
+msgid ""
+"Click on the `WidgetSwitcher` widget and then scroll to the bottom of the "
+"property editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:495
+msgid ""
+"Look for the dynamic property `widget_list` and double click to the right of "
+"it."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:496
+msgid ""
+"A dialog pops up allowing you to add the names of the widgets to move to the "
+"pages you added to the `WidgetSwitcher`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:499
+#, no-wrap
+msgid ""
+"There are _function calls_ to display specific widgets.\n"
+"By calling one of these functions, you control what widget is currently "
+"displayed:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:500
+#, no-wrap
+msgid "*`[_WidgetSwitcherName_].show_id_widget(_number_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:501
+#, no-wrap
+msgid "*`[_WidgetSwitcherName_].show_named_widget(_widget_name_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:502
+#, no-wrap
+msgid "*`[_WidgetSwitcherName_].show_default()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:504
+msgid ""
+"This shows the `page 0` layout, and puts all other widgets back to where "
+"they were as initially built in Qt Designer."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:504
+#, no-wrap
+msgid "*`[_WidgetSwitcherName_].show_next()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:505
+msgid "Show next widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:507
+msgid "It is based on the _QStack_ widget."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:509
+#, no-wrap
+msgid "`XEmbed` - Program Embedding Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:512
+msgid "Allows one to *embed a program into the widget*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:514
+msgid "Only programs that utilize the `xembed` protocol will work such as:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:516
+msgid "GladeVCP virtual control panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:517
+msgid "Onboard virtual keyboard"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:518
+msgid "QtVCP virtual control panels"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:519
+msgid "mplayer video player"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-widgets.adoc:521
+#, no-wrap
+msgid "Machine Controller Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:524
+msgid "These widgets *interact with the Machine Controller state*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:526
+#, no-wrap
+msgid "`ActionButton` - Machine Controller Action Control Widget"
+msgstr ""
+
+#. TODO ActionButton widget captures/examples
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:531
+msgid "These buttons are used for *control actions on the machine controller*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:533
+msgid "They are built on top of `IndicatedPushButton` so can have LEDs overlaid."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:538
+msgid ""
+"If you left double click on this widget you can launch a dialog to set any "
+"of these actions.  The dialogs will help to set the right related data to "
+"the selected action.  You can also change these properties directly in the "
+"property editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:541
+msgid "You can select one of these:"
+msgstr ""
+
+#. FIXME are capitalization and "underscoring" OK ?
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:543
+#, no-wrap
+msgid "*`Estop`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:544
+#, no-wrap
+msgid "*`Machine On`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:545
+#, no-wrap
+msgid "*`Auto`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:546
+#, no-wrap
+msgid "*`mdi`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:547
+#, no-wrap
+msgid "*`manual`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:549
+#, no-wrap
+msgid "*`run_from_line status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:551
+msgid "Gets line number from `STATUS` message `gcode-line-selected`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:551
+#, no-wrap
+msgid "*`run_from_line slot`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:553
+msgid "Gets line number from Qt Designer int/str slot `setRunFromLine`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:555
+#, no-wrap
+msgid "*`load dialog`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:556
+msgid "Requires a dialog widget present."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:556
+#, no-wrap
+msgid "*`Camview dialog`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:557
+msgid "Requires `camview` dialog widget present."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:557
+#, no-wrap
+msgid "*`origin offset dialog`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:558
+msgid "Requires origin offset dialog widget present."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:558
+#, no-wrap
+msgid "*`macro dialog`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:559
+msgid "Requires macro dialog widget present."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:559
+#, no-wrap
+msgid "*`Launch Halmeter`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:560
+#, no-wrap
+msgid "*`Launch Status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:561
+#, no-wrap
+msgid "*`Launch Halshow`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:562
+#, no-wrap
+msgid "*`Home`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:563
+msgid "Set the joint number to -1 for `all-home`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:563
+#, no-wrap
+msgid "*`Unhome`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:564
+msgid "Set the joint number to -1 for `all-unhome`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:564
+#, no-wrap
+msgid "*`Home Selected`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:565
+msgid "Homes the joint/axis selected by `STATUS`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:565
+#, no-wrap
+msgid "*`Unhome Selected`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:566
+msgid "Unhomes the joint/axis selected by `STATUS`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:566
+#, no-wrap
+msgid "*`zero axis`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:567
+#, no-wrap
+msgid "*`zero G5X`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:568
+msgid "Zeros the current user coordinate system offsets."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:568
+#, no-wrap
+msgid "*`zero G92`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:569
+msgid "Zeros the optional `G92` offsets."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:569
+#, no-wrap
+msgid "*`zero Z rotational`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:570
+msgid "Zeros the rotation offset."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:570
+#, no-wrap
+msgid "*`jog joint positive`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:571 src/gui/qtvcp-widgets.adoc:572
+msgid "Set the joint number."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:571
+#, no-wrap
+msgid "*`jog joint negative`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:572
+#, no-wrap
+msgid "*`jog selected positive`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:573 src/gui/qtvcp-widgets.adoc:574
+msgid "Selected with a different widget or `STATUS`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:573
+#, no-wrap
+msgid "*`jog selected negative`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:574
+#, no-wrap
+msgid "*`jog increment`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:575
+msgid "Set metric/imperial/angular numbers."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:575
+#, no-wrap
+msgid "*`jog rate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:576 src/gui/qtvcp-widgets.adoc:577
+#: src/gui/qtvcp-widgets.adoc:578 src/gui/qtvcp-widgets.adoc:579
+msgid "Set the float/alt float number."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:576
+#, no-wrap
+msgid "*`feed override`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:577
+#, no-wrap
+msgid "*`rapid override`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:578
+#, no-wrap
+msgid "*`spindle override`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:579
+#, no-wrap
+msgid "*`spindle fwd`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:580
+#, no-wrap
+msgid "*`spindle backward`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:581
+#, no-wrap
+msgid "*`spindle stop`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:582
+#, no-wrap
+msgid "*`spindle up`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:583
+#, no-wrap
+msgid "*`spindle down`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:584
+#, no-wrap
+msgid "*`view change`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:585
+msgid "Set `view_type_string`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:585
+#, no-wrap
+msgid "*`limits override`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:586
+#, no-wrap
+msgid "*`flood`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:587
+#, no-wrap
+msgid "*`mist`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:588
+#, no-wrap
+msgid "*`block delete`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:589
+#, no-wrap
+msgid "*`optional stop`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:590
+#, no-wrap
+msgid "*`mdi command`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:591
+msgid "Set `command_string`, i.e.,calls a hard coded MDI command"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:591
+#, no-wrap
+msgid "*`INI mdi number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:592
+msgid "Set `ini_mdi_number`, i.e., calls an INI based MDI command"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:592
+#, no-wrap
+msgid "*`dro absolute`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:593
+#, no-wrap
+msgid "*`dro relative`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:594
+#, no-wrap
+msgid "*`dro dtg`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:595
+#, no-wrap
+msgid "*`exit screen`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:596
+msgid "Closes down LinuxCNC"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:596
+#, no-wrap
+msgid "*`Override limits`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:597
+msgid "Temporarily override hard limits"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:597
+#, no-wrap
+msgid "*`launch dialogs`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:598
+msgid "Pops up dialogs if they are included in ui file."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:598
+#, no-wrap
+msgid "*`set DRO to relative`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:599
+#, no-wrap
+msgid "*`set DRO to absolute`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:600
+#, no-wrap
+msgid "*`set DRO to distance-to-go`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:605
+msgid ""
+"These set _attributes_ of the selected action (availability depends on the "
+"widget):"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:606
+#, no-wrap
+msgid "*`toggle float option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:608
+msgid "Allows jog rate and overrides to toggle between two rates."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:608
+#, no-wrap
+msgid "*`joint number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:610
+msgid "Selects the joint/axis that the button controls."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:610
+#, no-wrap
+msgid "*`incr imperial number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:612
+msgid "Sets the imperial jog increment (set negative to ignore)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:612
+#, no-wrap
+msgid "*`incr mm number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:614
+msgid "Sets the metric jog increment (set negative to ignore)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:614
+#, no-wrap
+msgid "*`incr angular number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:616
+msgid "Sets the angular jog increment (set negative to ignore)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:616
+#, no-wrap
+msgid "*`float number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:618
+msgid "Used for `jograte` and overrides."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:618
+#, no-wrap
+msgid "*`float alternate number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:620
+msgid "For `jograte` and overrides that can toggle between two float numbers."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:620
+#, no-wrap
+msgid "*`view type string`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:622
+msgid "Can be:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:623
+msgid "`p`,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:624
+msgid "`x`, `y`, `y2`, `z`, `z2`,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:625
+msgid "`zoom-in`, `zoom-out`,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:626
+msgid "`pan-up`, `pan-down`, `pan-left`, `pan-right`,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:627
+msgid "`rotate-up`, `rotate-down`, `rotate-cw`, `rotate-ccw`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:628
+msgid "`clear`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:628
+#, no-wrap
+msgid "*`command string`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:630
+msgid ""
+"MDI command string that will be invoked if the MDI command action is "
+"selected."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:630
+#, no-wrap
+msgid "*`ini_mdi_number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:637
+#, no-wrap
+msgid ""
+"(Legacy way)\n"
+"A reference to the _INI file_ `[MDI_COMMAND_LIST]` section.\n"
+"Set an integer of select one line under the INI`s `[MDI_COMMAND]` line "
+"starting at 0.\n"
+"Then in the INI file, under the heading `[MDI_COMMAND_LIST]` add appropriate "
+"lines.\n"
+"Commands separated by the `;` will be run one after another\n"
+"The button label text can be set with any text after a comma, the `\\n` "
+"symbol adds a line break."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:638
+#, no-wrap
+msgid "*`ini_mdi_key`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:645
+#, no-wrap
+msgid ""
+"(preferred way)\n"
+"A reference to the _INI file_ `[MDI_COMMAND_LIST]` section.\n"
+"This string will be added to 'MDI_COMMAND_' to form an entry to look for\n"
+"in the INI file, under the heading `[MDI_COMMAND_LIST]`.\n"
+"Commands separated by the `;` will be run one after another\n"
+"The button label text can be set with any text after a comma, the `\\n` "
+"symbol adds a line break."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:650
+#, no-wrap
+msgid ""
+"[MDI_COMMAND_LIST]\n"
+"MDI_COMMAND_MACRO0 = G0 Z25;X0 Y0;Z0, Goto\\nUser\\nZero\n"
+"MDI_COMMAND_MACRO1 = G53 G0 Z0;G53 G0 X0 Y0, Goto\\nMachn\\nZero\n"
+msgstr ""
+
+#. FIXME add link to Indicated_PushButton section
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:656
+msgid ""
+"Action buttons are subclassed from "
+"<<sub:qtvcp:widgets:indicatedpushbutton>>[`IndicatedPushButton`].  See the "
+"following sections for more information about:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:658
+msgid "<<sub:qtvcp:widgets:indicatedpushbutton:led,LED Indicator option>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:659
+msgid "<<sub:qtvcp:widgets:indicatedpushbutton:state-enabled,Enabled on State>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:660
+msgid "<<sub:qtvcp:widgets:indicatedpushbutton:state-text,Text Changes On State>>"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:661
+msgid ""
+"<<sub:qtvcp:widgets:indicatedpushbutton:python-command,Call Python Command "
+"On State>>"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:663
+#, no-wrap
+msgid "`ActionToolButton` - Optional Actions Menu Button Widget"
+msgstr ""
+
+#. TODO ActionToolButton widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:669
+#, no-wrap
+msgid ""
+"*`ActionToolButton`* buttons are similar in concept to action buttons,\n"
+"but they use _QToolButtons_ to allow for *optional actions* to be selected "
+"by pushing and holding the button till the option menu pops up.\n"
+msgstr ""
+
+#. FIXME meaning only one ActionToolButton, right ?
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:672
+msgid "Currently there is only one option: `userView`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:674 src/gui/qtvcp-widgets.adoc:753
+#: src/gui/qtvcp-widgets.adoc:2279
+msgid "It is based on PyQt's _QToolButton_."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:676
+#, no-wrap
+msgid "`userView` Record and Set User View Widget"
+msgstr ""
+
+#. TODO userView widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:681
+msgid ""
+"User View tool button allows to *record and return to an arbitrary graphics "
+"view*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:683
+msgid ""
+"Press and hold the button to have the menu pop up and press _record view_ to "
+"record the currently displayed graphics view."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:685
+msgid "Click the button normally to return to the last recorded position."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:687
+msgid ""
+"The recorded position will be remembered at shutdown if a preference file "
+"option is set up."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:693
+#, no-wrap
+msgid ""
+"Due to programming limitations, the recorded position may not show exactly "
+"the same. Particularly, if you pan zoomed out and pan zoomed in again while "
+"setting the desired view.\n"
+"_Best practice_ is to select a main view, modify as desired, record, then "
+"immediately click the button to switch to the recorded position. If it is "
+"not as you like, modify its existing position and re-record."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:695
+#, no-wrap
+msgid "`AxisToolButton` - Select and Set Axis Widget"
+msgstr ""
+
+#. TODO AxisToolButton widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:701
+msgid "This allows one to *select and set an axis*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:703
+msgid "If the button is set checkable, it will indicate which axis is selected."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:705
+msgid "If you press and hold the button a pop up menu will show allowing one to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:707
+msgid "Zero the axis"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:708
+msgid "Divide the axis by 2"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:709
+msgid "Set the axis arbitrarily"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:710
+msgid "Reset the axis to the last number recorded"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:713
+msgid ""
+"You must have selected an entry dialog widget that corresponds to the "
+"dialog_code_string, usually this is selected from the screenOptions widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:716
+msgid "Will set a HAL pin true when the axis is selected."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:716
+#, no-wrap
+msgid "*`joint_number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:718
+msgid "Should be set to the appropriate joint number"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:718
+#, no-wrap
+msgid "*`axis_letter`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:720
+msgid "Should be set to the appropriate axis letter"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:722
+msgid "These are the click-and-hold menu properties: +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:723 src/gui/qtvcp-widgets.adoc:808
+#, no-wrap
+msgid "*`showLast`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:725 src/gui/qtvcp-widgets.adoc:810
+msgid "show the 'Set to last' action"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:725 src/gui/qtvcp-widgets.adoc:810
+#, no-wrap
+msgid "*`showDivide`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:727 src/gui/qtvcp-widgets.adoc:812
+msgid "show the 'Divide by 2' action"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:727 src/gui/qtvcp-widgets.adoc:812
+#, no-wrap
+msgid "*`showGotoOrigin`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:729 src/gui/qtvcp-widgets.adoc:814
+msgid "show the 'Go to G53/G5x origin' action"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:729 src/gui/qtvcp-widgets.adoc:814
+#, no-wrap
+msgid "*`showZeroOrigin`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:731 src/gui/qtvcp-widgets.adoc:816
+msgid "show the 'Zero Origin' action"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:731 src/gui/qtvcp-widgets.adoc:816
+#, no-wrap
+msgid "*`showSetOrigin`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:733 src/gui/qtvcp-widgets.adoc:818
+msgid "show the 'Set Origin' action"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:733 src/gui/qtvcp-widgets.adoc:1609
+#: src/gui/qtvcp-widgets.adoc:2353
+#, no-wrap
+msgid "*`dialog_code_string`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:736
+msgid ""
+"Sets which dialog will pop up with numerical entry. ie. 'ENTRY' or "
+"'CALCULATOR' to call a typing only entry dialog or a touch/typing calculator "
+"type entry dialog."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:738
+msgid "Here is a sample stylesheet entry:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:750
+#, no-wrap
+msgid ""
+"AxisToolButton {\n"
+"    /* Modify all the menu options */\n"
+"    qproperty-showLast: false;\n"
+"    qproperty-showDivide : true;\n"
+"    qproperty-showGotoOrigin: true;\n"
+"    qproperty-showZeroOrigin: true;\n"
+"    qproperty-showSetOrigin: false;\n"
+"    qproperty-dialog_code_string: CALCULATOR;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:755
+#, no-wrap
+msgid "`BasicProbe` - Simple Mill Probing Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:757
+#, no-wrap
+msgid "QtVCP `BasicProbe`: Simple Mill Probing Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:758
+#, no-wrap
+msgid "QtVCP BasicProbe: Simple Mill Probing Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:762 src/gui/qtvcp-widgets.adoc:2413
+msgid "Widget for *probing on a mill*.  Used by the _QtDragon_ screen."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:764
+#, no-wrap
+msgid "`CamView` - Workpiece Alignment and Origin Setting Widget"
+msgstr ""
+
+#. TODO CamView widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:769
+msgid "This widget *displays a image from a web camera*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:771
+msgid "It _overlays an adjustable circular and cross hair target_ over the image."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:773
+msgid "CamView was built with precise visual positioning in mind."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:775
+msgid "This is used to *align the work piece or zero part features using a webcam*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:777
+msgid "It uses _OpenCV_ vision library."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:779
+#, no-wrap
+msgid "`DROLabel` - Axis Position Display Widget"
+msgstr ""
+
+#. TODO DROLabel widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:785
+#, no-wrap
+msgid ""
+"This will *display the current position of an axis*.\n"
+"You can also click on the label and see a list of actions. +"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:786
+#, no-wrap
+msgid "*`Qjoint_number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:788
+msgid ""
+"Joint index number (X=0 Y=1) of offset to display (10 will specify "
+"rotational offset)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:788
+#, no-wrap
+msgid "*`Qreference_type`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:790
+msgid "Actual, relative or distance to go (0,1,2)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:790 src/gui/qtvcp-widgets.adoc:1613
+#: src/gui/qtvcp-widgets.adoc:2357
+#, no-wrap
+msgid "*`metric_template`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:792
+msgid "Format of display, e.g. `%10.3f`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:792 src/gui/qtvcp-widgets.adoc:1615
+#: src/gui/qtvcp-widgets.adoc:2359
+#, no-wrap
+msgid "*`imperial_template`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:794
+msgid "format of display, e.g. `%9.4f`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:794
+#, no-wrap
+msgid "*`angular_template`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:796
+msgid "Format of display, e.g. `%Rotational: 10.1f`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:796
+#, no-wrap
+msgid "*`always_display_diameter`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:798 src/gui/qtvcp-widgets.adoc:800
+msgid "Toggles display option"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:798
+#, no-wrap
+msgid "*`always_display_radius`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:800
+#, no-wrap
+msgid "*`display_as_per_m7m8`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:802
+msgid "Toggles display option. Will follow the current M7/8 mode"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:802
+#, no-wrap
+msgid "*`follow_reference_changes`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:805
+msgid ""
+"Toggles display option. Will follow the STATUS message reference mode. ie.  "
+"you can use Action buttons to set how it's currently displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:807
+msgid "These are the click-on-menu options:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:818
+#, no-wrap
+msgid "*`dialogName`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:820
+msgid "Sets which dialog will pop up with numerical entry. ie ENTRY or CALCULATOR"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:823
+msgid ""
+"The `DROLabel` widget holds a property *`isHomed`* that can be used with a "
+"stylesheet to change the _color of the `DRO_Label` based on homing state of "
+"the joint_ number in LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:825
+msgid "Here is a sample stylesheet entry that:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:827
+msgid "Sets the font of all `DRO_Label` widgets,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:828
+msgid "Sets the text template (to set resolution) of the DRO,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:829
+msgid "Then sets the text color based on the Qt `isHomed` property."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:830
+msgid "show all the menu options."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:838
+#, no-wrap
+msgid ""
+"DROLabel {\n"
+"    font: 25pt \"Lato Heavy\";\n"
+"    qproperty-imperial_template: '%9.4f';\n"
+"    qproperty-metric_template: '%10.3f';\n"
+"    qproperty-angular_template: '%11.2f';\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:847
+#, no-wrap
+msgid ""
+"    /* Modify all the menu options */\n"
+"    qproperty-showLast: true;\n"
+"    qproperty-showDivide : true;\n"
+"    qproperty-showGotoOrigin: true;\n"
+"    qproperty-showZeroOrigin: true;\n"
+"    qproperty-showSetOrigin: true;\n"
+"    qproperty-dialogName: CALCULATOR;\n"
+"}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:851
+#, no-wrap
+msgid ""
+"DROLabel[isHomed=false] {\n"
+"    color: red;\n"
+"}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:855
+#, no-wrap
+msgid ""
+"DROLabel[isHomed=true] {\n"
+"    color: green;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:858
+msgid ""
+"Here is how you specify a particular widget by its `objectName` in Qt "
+"Designer:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:864
+#, no-wrap
+msgid ""
+"DROLabel #dr0_x_axis [isHomed=false] {\n"
+"    color: yellow;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:869
+#, no-wrap
+msgid "`FileManager` - File Loading Selector Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:871
+#, no-wrap
+msgid "QtVCP `FileManager`: File Loading Selector Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:872
+#, no-wrap
+msgid "QtVCP FileManager: File Loading Selector Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:872
+#, no-wrap
+msgid "images/qtvcp_fileManager.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:875
+msgid "This widget is used to *select files to load*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:877
+msgid "It has a the ability to scroll the names with hardware such as a MPG."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:879
+msgid ""
+"One can class patch the function `load(self,fname)` to customize file "
+"loading."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:881
+msgid ""
+"The function `getCurrentSelected()` will return a Python tuple, containing "
+"the file path and whether it is a file."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:888
+#, no-wrap
+msgid ""
+"temp = FILEMANAGER.getCurrentSelected()\n"
+"print('filepath={}'.format(temp[0]))\n"
+"if temp[1]:\n"
+"    print('Is a file')\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:890 src/gui/qtvcp-widgets.adoc:1010
+#, no-wrap
+msgid "Stylesheets Properties"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:892
+#, no-wrap
+msgid "*`doubleClickSelection`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:896
+#, no-wrap
+msgid ""
+"Determines whether or not to _require double clicking on a folder_.\n"
+"Single clicking a folder (False) is enabled by default and is intended for "
+"touch screen users.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:902
+#, no-wrap
+msgid ""
+"#filemanager {\n"
+"    qproperty-doubleClickSelection: True;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:904
+#, no-wrap
+msgid "*`showListView`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:908
+#, no-wrap
+msgid ""
+"Determines whether or not to _show the file/folder structure in list "
+"form_.\n"
+"Table view (False) is enabled by default.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:914
+#, no-wrap
+msgid ""
+"#filemanager {\n"
+"    qproperty-showListView: True;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:917 src/gui/qtvcp-widgets.adoc:2316
+msgid "It is based on PyQt's FIXME"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:919
+#, no-wrap
+msgid "`GcodeDisplay` - G-code Text Display Widget"
+msgstr ""
+
+#. TODO GcodeDisplay capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:924
+msgid ""
+"This *displays G-code in text form*, highlighting the currently running "
+"line."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:926
+msgid "This can also display:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:928
+#, no-wrap
+msgid "*MDI history* when LinuxCNC is in `MDI` mode.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:929
+#, no-wrap
+msgid "*Log entries* when LinuxCNC is in `MANUAL` mode.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:930
+#, no-wrap
+msgid ""
+"*Preference file entries* if you enter `PREFERENCE` in capitals into the "
+"`MDILine` widget.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:932
+msgid ""
+"It has a _signal_ *`percentDone(int)`* that can be connected to a slot (such "
+"as a `progressBar` to display percent run)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:933
+#, no-wrap
+msgid "*`auto_show_mdi_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:935
+msgid "Set true to have the widget switch to MDI history when in MDI mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:935
+#, no-wrap
+msgid "*`auto_show_manual_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:937
+msgid "Set true to have the widget switch to machine log when in Manual mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:940
+msgid ""
+"The `GcodeDisplay` properties can be set in a stylesheet with the following "
+"code added to the .qss file (the following color choices are random)."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:966
+#, no-wrap
+msgid ""
+"EditorBase{\n"
+"    qproperty-styleColorBackground: lightblue;\n"
+"    qproperty-styleColorCursor:white;\n"
+"    qproperty-styleColor0: black;\n"
+"    qproperty-styleColor1: #000000; /* black */\n"
+"    qproperty-styleColor2: blue;\n"
+"    qproperty-styleColor3: red;\n"
+"    qproperty-styleColor4: green;\n"
+"    qproperty-styleColor5: darkgreen;\n"
+"    qproperty-styleColor6: darkred;\n"
+"    qproperty-styleColor7: deeppink;\n"
+"    qproperty-styleColorMarginText: White;\n"
+"    qproperty-styleColorMarginBackground: blue;\n"
+"    qproperty-styleFont0: \"Times,12,-1,0,90,0,0,0,0,0\";\n"
+"    qproperty-styleFont1: \"Times,18,-1,0,90,1,0,0,0,0\";\n"
+"    qproperty-styleFont2: \"Times,12,-1,0,90,0,0,0,0,0\";\n"
+"    qproperty-styleFont3: \"Times,12,-1,0,90,0,0,0,0,0\";\n"
+"    qproperty-styleFont4: \"Times,12,-1,0,90,0,0,0,0,0\";\n"
+"    qproperty-styleFont5: \"Times,12,-1,0,90,0,0,0,0,0\";\n"
+"    qproperty-styleFont6: \"Times,12,-1,0,90,0,0,0,0,0\";\n"
+"    qproperty-styleFont7: \"Times,12,-1,0,90,0,0,0,0,0\";\n"
+"    qproperty-styleFontMargin: \"Times,14,-1,0,90,0,0,0,0,0\";\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:969
+msgid "For `GcodeDisplay` widget's _default G-code lexer_:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:971
+#, no-wrap
+msgid "*styleColor0 = Default*: Everything not part of the groups below\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:972
+#, no-wrap
+msgid ""
+"*styleColor1 = LineNo and Comments*: Nxxx and comments (characters inside of "
+"and including '()' or anything after ';' (when used outside of parenthesis) "
+"with the exception of the note below)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:973
+#, no-wrap
+msgid "*styleColor2 = G-code*: G and the digits after\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:974
+#, no-wrap
+msgid "*styleColor3 = M-code*: M and the digits after\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:975
+#, no-wrap
+msgid "*styleColor4 = Axis*: XYZABCUVW\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:976
+#, no-wrap
+msgid "*styleColor5 = Other*: EFHIJKDQLRPST (feed, rpm, radius, etc.)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:977
+#, no-wrap
+msgid "*styleColor6 = AxisValue*: Values following XYZABCUVW\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:978
+#, no-wrap
+msgid "*styleColor7 = OtherValue*: Values following EFHIJKDQLRPST$\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:983
+msgid ""
+"For comments, the \"OtherValue\" color (Color 5) can be used to highlight "
+"\"print,\" \"debug,\" \"msg,\" \"logopen,\" \"logappend,\" \"logclose\" "
+"\"log,\" \"pyrun,\" \"pyreload\" \"abort,\" \"probeopen\" \"probeclose\" "
+"inside of a parenthesis comment in a line of G-code.  As well as \"py,\" if "
+"a line that starts with \";py,\".  Examples: (print, text), (log, text), "
+"(msg, text), or (debug, text).  Only the last of the examples will be "
+"highlighted if there are more than one on the same line."
+msgstr ""
+
+#. FIXME Explain/explicit
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:986
+msgid "_Font definitions_:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:989
+#, no-wrap
+msgid ""
+"  \"style name, size, -1, 0, bold setting (0-99), italics (0-1),\n"
+"  underline (0-1),0,0,0\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:991
+msgid "It is based on PyQt's _QsciScintilla_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:993
+#, no-wrap
+msgid "`GcodeEditor` - G-code Program Editor Widget"
+msgstr ""
+
+#. TODO GcodeEditor widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:998
+msgid ""
+"This is an extension of the `GcodeDisplay` widget that *adds editing "
+"convenience*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1000
+msgid "It is based on PyQt's _QWidget_ which incorporates `GcodeDisplay` widget."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1002
+#, no-wrap
+msgid "`GCodeGraphics` - G-code Graphic Backplot Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:1005 src/gui/qtvcp-widgets.adoc:1006
+#, no-wrap
+msgid "QtVCP GcodeGraphics: G-code Graphic Backplot Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:1006
+#, no-wrap
+msgid "images/qtvcp_gcodeGraphics.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1009
+msgid "This *displays the current G-code in a graphical form*."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1011
+#, no-wrap
+msgid "*`dro-font/dro-large-font`* _(string)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1014
+#, no-wrap
+msgid ""
+"Sets the small and large DRO font properties\n"
+"Here we reference with the widget base name; GCodeGraphics"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1022
+#, no-wrap
+msgid ""
+"GCodeGraphics{\n"
+"    qproperty-dro_font:\"monospace  bold 12\";\n"
+"}\n"
+"GCodeGraphics{\n"
+"    qproperty-dro_large_font:\"Times 25\";\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1024
+#, no-wrap
+msgid "*`_view`* _(string)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1028
+#, no-wrap
+msgid ""
+"Sets the _default view orientation_ on GUI load.\n"
+"Valid choices for a lathe are p, y, y2. For other screens, valid choices are "
+"p, x, y, z, z2.\n"
+"The following shows an example of how to set this property (referenced using "
+"the widget user selected name):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1034
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-_view: z;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1036
+#, no-wrap
+msgid "*`_dro`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1039
+#, no-wrap
+msgid ""
+"Determines whether or not to _show the DRO_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1045
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-_dro: False;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1047
+#, no-wrap
+msgid "*`_dtg`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1050
+#, no-wrap
+msgid ""
+"Determine whether or not to _show the Distance To Go_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1056
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-_dtg: False;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1058
+#, no-wrap
+msgid "*`_metric`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1061
+#, no-wrap
+msgid ""
+"Determines whether or not to _show the units in metric by default_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1067
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-_metric: False;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1069
+#, no-wrap
+msgid "*`_overlay`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1072
+#, no-wrap
+msgid ""
+"Determines whether or not to _show the overlay by default_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1078
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-_overlay: False;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1080
+#, no-wrap
+msgid "*`_offsets`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1083
+#, no-wrap
+msgid ""
+"Determines whether or not to _show the offsets by default_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1089
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-_offsets: False;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1091
+#, no-wrap
+msgid "*`_small_origin`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1094
+#, no-wrap
+msgid ""
+"Determines whether or not to _show the small origin by default_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1100
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-_small_origin: False;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1102
+#, no-wrap
+msgid "*`overlay_color`* _(primary, secondary, or RGBA formatted color)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1105
+#, no-wrap
+msgid ""
+"Sets the _default overlay color_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1111
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-overlay_color: blue;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1113
+#, no-wrap
+msgid "*`overlay_alpha`* _(float)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1116
+#, no-wrap
+msgid ""
+"Sets the _default overlay alpha value_. This affects the opacity of the "
+"overlay when set between 0.0 and 1.0.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1122
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-overlay_alpha: 0.15;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1124
+#, no-wrap
+msgid "*`background_color`* _(primary, secondary, or RGBA formatted color)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1127
+#, no-wrap
+msgid ""
+"Sets the _default background color_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1133
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-background_color: blue;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1135
+#, no-wrap
+msgid "*`+_use_gradient_background+`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1138
+#, no-wrap
+msgid ""
+"Determines whether or not _use a gradient background by default_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1144
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-_use_gradient_background: False;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1146
+#, no-wrap
+msgid "*`jog_color`* _(primary, secondary, or RGBA formatted color)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1149
+#, no-wrap
+msgid ""
+"Sets the _default jog color_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1155
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-jog_color: red;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1157
+#, no-wrap
+msgid "*`Feed_color`* _(primary, secondary, or RGBA formatted color)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1160
+#, no-wrap
+msgid ""
+"Sets the _default feed color_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1166
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-Feed_color: green;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1168
+#, no-wrap
+msgid "*`Rapid_color`* _(primary, secondary, or RGBA formatted color)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1171
+#, no-wrap
+msgid ""
+"Sets the _default rapid color_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1177
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-Rapid_color: rgba(0, 0, 255, .5);\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1179
+#, no-wrap
+msgid "*`InhibitControls`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1182
+#, no-wrap
+msgid ""
+"Determines whether or not to _inhibit external controls by default_.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1188
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-InhibitControls:True;\n"
+"}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1190
+#, no-wrap
+msgid "*`MouseButtonMode`* _(int)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1194
+#, no-wrap
+msgid ""
+"Changes the _mouse button behavior_ to rotate, move or zoom within the "
+"preview.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1200
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-MouseButtonMode: 1;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1203
+msgid "There are 12 valid modes:"
+msgstr ""
+
+#. type: Table
+#: src/gui/qtvcp-widgets.adoc:1206 src/gui/qtvcp-widgets.adoc:1219
+#, no-wrap
+msgid "*Mode*"
+msgstr ""
+
+#. type: Table
+#: src/gui/qtvcp-widgets.adoc:1206 src/gui/qtvcp-widgets.adoc:1219
+#, no-wrap
+msgid "*Move*"
+msgstr ""
+
+#. type: Table
+#: src/gui/qtvcp-widgets.adoc:1206 src/gui/qtvcp-widgets.adoc:1220
+#, no-wrap
+msgid "*Zoom*"
+msgstr ""
+
+#. type: Table
+#: src/gui/qtvcp-widgets.adoc:1207
+#, no-wrap
+msgid "*Rotate*"
+msgstr ""
+
+#. type: Table
+#: src/gui/qtvcp-widgets.adoc:1207 src/gui/qtvcp-widgets.adoc:1209
+#: src/gui/qtvcp-widgets.adoc:1210 src/gui/qtvcp-widgets.adoc:1211
+#: src/gui/qtvcp-widgets.adoc:1213 src/gui/qtvcp-widgets.adoc:1220
+#: src/gui/qtvcp-widgets.adoc:1222 src/gui/qtvcp-widgets.adoc:1223
+#, no-wrap
+msgid "Left"
+msgstr ""
+
+#. type: Table
+#: src/gui/qtvcp-widgets.adoc:1207 src/gui/qtvcp-widgets.adoc:1208
+#: src/gui/qtvcp-widgets.adoc:1209 src/gui/qtvcp-widgets.adoc:1211
+#: src/gui/qtvcp-widgets.adoc:1212 src/gui/qtvcp-widgets.adoc:1221
+#: src/gui/qtvcp-widgets.adoc:1224 src/gui/qtvcp-widgets.adoc:1226
+#, no-wrap
+msgid "Middle"
+msgstr ""
+
+#. type: Table
+#: src/gui/qtvcp-widgets.adoc:1208 src/gui/qtvcp-widgets.adoc:1210
+#: src/gui/qtvcp-widgets.adoc:1211 src/gui/qtvcp-widgets.adoc:1212
+#: src/gui/qtvcp-widgets.adoc:1222 src/gui/qtvcp-widgets.adoc:1224
+#: src/gui/qtvcp-widgets.adoc:1225
+#, no-wrap
+msgid "Right"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1216
+msgid ""
+"Modes 6-11 are intended for machines that only require a 2D preview such as "
+"plasma or some lathes and have no rotate button assigned."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1228
+#, no-wrap
+msgid "*`MouseWheelInvertZoom`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1231
+#, no-wrap
+msgid ""
+"Determines whether or not to _invert the zoom direction_ when zooming with "
+"the mouse wheel.\n"
+"The following shows an example of how to set this property:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1237
+#, no-wrap
+msgid ""
+"#gcodegraphics{\n"
+"    qproperty-MouseWheelInvertZoom:True;\n"
+"}\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1239
+#, no-wrap
+msgid "`ACTION` functions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1242
+msgid "The `ACTION` library can control the G-code graphics widget."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1243
+#, no-wrap
+msgid "*`ACTION.RELOAD_DISPLAY()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1245
+msgid "Reload the current program which recalculates the origin/offsets."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1245
+#, no-wrap
+msgid "*`ACTION.SET_GRAPHICS_VIEW(_view_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1247
+msgid "The following `view` commands can be sent:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1248
+msgid "`clear`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1249
+msgid "`zoom-in`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1250
+msgid "`zoom-out`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1251
+msgid "`pan-up`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1252
+msgid "`pan-down`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1253
+msgid "`pan-right`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1254
+msgid "`pan-left`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1255
+msgid "`rotate-cw`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1256
+msgid "`rotate-ccw`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1257
+msgid "`rotate-up`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1258
+msgid "`rotate-down`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1259
+msgid "`overlay-dro-on`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1260
+msgid "`overlay-dro-off`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1261
+msgid "`overlay-offsets-on`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1262
+msgid "`overlay-offsets-off`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1263
+msgid "`alpha-mode-on`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1264
+msgid "`alpha-mode-off`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1265
+msgid "`inhibit-selection-on`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1266
+msgid "`inhibit-selection-off`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1267
+msgid "`dimensions-on`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1268
+msgid "`dimensions-off`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1269
+msgid "`grid-size`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1270
+msgid "`record-view`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1271
+msgid "`set-recorded-view`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1272
+msgid "`P`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1273
+msgid "`X`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1274
+msgid "`Y`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1275
+msgid "`Y2`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1276
+msgid "`Z`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1277
+msgid "`Z2`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1278
+msgid "'set-large-dro'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1279
+msgid "'set-small-dro'"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1279
+#, no-wrap
+msgid "*`ACTION.ADJUST_PAN(_X,Y_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1281
+msgid "Directly set the relative pan of view in x and y direction."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1281
+#, no-wrap
+msgid "*`ACTION.ADJUST_ROTATE(_X,Y_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1283
+msgid "Directly set the relative rotation of view in x and y direction."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1285
+msgid "It is based on PyQt's _OpenGL_ widget."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1287
+#, no-wrap
+msgid "`JointEnableWidget` - FIXME"
+msgstr ""
+
+#. TODO JointEnableWidget widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1291
+msgid "FIXME JointEnableWidget documentation"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1293
+#, no-wrap
+msgid "`JogIncrements` - Jog Increments Value Selection Widget"
+msgstr ""
+
+#. TODO JogIncrements widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1298
+msgid "This widget allows the user to *select jog increment values for jogging*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1300
+msgid "The jogging values come from the _INI file_ under:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1302
+msgid "`[DISPLAY]INCREMENTS`, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1303
+msgid "`[DISPLAY]ANGULAR_INCREMENTS`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1305
+msgid "This will be _available to all widgets_ through `STATUS`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1307
+msgid ""
+"You can select linear or angular increments by the property "
+"*`linear_option`* in Qt Designer property editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1309
+msgid "It is based on PyQt's _ComboBox_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1311
+#, no-wrap
+msgid "`MacroTab` - Special Macros Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1313
+#, no-wrap
+msgid "QtVCP `MacroTab`: Special Macros Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:1314
+#, no-wrap
+msgid "QtVCP MacroTab: Special Macros Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:1314
+#, no-wrap
+msgid "images/qtvcp_macro.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1317
+msgid ""
+"This widget allows a user to *select and adjust special macro programs* for "
+"doing small jobs."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1319
+msgid "It uses _images for visual representation_ of the macro and for an icon."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1321
+msgid "It searches for special macros using the _INI definition_:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1326
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"SUBROUTINE_PATH =\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1330
+msgid ""
+"The macros are *`O-word` subroutines with special comments* to work with the "
+"launcher.  The first three lines _must_ have the keywords below, the fourth "
+"is optional."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1332
+msgid "Here is a sample for the first four lines in an _O-word file_:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1339
+#, no-wrap
+msgid ""
+"; MACROCOMMAND = Entry1,Entry2\n"
+"; MACRODEFAULTS = 0,true\n"
+"; MACROIMAGE = my_image.svg,Icon layer number,Macro layer number\n"
+"; MACROOPTIONS = load:yes,save:yes,default:default.txt,path:~/macros\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1341
+#, no-wrap
+msgid "`MACROCOMMAND`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1344
+msgid "This is the _first line_ in the O-word file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1347
+#, no-wrap
+msgid ""
+"It is a *comma separated list of text to display above an entry*.\n"
+"There will be *one for every variable required* in the O-word function."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1349
+msgid "If the macro does not require variables, leave it empty:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1353
+#, no-wrap
+msgid "; MACROCOMMAND=\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1355
+#, no-wrap
+msgid "`MACRODEFAULTS`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1358
+msgid "This must be the _second line_ in the O-word file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1360
+msgid ""
+"It is a *comma separated list of the default values for each variable* in "
+"the O-word function."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1362
+msgid ""
+"If you use the word `true` or `false` in the list, a `*checkbutton*` will be "
+"shown."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1363
+#, no-wrap
+msgid "`MACROIMAGE`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1366
+msgid "This must be the _third line_ in the O-word file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1369
+#, no-wrap
+msgid ""
+"*SVG Images* +\n"
+"If using SVG image files, they must end with the `.svg` extension. +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1371
+msgid ""
+"The images must be added to _SVG layers_ which are used to define the "
+"different images for macro and icon."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1373
+msgid "Value is comma separated list of three ordered fields:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1377
+#, no-wrap
+msgid "; MACROIMAGE=filename.svg,macro_layer_name[,icon_layer_name]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1380 src/gui/qtvcp-widgets.adoc:1398
+msgid "With:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1381
+#, no-wrap
+msgid "*`_filename_.svg`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1384
+#, no-wrap
+msgid ""
+"SVG image file name as first field.\n"
+"It is assumed to be in the same folder as the O-word file."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1384
+#, no-wrap
+msgid "*`*macro_layer_name`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1386
+msgid "Macro image layer name as second field."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1386
+#, no-wrap
+msgid "*`icon_layer_name`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1389
+msgid ""
+"Icon image layer name as optional third field.  If the third entry is "
+"missing, the same image will be used for macro and icon."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1391
+#, no-wrap
+msgid ""
+"*PNG/JPG Images*: +\n"
+"Value remains a comma separated list:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1395
+#, no-wrap
+msgid "; MACROIMAGE=macro_image.(png|jpg)[,icon_image.(png|jpg)]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1399
+#, no-wrap
+msgid "*`_macro_image_.(png|jpg)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1402
+#, no-wrap
+msgid ""
+"Macro image file name as first field.\n"
+"It is assumed that the image file are in the same folder than the macro."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1402
+#, no-wrap
+msgid "*`_icon_image_.(png|jpg)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1405
+#, no-wrap
+msgid ""
+"*Icon image file name* as optional second field. +\n"
+"If the second entry is missing the same image will be used for macro and "
+"image.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1407
+msgid ""
+"If the keyword is present but the entries are missing, no images will be "
+"used."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1408
+#, no-wrap
+msgid "`MACROOPTIONS`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1411
+msgid "This _optional line must be the fourth_ line in the O-word file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1413
+msgid "It is a comma separated list of keyword and data:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1414
+#, no-wrap
+msgid "*`LOAD:yes`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1416
+msgid "Shows a load button."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1416
+#, no-wrap
+msgid "*`SAVE:yes`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1418
+#, no-wrap
+msgid "Shows a save button.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1420
+#, no-wrap
+msgid "`MDILine` - MDI Commands Line Entry Widget"
+msgstr ""
+
+#. TODO MDILine widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1425
+msgid "One can *enter MDI commands* here."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1427
+msgid "A popup keyboard is available."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1428
+#, no-wrap
+msgid "Embedded Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1430
+msgid "There are also *embedded commands* available from this widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1432
+msgid ""
+"Enter any of these _case sensitive_ commands to load the respective program "
+"or access the feature:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1433
+#, no-wrap
+msgid "*`HALMETER`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1436
+msgid "Starts LinuxCNC link:../hal/tools.html#sec:halmeter[`halmeter`] utility."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1436
+#, no-wrap
+msgid "*`HALSHOW`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1439
+msgid "Starts LinuxCNC link:../hal/halshow.html#cha:halshow[`halshow`] utility."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1439
+#, no-wrap
+msgid "*`HALSCOPE`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1442
+msgid ""
+"Starts LinuxCNC link:../hal/tutorial.html#sec:tutorial-halscope[`halscope`] "
+"utility."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1442
+#, no-wrap
+msgid "*`STATUS`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1445
+msgid "Starts LinuxCNC link:../man/man1/linuxcnctop.1.html[`status`] utility."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1445
+#, no-wrap
+msgid "*`CALIBRATION`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1448
+msgid "Starts LinuxCNC link:../man/man1/emccalib.1.html[Calibration]"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1448
+#, no-wrap
+msgid "*`CLASSICLADDER`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1450
+msgid ""
+"Starts the link:../ladder/classic-ladder.html[ClassicLadder GUI] if the "
+"_ClassicLadder realtime HAL component_ was loaded by the machine's config "
+"files."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1450
+#, no-wrap
+msgid "*`PREFERENCE`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1452
+msgid "_Loads the preference file_ into the `GcodeEditor`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1452
+#, no-wrap
+msgid "*`CLEAR HISTORY`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1454
+msgid "_Clears the MDI History_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1454
+#, no-wrap
+msgid "*`net`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1457
+#, no-wrap
+msgid ""
+"See link:../man/man1/halcmd.1.html#COMMANDS[`halcmd net` commands].\n"
+"An error will result if the command is unsuccessful."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1458
+msgid "_Syntax_: `net <signal name> <pin name>`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1459
+msgid "__Example__: `net plasmac:jog-inhibit motion.jog-stop`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1459
+#, no-wrap
+msgid "*`setp`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1463
+#, no-wrap
+msgid ""
+"_Sets the value of a pin or a parameter_.\n"
+"Valid values depend on the object type of the pin or parameter.\n"
+"It results in an error if the data types do not match or the pin is "
+"connected to a signal."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1464
+msgid "_Syntax_: `setp <pin/parameter-name> <value>`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1465
+msgid "_Example_: `setp plasmac.resolution 100`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1465
+#, no-wrap
+msgid "*`unlinkp`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1469
+#, no-wrap
+msgid ""
+"_Disconnects a pin from a signal_.\n"
+"An error will result if the pin does not exist.\n"
+"Running LinuxCNC from terminal may help determine the root cause as error "
+"messages from `hal_lib.c` will be displayed there."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1470
+msgid "_Syntax_: `unlinkp <pin name>`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1471
+msgid "__Example__: `unlinkp motion.jog-stop`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1473
+msgid ""
+"The `MDILine` function *`spindle_inhibit`* can be used by a GUI's handler "
+"file to inhibit `M3`, `M4`, and `M5` spindle commands if necessary."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1475
+msgid "It is based on PyQt's _QLineEdit_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1477
+#, no-wrap
+msgid "`MDIHistory` - MDI Commands History Widget"
+msgstr ""
+
+#. TODO MDIHistory widget capture
+#. TODO Merge MDILine and MDIHistory sections ?
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1483
+msgid "Displays a *scrollable list of past MDI command*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1486
+msgid ""
+"An edit line is embedded for MDI commands.  The same MDILine embedded "
+"commands may be accessed from this widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1488
+msgid ""
+"The history is _recorded on a file defined in the INI_ under the heading "
+"`[DISPLAY]` (this shows the default):"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1492
+#, no-wrap
+msgid "MDI_HISTORY_FILE = '~/.axis_mdi_history'\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1495
+#, no-wrap
+msgid "`MDITouchy` - Touch Screen MDI Entry Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1497
+#, no-wrap
+msgid "QtVCP `MDITouchy`: Touch Screen MDI Entry Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:1498
+#, no-wrap
+msgid "QtVCP MDITouchy: Touch Screen MDI Entry Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:1498
+#, no-wrap
+msgid "images/qtvcp_mdiTouchy.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1501
+msgid ""
+"This widget displays *buttons and entry lines to use for entering MDI "
+"commands*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1503
+msgid ""
+"Based on LinuxCNC's Touchy screen's MDI entry process, its large buttons are "
+"most useful for touch screens."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1505
+msgid "To use `MDITouchy`:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1508
+msgid ""
+"First press one of the `G/XY`, `G/RO`, `M` or `T` button.  On the left will "
+"show the entry fields that can be filled out."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1509
+msgid "Then press `Next` and `Back` to navigate between fields."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1510
+msgid "`Calc` will pop up a calculator dialog."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1511
+msgid "`Clear` clears the current entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1512
+msgid "`Set Tool` will call for a tool change."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1513
+msgid "`Set Origin` will allow setting the origin of the current G6x system."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1514
+msgid "`Macro` will call any available macro ngc programs."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1516
+msgid ""
+"The widget _requires an explicit call to MDITouchy Python code_ to _actually "
+"run the MDI command_:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1519
+#, no-wrap
+msgid ""
+"*For handler file code* +\n"
+"If the widget was named 'mditouchy' in Qt Designer, the command below would "
+"run the displayed MDI command:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1523
+#, no-wrap
+msgid "self.w.mditouchy.run_command()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1527
+#, no-wrap
+msgid ""
+"*For action button use* +\n"
+"If the widget was named 'mditouchy' in Qt Designer, use the action button's "
+"'Call Python commands' option and enter:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1531
+#, no-wrap
+msgid "INSTANCE.mditouchy.run_command()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1534
+msgid ""
+"The macro button _cycles though macros defined in the INI [DISPLAY] "
+"heading_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1536
+msgid "Add one or more `MACRO` lines of the following format:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1540
+#, no-wrap
+msgid "MACRO = macro_name [param1] [... paramN]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1543
+msgid ""
+"In the example below, `increment` is the name of the macro, and it accepts "
+"two parameters, named `xinc` and `yinc`."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1547
+#, no-wrap
+msgid "MACRO = incerment xinc yinc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1551
+msgid ""
+"Now, place the macro in a file named `macro_name.ngc` in the "
+"`PROGRAM_PREFIX` directory, or into any directory in the `SUBROUTINE_PATH` "
+"specified in the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1553
+msgid ""
+"Keeping on with the example above, it would be named `increment.ngc` and its "
+"content could look like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1560 src/gui/touchy.adoc:127
+#, no-wrap
+msgid ""
+"O<increment> sub\n"
+"G91 G0 X#1 Y#2\n"
+"G90\n"
+"O<increment> endsub\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1563
+msgid ""
+"Notice the _name of the sub matches the file name and macro name exactly_, "
+"including case."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1567
+#, no-wrap
+msgid ""
+"When you invoke the macro by pressing the Macro button you can enter values "
+"for parameters (`xinc` and `yinc` in our example).\n"
+"These are passed to the macro as positional parameters: `#1`, `#2`...  `#N` "
+"respectively.\n"
+"Parameters you leave empty are passed as value `0`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1569 src/gui/touchy.adoc:139
+msgid ""
+"If there are several different macros, press the Macro button repeatedly to "
+"cycle through them."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1572
+msgid ""
+"In this simple example, if you enter -1 for xinc and invoke the running of "
+"the MDI cycle, a rapid 'G0' move will be invoked, moving one unit to the "
+"left."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1575 src/gui/touchy.adoc:148
+msgid ""
+"This macro capability is useful for edge/hole probing and other setup tasks, "
+"as well as perhaps hole milling or other simple operations that can be done "
+"from the panel without requiring specially-written G-code programs."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1577
+#, no-wrap
+msgid "`OriginOffsetView` - Origins View and Setting Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1579
+#, no-wrap
+msgid "QtVCP `OriginOffsetsView`: Origins View and Setting Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:1580
+#, no-wrap
+msgid "QtVCP OriginOffsetsView: Origins View and Setting Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:1580
+#, no-wrap
+msgid "images/qtvcp_originoffsetview.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1583
+msgid ""
+"This widget allows one to *visualize and modify User System Origin offsets* "
+"directly."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1585
+msgid "It will _update LinuxCNC's Parameter file_ for changes made or found."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1587
+msgid ""
+"The settings can only be changed in LinuxCNC after homing and when the "
+"motion controller is idle."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1589
+msgid ""
+"The display and entry will change between metric and imperial, based on "
+"LinuxCNC's _current_ `G20` / `G21` setting."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1591
+msgid "The current in-use user system will be highlighted."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1596
+#, no-wrap
+msgid ""
+"Extra actions can be integrated to manipulate settings.\n"
+"These actions depend on extra code added either to a combined widget, like "
+"`originoffsetview` dialog, or the screens handler code.\n"
+"Typical actions might be 'Clear Current User offsets' or 'Zero X'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1598 src/gui/qtvcp-widgets.adoc:2338
+msgid "Clicking on the columns and rows allows one to adjust the settings."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1600 src/gui/qtvcp-widgets.adoc:2340
+msgid "A dialog can be made to popup for data or text entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1602
+msgid "The comments section will be recorded in the preference file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1605 src/gui/qtvcp-widgets.adoc:2349
+#, no-wrap
+msgid ""
+"It is based on PyQt's _QTableView_, _QAbstractTableModel_, and "
+"_ItemEditorFactory_.\n"
+"Properties, functions and styles of the PyQt base objects are always "
+"available."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1608
+msgid "`OriginOffsetView` has the following properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1611 src/gui/qtvcp-widgets.adoc:2355
+msgid "Sets which dialog will pop up with numerical entry."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1611
+#, no-wrap
+msgid "*`test_dialog_code_string`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1613 src/gui/qtvcp-widgets.adoc:2357
+msgid "Sets which dialog will pop up with text entry."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1615 src/gui/qtvcp-widgets.adoc:2359
+msgid "Metric numerical data format."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1617 src/gui/qtvcp-widgets.adoc:2361
+msgid "Imperial numerical data format."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1617 src/gui/qtvcp-widgets.adoc:2361
+#, no-wrap
+msgid "*`styleCodeHighlight`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1619
+msgid "Current in-use user system highlight color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1621 src/gui/qtvcp-widgets.adoc:2152
+msgid "These can be set in:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1623
+msgid "Qt Designer, in"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1624
+msgid "Python handler code"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1629
+#, no-wrap
+msgid ""
+"self.w.originoffsetview.setProperty('dialog_code','CALCULATOR')\n"
+"self.w.originoffsetview.setProperty('metric_template','%10.3f')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1631
+msgid "Or (if appropriate) in stylesheets"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:1637
+#, no-wrap
+msgid ""
+"OriginOffsetView{\n"
+"  qproperty-styleColorHighlist: lightblue;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1640
+#, no-wrap
+msgid "`RadioAxisSelector` - FIXME"
+msgstr ""
+
+#. TODO RadioAxisSelector widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1644
+msgid "FIXME RadioAxisSelector documentation"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1646
+#, no-wrap
+msgid "`RoundButton` - Round Shapped `ActionButton` Widget"
+msgstr ""
+
+#. TODO RoundButton widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1651
+msgid ""
+"Round buttons work the same as _ActionButtons_ other than the button is "
+"cropped round."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1653
+msgid "They are intended only to be visually different."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1655
+msgid "They have _two path properties_ for displaying *images on true and false*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1657
+#, no-wrap
+msgid "`StateLabel` - Controller Modes State Label Display Widget"
+msgstr ""
+
+#. TODO StateLabel widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1662
+msgid ""
+"This will *display a label based on the machine controller modes true/false "
+"states*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1664
+msgid "You can select between different texts based on true or false."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1665
+#, no-wrap
+msgid "States Selection Properties"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1667
+msgid "The states are selectable via these properties:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1668
+#, no-wrap
+msgid "*`css_mode_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1670
+msgid "`True` when machine is in `G96` _Constant Surface Speed Mode_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1670
+#, no-wrap
+msgid "*`diameter_mode_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1672
+msgid "`True` when machine is in `G7` _Lathe Diameter Mode_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1672
+#, no-wrap
+msgid "*`fpr_mode_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1674
+msgid "`True` when machine is in `G95` _Feed per revolution Mode_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1674
+#, no-wrap
+msgid "*`metric_mode_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1676
+msgid "`True` when machine is in `G21` _Metric Mode_."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1677
+#, no-wrap
+msgid "Text templates properties"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1679
+#, no-wrap
+msgid "*`true_textTemplate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1683
+#, no-wrap
+msgid ""
+"This will be the text set when the option is `True`.\n"
+"You can use _Qt rich text_ code for different fonts/colors etc.\n"
+"Typical template for metric mode in true state, might be: _Metric Mode_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1683
+#, no-wrap
+msgid "*`false_textTemplate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1687
+#, no-wrap
+msgid ""
+"This will be the text set when the option is `False`.\n"
+"You can use _Qt rich text_ code for different fonts/colors etc.\n"
+"Typical template for metric mode in false state, might be: _Imperial Mode_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1691
+#, no-wrap
+msgid "`StatusLabel` - Controller Variables State Label Display Widget"
+msgstr ""
+
+#. TODO StatusLabel widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1697
+#, no-wrap
+msgid ""
+"This will display a label based on selectable status of the machine "
+"controller.\n"
+"You can change how the status will be displayed by substituting Python "
+"formatting code in the text template. You can also use rich text for "
+"different fonts/colors etc."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1698
+#, no-wrap
+msgid "Selectable States"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1700
+msgid "These states are selectable:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1701
+#, no-wrap
+msgid "*`actual_spindle_speed_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1705
+#, no-wrap
+msgid ""
+"Used to display the actual spindle speed as _reported from the HAL pin_ "
+"`spindle.0.speed-i`.\n"
+"It's converted to _RPM_.\n"
+"A `textTemplate` of `%d` would typically be used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1705
+#, no-wrap
+msgid "*`actual_surface_speed_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1709
+#, no-wrap
+msgid ""
+"Used to display the actual cutting surface speed on a lathe based on X axis "
+"and spindle speed.\n"
+"It's converted to distance per minute.\n"
+"A `textTemplate` of `%4.1f` (feet per minute) and `altTextTemplate` of `%d` "
+"(meters per minute) would typically be used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1709
+#, no-wrap
+msgid "*`blendcode_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1711
+msgid "Shows the current `G64` setting."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1711
+#, no-wrap
+msgid "*`current_feedrate_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1713
+msgid "Shows the current actual feedrate."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1713
+#, no-wrap
+msgid "*`current_FPU_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1715
+msgid "Shows the current actual feed per unit."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1715
+#, no-wrap
+msgid "*`fcode_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1717
+msgid "Shows the current programmed `F` code setting."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1717
+#, no-wrap
+msgid "*`feed_override_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1719
+msgid "Shows the current feed override setting in percent."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1719
+#, no-wrap
+msgid "*`filename_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1721
+msgid "Shows the last loaded file name."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1721
+#, no-wrap
+msgid "*`filepath_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1723
+msgid "Shows the last loaded full file path name."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1723
+#, no-wrap
+msgid "*`gcode_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1725
+msgid "Shows all active G-codes."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1725
+#, no-wrap
+msgid "*`gcode_selected_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1727
+msgid "Show the current selected G-code line."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1727
+#, no-wrap
+msgid "*`halpin_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1729
+msgid "Shows the HAL pin output of a selected HAL pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1729
+#, no-wrap
+msgid "*`jograte_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1731
+msgid "Shows the current QtVCP based Jog Rate."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1731
+#, no-wrap
+msgid "*`jograte_angular_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1733
+msgid "Shows the current QtVCP based Angular Jog Rate."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1733
+#, no-wrap
+msgid "*`jogincr_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1735
+msgid "Shows the current QtVCP based Jog increment."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1735
+#, no-wrap
+msgid "*`jogincr_angular_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1737
+msgid "Shows the current QtVCP based Angular Jog increment."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1737
+#, no-wrap
+msgid "*`machine_state_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1740
+#, no-wrap
+msgid ""
+"Shows the current _machine interpreter state_ using the text described from "
+"the machine_state_list.\n"
+"The interpreter states are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1741
+msgid "`Estopped`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1742
+msgid "`Running`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1743
+msgid "`Stopped`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1744
+msgid "`Paused`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1745
+msgid "`Waiting`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1746
+msgid "`Reading`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1746
+#, no-wrap
+msgid "*`max_velocity_override_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1748
+msgid "Shows the current max axis velocity override setting."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1748
+#, no-wrap
+msgid "*`mcode_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1750
+msgid "Shows _all active M-codes_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1750
+#, no-wrap
+msgid "*'motion_type_status'*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1752
+msgid ""
+"Shows current type of machine motion using the text described from the "
+"motion_type_list. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1753
+msgid "'None'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1754
+msgid "'Rapid'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1755
+msgid "'Feed'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1756
+msgid "'Arc'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1757
+msgid "'Tool Change'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1758
+msgid "'Probe'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1759
+msgid "'Rotary Index'"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1759
+#, no-wrap
+msgid "*`requested_spindle_speed_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1761
+msgid "Shows the requested spindle speed - actual may be different."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1761
+#, no-wrap
+msgid "*`rapid_override_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1763
+msgid "Shows the current rapid override setting in (0-100) percent."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1763
+#, no-wrap
+msgid "*`spindle_override_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1765
+msgid "Shows the current spindle override setting in percent."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1765
+#, no-wrap
+msgid "*`timestamp_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1769
+#, no-wrap
+msgid ""
+"Shows the time based on the system settings.\n"
+"An example of a useful `textTemplate` setting: `%I:%M:%S %p`.\n"
+"See the Python time module for more info."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1769
+#, no-wrap
+msgid "*`tool comment_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1771
+msgid "Returns the comment text from the current loaded tool."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1771
+#, no-wrap
+msgid "*`tool diameter_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1773
+msgid "Returns the diameter from the current loaded tool."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1773
+#, no-wrap
+msgid "*`tool_number_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1775
+msgid "Returns the tool number of the current loaded tool."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1775
+#, no-wrap
+msgid "*`tool_offset_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1777
+msgid ""
+"Returns the offset of the current loaded tool, indexed by `index_number` to "
+"select axis (0=x,1=y,etc.)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1777
+#, no-wrap
+msgid "*`user_system_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1779
+msgid "Shows the _active user coordinate system_ (`G5x` setting)."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1780
+#, no-wrap
+msgid "Other Properties"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1782
+#, no-wrap
+msgid "*`index_number`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1784
+msgid "Integer that specifies the tool status index to display."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1784
+#, no-wrap
+msgid "*`state_label_list`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1786
+msgid "List of labels used to describe different machine states."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1786
+#, no-wrap
+msgid "*'motion_label_list'*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1788
+msgid "List of labels used to describe different motion types."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1788
+#, no-wrap
+msgid "*`halpin_names`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1790
+msgid ""
+"Name of a halpin to monitor (must be the complete name, including the HAL "
+"component basename)."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1790
+#, no-wrap
+msgid "*`textTemplate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1797
+#, no-wrap
+msgid ""
+"This is usually used for *imperial (`G20`) or angular numerical settings*, "
+"though not every option has imperial/metric conversion.\n"
+"This uses _Python formatting rules_ to set the text output.\n"
+"One can use `%s` for no conversion, `%d` for integer conversion, `%f` for "
+"float conversion, etc.\n"
+"You can also use _Qt rich text_ code.\n"
+"Typical template used for formatting imperial float numbers to text would be "
+"`%9.4f` or `%9.4f inch`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1797
+#, no-wrap
+msgid "*`alt_textTemplate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1801
+#, no-wrap
+msgid ""
+"This is usually used for *metric (`G21`) numerical settings*.\n"
+"This uses _Python formatting rules_ to set the text output.\n"
+"Typical template used for formatting metric float to text would be `%10.3f` "
+"or `%10.3f mm`."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1805
+#, no-wrap
+msgid "`StatusImageSwitcher` - Controller Status Image Switcher"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1808
+msgid "Status image switcher will *switch between images based on LinuxCNC states*."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1809
+#, no-wrap
+msgid "*`watch_spindle`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1811
+msgid "Toggles between _3 images_: `stop`, `fwd`, `revs`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1811
+#, no-wrap
+msgid "*`watch_axis_homed`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1813
+msgid "Toggles between _2 images_: `axis not homed`, `axis homed`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1813
+#, no-wrap
+msgid "*`watch_all_homed`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1815
+msgid "Would toggle between _2 images_: `not all homed`, `all homed`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1815
+#, no-wrap
+msgid "*`watch_hard_limits`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1817
+msgid "Would toggle between _2 images or one per joint_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1819
+msgid "Here is an example of using it to display an icon of Z axis homing state:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1820
+#, no-wrap
+msgid "QtVCP `StatusImageSwitcher`: Controller Status Image Switcher"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:1821
+#, no-wrap
+msgid "QtVCP StatusImageSwitcher: Controller Status Image Switcher"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:1821
+#, no-wrap
+msgid "images/statusImageSwitcher.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1824
+msgid "In the properties section notice that:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1826
+msgid "`watch_axis_homed` is checked"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1827
+msgid "`axis_letter` is set to Z"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1829
+msgid ""
+"If you double click the `image_list` a dialog will show and allow you to add "
+"image paths to."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1831
+msgid ""
+"If you have one image as an icon and one _clear image_ then that will look "
+"like it shows and _hides the icon_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1833
+msgid ""
+"Selecting image paths can be done by selecting the `pixmap` property and "
+"selecting an image."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1835
+msgid ""
+"The `pixmap` setting is for test display only and will be ignored outside of "
+"Qt Designer."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1837
+msgid "Right click the image name and you should see 'Copy path'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1838
+msgid "Click 'Copy path'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1839
+msgid "Now double click the 'image list' property so the dialog shows."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1840
+msgid "Click the 'New' button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1841
+msgid "Paste the image path in the entry box."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1844
+#, no-wrap
+msgid ""
+"Do that again for the next image.\n"
+"_Use a clear image to represent a hidden icon._"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1848
+#, no-wrap
+msgid ""
+"You can _test the images display_ from the image list by changing the `image "
+"number`. In this case `0` is unhomed and `1` would be homed.\n"
+"This is for test display only and will be ignored outside of Qt Designer."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1850
+#, no-wrap
+msgid "`StatusStacked` - Mode Status Display Switching Widget"
+msgstr ""
+
+#. TODO StatusStacked widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1855
+msgid "This widget *displays one of three panels based on LinuxCNC's mode*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1857
+msgid ""
+"This allows you to automatically display different widgets on _Manual_, "
+"_MDI_ and _Auto_ modes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1862
+msgid "It is based on PyQt's _QStacked_ widget."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:1864
+#, no-wrap
+msgid "`ScreenOption` - General Options Setting widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1867
+msgid ""
+"This widget doesn't add anything visually to a screen but *sets up important "
+"options*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1869
+msgid "This is the _preferred way to use these options_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1872
+msgid ""
+"These properties can be set in Qt Designer, in Python handler code or (if "
+"appropriate) in stylesheets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1874
+msgid "These include:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1875
+#, no-wrap
+msgid "*`halCompBaseName`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1881
+#, no-wrap
+msgid ""
+"If left empty QtVCP will use the screen's name as the HAL component's "
+"basename.\n"
+"If set, QtVCP will use this string as the HAL component's basename.\n"
+"If the `-c` command line option is used when loading QtVCP, it will use the "
+"name specified on the command line - it overrides all above options.\n"
+"If you programmatically set the basename in the `handlerfile` - it will "
+"override all above options.\n"
+"This property cannot be set in stylesheets."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1881
+#, no-wrap
+msgid "*`notify_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1883
+msgid "Hooking into the desktop notification bubbles for error and messages."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1883
+#, no-wrap
+msgid "*`notify_max_messages`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1885
+msgid "Number of messages shown on screen at one time."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1885
+#, no-wrap
+msgid "*`catch_close_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1887
+msgid "Catching the close event to pop up a _'are you sure' prompt_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1887
+#, no-wrap
+msgid "*`close_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1889
+msgid "Color of transparent layer shown when quitting."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1889
+#, no-wrap
+msgid "*`catch_error_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1892
+#, no-wrap
+msgid ""
+"_Monitoring of the LinuxCNC error channel_.\n"
+"This also sends the message through `STATUS` to anything that registers."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1892
+#, no-wrap
+msgid "*`play_sounds_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1894
+msgid "Playing sounds using `beep`, `espeak` and the system sound."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1894
+#, no-wrap
+msgid "*`use_pref_file_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1897
+#, no-wrap
+msgid ""
+"Setting up a _preferences file path_.\n"
+"Using the magic word `WORKINGFOLDER` in the preference file path will be "
+"replaced with the launched configuration path, "
+"e.g. `WORKINFOLDER/my_preferences`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1897
+#, no-wrap
+msgid "*`use_send_zmq_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1899
+msgid "Used to initiate _ZMQ based outgoing messages_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1899
+#, no-wrap
+msgid "*`use_receive_zmq_messages`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1903
+#, no-wrap
+msgid ""
+"Used to initiate _ZMQ based in coming messages_.\n"
+"These messages _can be used to call functions in the handler file_, allowing "
+"*external programs to integrate tightly with QtVCP* based screens."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1903
+#, no-wrap
+msgid "*`embedded_program_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1905
+msgid "Embed programs defined in the _INI_."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1905
+#, no-wrap
+msgid "*`default_embed_tab`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1908
+#, no-wrap
+msgid ""
+"This is the property for a _default location to embed external programs_.\n"
+"It should be set to name of a tab page widget in Qt Designer."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1908
+#, no-wrap
+msgid "*`focusOverlay_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1910
+msgid ""
+"Focus_overlay will put a transparent image or colored panel over the main "
+"screen to emphasize focus to an external event - typically a dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1910
+#, no-wrap
+msgid "*`messageDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1912
+msgid "Sets up the message dialog - used for general messages."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1912
+#, no-wrap
+msgid "*`message_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1914
+msgid "Color of transparent layer shown when the message dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1914
+#, no-wrap
+msgid "*`closeDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1916
+msgid "Sets up the standard close screen prompt dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1916
+#, no-wrap
+msgid "*`entryDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1918
+msgid "Sets up the numerical entry dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1918
+#, no-wrap
+msgid "*`entryDialogSoftKey_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1920
+msgid "Sets up a floating software keyboard when entry dialog is focused."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1920
+#, no-wrap
+msgid "*`entry_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1922
+msgid "Color of transparent layer shown when the entry dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1922
+#, no-wrap
+msgid "*`toolDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1924
+msgid "Sets up the manual tool change dialog, including HAL pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1924
+#, no-wrap
+msgid "*`tool_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1926
+msgid "Color of transparent layer shown when the tool dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1926
+#, no-wrap
+msgid "*`ToolUseDesktopNotify`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1928
+msgid "Option to use desktop notify dialogs for manual tool change dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1928
+#, no-wrap
+msgid "*`ToolFrameless`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1930
+msgid "Frameless dialogs can not be easily moved by users."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1930
+#, no-wrap
+msgid "*`fileDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1932
+msgid "Sets up the file choosing dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1932
+#, no-wrap
+msgid "*`file_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1934
+msgid "Color of transparent layer shown when the file dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1934
+#, no-wrap
+msgid "*`keyboardDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1936
+msgid "Sets up a keyboard entry widget."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1936
+#, no-wrap
+msgid "*`keyboard_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1938
+msgid "Color of transparent layer shown when the keyboard dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1938
+#, no-wrap
+msgid "*`vesaProbe_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1940
+msgid "Sets up the Versa style probe dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1940
+#, no-wrap
+msgid "*`versaProbe_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1942
+msgid "Color of transparent layer shown when the `versaProbe` dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1942
+#, no-wrap
+msgid "*`macroTabDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1944
+msgid "Sets up the macro selection dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1944
+#, no-wrap
+msgid "*`macroTab_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1946
+msgid "Color of transparent layer shown when the `macroTab` dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1946
+#, no-wrap
+msgid "*`camViewDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1948
+msgid "Sets up the camera alignment dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1948
+#, no-wrap
+msgid "*`camView_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1950
+msgid "Color of transparent layer shown when the `camView` dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1950
+#, no-wrap
+msgid "*`toolOffset_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1952
+msgid "Sets up the tool offset display/editor dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1952
+#, no-wrap
+msgid "*`toolOffset_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1954
+msgid "Color of transparent layer shown when the `toolOffset` dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1954
+#, no-wrap
+msgid "*`originOffset_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1956
+msgid "Sets up the origin display/editor dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1956
+#, no-wrap
+msgid "*`originOffset_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1958
+msgid "Color of transparent layer shown when the `originOffset` dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1958
+#, no-wrap
+msgid "*`calculatorDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1960
+msgid "Sets up the calculator entry dialog."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1960
+#, no-wrap
+msgid "*`calculator_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1962
+msgid "Color of transparent layer shown when the calculator dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1962
+#, no-wrap
+msgid "*`machineLogDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1964
+msgid "Sets up a dialog to display logs from the machine and QtVCP."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1964
+#, no-wrap
+msgid "*`machineLog_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1966
+msgid "Color of transparent layer shown when the `machineLog` dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1966
+#, no-wrap
+msgid "*`runFromLineDialog_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1968
+msgid ""
+"Sets up a dialog to display starting options when starting machine execution "
+"from a arbitrary line."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1968
+#, no-wrap
+msgid "*`runFromLine_overlay_color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1970
+msgid "Color of transparent layer shown when the `runFromLine` dialog is shown."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1970
+#, no-wrap
+msgid "*`user1Color`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1972 src/gui/qtvcp-widgets.adoc:1974
+#: src/gui/qtvcp-widgets.adoc:1976 src/gui/qtvcp-widgets.adoc:1978
+#: src/gui/qtvcp-widgets.adoc:1980 src/gui/qtvcp-widgets.adoc:1982
+#: src/gui/qtvcp-widgets.adoc:1984 src/gui/qtvcp-widgets.adoc:1986
+#: src/gui/qtvcp-widgets.adoc:1988 src/gui/qtvcp-widgets.adoc:1990
+msgid "Optional color the screen designer can use in their design."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1972
+#, no-wrap
+msgid "*`user2Color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1974
+#, no-wrap
+msgid "*`user3Color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1976
+#, no-wrap
+msgid "*`user4Color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1978
+#, no-wrap
+msgid "*`user5Color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1980
+#, no-wrap
+msgid "*`user6Color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1982
+#, no-wrap
+msgid "*`user7Color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1984
+#, no-wrap
+msgid "*`user8Color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1986
+#, no-wrap
+msgid "*`user9Color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:1988
+#, no-wrap
+msgid "*`user10Color`*"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:1991
+#, no-wrap
+msgid "Setting Properties Programmatically"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1993
+msgid ""
+"The screen designer chooses the *default settings of the `screenOptions` "
+"widget*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1996
+msgid ""
+"Once chosen, most won't ever need to be changed.  But if needed, some can be "
+"changed in the handler file or in stylesheets."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:1999
+#, no-wrap
+msgid ""
+"*In the handler file*: +\n"
+"Here we reference the widget by the Qt Designer user defined name:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2006
+#, no-wrap
+msgid ""
+"# red,green,blue,alpha 0-255\n"
+"color = QtGui.QColor(0, 255, 0, 191)\n"
+"self.w.screen_options.setProperty('close_overlay_color', color)\n"
+"self.w.screen_options.setProperty('play_sounds_option',False)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2010
+#, no-wrap
+msgid ""
+"*In style sheets*: +\n"
+"Here we can reference the widget by Qt Designer user defined name or by "
+"widget class name.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2019
+#, no-wrap
+msgid ""
+"/* red, green, blue 0-255, alpha 0-100% or 0.0 to 1.0 */\n"
+"/* the # sign is used to refer to Qt Designer defined widget name */\n"
+"/* matches/applied to only this named widget */\n"
+"#screen_options {\n"
+"  qproperty-close_overlay_color: rgba(0, 255, 0, 0.75)\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2023
+#, no-wrap
+msgid ""
+"*Some settings are only checked on startup* so will not cause changes after "
+"startup.\n"
+"In these cases you would need to _make the changes in Qt Designer only_.\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2024
+#, no-wrap
+msgid "Preference File Entries"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2027
+msgid ""
+"If the _preference file option is selected_, `screenOption` widget will make "
+"an *INI based preference file*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2029
+msgid ""
+"While _other QtVCP widgets will add to this list_, the `screenOptions` "
+"widget will add these entries under the following headings:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2030
+#, no-wrap
+msgid "*`[SCREEN_OPTIONS]`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2031
+#, no-wrap
+msgid "*`catch_errors`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2032
+#, no-wrap
+msgid "*`desktop_notify`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2034
+#, no-wrap
+msgid "Whether to display errors/messages in the system's notification mechanism.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2034
+#, no-wrap
+msgid "*`notify_max_msgs`* _(int)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2036
+#, no-wrap
+msgid "Number of displayed errors at one time.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2036
+#, no-wrap
+msgid "*`shutdown_check`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2038
+#, no-wrap
+msgid "Whether to pop a confirmation dialog.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2038
+#, no-wrap
+msgid "*`sound_player_on`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2040
+#, no-wrap
+msgid "Turns all sounds on or off.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2040
+#, no-wrap
+msgid "*`[MCH_MSG_OPTIONS]`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2041
+#, no-wrap
+msgid "*`mchnMsg_play_sound`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2043 src/gui/qtvcp-widgets.adoc:2052
+#, no-wrap
+msgid "To play alert sound when dialog pops.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2043
+#, no-wrap
+msgid "*`mchnMsg_speak_errors`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2045
+#, no-wrap
+msgid "To use Espeak to speak error messages.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2045
+#, no-wrap
+msgid "*`mchnMsg_speak_text`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2047
+#, no-wrap
+msgid "To use Espeak to speak all other messages.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2047
+#, no-wrap
+msgid "*`mchnMsg_sound_type`* _(str)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2049 src/gui/qtvcp-widgets.adoc:2059
+#: src/gui/qtvcp-widgets.adoc:2061
+#, no-wrap
+msgid "Sound to play when messages displayed. See notes below.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2049
+#, no-wrap
+msgid "*`[USER_MSG_OPTIONS]`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2050
+#, no-wrap
+msgid "*`usermsg_play_sound`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2052
+#, no-wrap
+msgid "*`userMsg_sound_type`* _(str)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2054
+#, no-wrap
+msgid "Sound to play when user messages displayed. See notes below.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2054
+#, no-wrap
+msgid "*`userMsg_use_focusOverlay`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2055
+#, no-wrap
+msgid "*`[SHUTDOWN_OPTIONS]`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2056
+#, no-wrap
+msgid "*`shutdown_play_sound`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2057
+#, no-wrap
+msgid "*`shutdown_alert_sound_type`* _(str)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2059
+#, no-wrap
+msgid "*`shutdown_exit_sound_type`* _(str)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2061
+#, no-wrap
+msgid "*`shutdown_msg_title`* _(str)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2063
+#, no-wrap
+msgid "Short title string to display in dialog.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2063
+#, no-wrap
+msgid "*`shutdown_msg_focus_text`* _(str)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2065
+#, no-wrap
+msgid "Large text string to superimpose in focus layer.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2065
+#, no-wrap
+msgid "*`shutdown_msg_detail`* _(str)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2067
+#, no-wrap
+msgid "Longer descriptive string to display in dialog.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2067
+#, no-wrap
+msgid "*`NOTIFY_OPTIONS`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2068
+#, no-wrap
+msgid "*`notify_start_greeting`* _(bool)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2070
+#, no-wrap
+msgid "Whether to display a greeting dialog on start-up.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2070
+#, no-wrap
+msgid "*`notify_start_title`* _(str)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2073
+#, no-wrap
+msgid ""
+"Short Title string. +\n"
+"If the speak option is also selected it will be spoken with Espeak.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2073
+#, no-wrap
+msgid "*`notify_start_detail`* _(str)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2075
+#, no-wrap
+msgid "Longer description string.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2075
+#, no-wrap
+msgid "*`notify_start_timeout`* _(int)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2077
+#, no-wrap
+msgid "Time in seconds to display before closing.\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2078
+#, no-wrap
+msgid "`*_sound_type` entries"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2082
+#, no-wrap
+msgid ""
+"*System Sounds* +\n"
+"In Debian/Ubuntu/Mint based installations these _system sounds_ should be "
+"available as sound-type entries above:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2091
+msgid "`BELL`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2094
+msgid "These Sound options require `python3-gst1.0` installed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2098
+#, no-wrap
+msgid ""
+"*Audio Files* +\n"
+"You can also specify a _file path to an arbitrary audio file_. +\n"
+"You can use `~` in path to substitute for the user home file path.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2101
+#, no-wrap
+msgid ""
+"*Kernel Beeps* +\n"
+"If the `beep` _kernel module_ is installed and it is not disabled, these "
+"sound-type entries are available:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2108
+#, no-wrap
+msgid ""
+"*Text-To-Speech* +\n"
+"If the _Espeak_ module (`python3-espeak`) is installed, you can use the "
+"`SPEAK` entry to pronounce text:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2110
+#, no-wrap
+msgid "*`SPEAK '_my message_'`*\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2112
+#, no-wrap
+msgid "`StatusSlider` - Controller Setting Adjustment Slider Widget"
+msgstr ""
+
+#. TODO StatusSlider widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2117
+msgid "This widget allow the user to *adjust a LinuxCNC setting via a slider*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2119 src/gui/qtvcp-widgets.adoc:2260
+msgid "The widget can adjust:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2121 src/gui/qtvcp-widgets.adoc:2262
+msgid "Jog rate"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2122 src/gui/qtvcp-widgets.adoc:2263
+msgid "Angular jog rate"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2124 src/gui/qtvcp-widgets.adoc:2265
+msgid "Spindle override rate"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2125 src/gui/qtvcp-widgets.adoc:2266
+msgid "Rapid override rate"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2129
+msgid "`StatusSlider` has the following properties:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2132
+msgid "Sets option to make a HAL float pin that reflects current value."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2132
+#, no-wrap
+msgid "*`rapid_rate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2134
+msgid "Selects a rapid override rate slider."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2134
+#, no-wrap
+msgid "*`feed_rate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2136
+msgid "Selects a feed override rate slider."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2136
+#, no-wrap
+msgid "*`spindle_rate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2138
+msgid "Selects a spindle override rate slider."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2138
+#, no-wrap
+msgid "*`jograte_rate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2140
+msgid "Selects a linear jograte slider."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2140
+#, no-wrap
+msgid "*`jograte_angular_rate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2142
+msgid "Selects a angular jograte slider."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2142
+#, no-wrap
+msgid "*`max_velocity_rate`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2144
+msgid "Selects a maximum velocity rate slider."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2144
+#, no-wrap
+msgid "*`alertState`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2146
+msgid "String to define style change: `read-only`, `under`, `over` and `normal`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2146
+#, no-wrap
+msgid "*`alertUnder`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2148
+msgid "Sets the float value that signals the stylesheet for 'under' warning."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2148
+#, no-wrap
+msgid "*`alertOver`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2150
+msgid "Sets the float value that signals the stylesheet for 'over' warning."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2155
+msgid "Python handler code,"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2161
+#, no-wrap
+msgid ""
+"self.w.status_slider.setProperty('spindle_rate',True)\n"
+"self.w.status_slider.setProperty('alertUnder',35)\n"
+"self.w.status_slider.setProperty('alertOver',100)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2164
+msgid "Or (if appropriate) in stylesheets."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2169
+#, no-wrap
+msgid ""
+"/* warning colors for overrides if out of normal range*/\n"
+"/* widget object name is slider_spindle_ovr */\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2176
+#, no-wrap
+msgid ""
+"#slider_spindle_ovr[alertState='over'] {\n"
+"    background: red;\n"
+"}\n"
+"#slider_spindle_ovr[alertState='under'] {\n"
+"    background: yellow;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2179
+msgid "It is based on PyQt's _QSlider_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2181
+#, no-wrap
+msgid "`StateLED` - Controller State LED Widget"
+msgstr ""
+
+#. TODO StateLED widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2186
+msgid "This widget gives *status on the selected LinuxCNC state*."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2187
+#, no-wrap
+msgid "States"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2189
+msgid "The state options are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2190
+#, no-wrap
+msgid "*`is_paused_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2191
+#, no-wrap
+msgid "*`is_estopped_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2192
+#, no-wrap
+msgid "*`is_on_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2193
+#, no-wrap
+msgid "*`is_idle_status_`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2194
+#, no-wrap
+msgid "*`is_homed_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2195
+#, no-wrap
+msgid "*`is_flood_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2196
+#, no-wrap
+msgid "*`is_mist_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2197
+#, no-wrap
+msgid "*`is_block_delete_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2198
+#, no-wrap
+msgid "*`is_optional_stop_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2199
+#, no-wrap
+msgid "*`is_joint_homed_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2200
+#, no-wrap
+msgid "*`is_limits_overridden_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2201
+#, no-wrap
+msgid "*`is_manual_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2202
+#, no-wrap
+msgid "*`is_mdi_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2203
+#, no-wrap
+msgid "*`is_auto_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2204
+#, no-wrap
+msgid "*`is_spindle_stopped_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2205
+#, no-wrap
+msgid "*`is_spindle_fwd_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2206
+#, no-wrap
+msgid "*`is_spindle_rev_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2207
+#, no-wrap
+msgid "*`is_spindle_at_speed_status`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2208
+#, no-wrap
+msgid "*`is_neg_limit_tripped`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2209
+#, no-wrap
+msgid "*`is_pos_limit_tripped`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2210
+#, no-wrap
+msgid "*`is_limits_tripped`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2215
+msgid "There are properties that can be changed:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2218
+msgid "Adds an output pin that reflects selected state."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2218
+#, no-wrap
+msgid "*`invert_state_status`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2220
+msgid "Invert the LED state compared to the LinuxCNC state."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2222
+msgid "Diameter of the LED."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2224
+msgid "Color of the LED when on."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2226
+msgid "Color of the LED when off."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2228
+msgid "Qt Alignment hint."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2230
+msgid "Current state of LED (for testing in Qt Designer)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2236
+msgid ""
+"The LED properties can be defined in a stylesheet with the following code "
+"added to the `.qss` file. +"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2244
+#, no-wrap
+msgid ""
+"State_LED #name_of_led{       <1>\n"
+"  qproperty-color: red;\n"
+"  qproperty-diameter: 20;\n"
+"  qproperty-flashRate: 150;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2247
+msgid "`name_of_led` would be the name defined in Qt Designer's editor."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2249
+msgid "It is based on the _LED_ widget."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2251
+#, no-wrap
+msgid "`StatusAdjustmentBar` - Controller Value Setting Widget"
+msgstr ""
+
+#. TODO StatusAdjustmentBar widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2256
+msgid "This widget allows *setting values using buttons while displaying a bar*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2258
+msgid ""
+"It also has an _optional hi/low toggle button_ that can be held down to set "
+"the *levels*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2268
+msgid "It is based on PyQt's _QProgressBar_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2270
+#, no-wrap
+msgid "`SystemToolButton` - User System Selection Widget"
+msgstr ""
+
+#. TODO SystemToolButton widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2275
+msgid ""
+"This widget allows you to *manually select a G5x user system by pressing and "
+"holding*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2277
+msgid ""
+"If you don't set the button text it will automatically update to the current "
+"system."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2282
+#, no-wrap
+msgid "`StateEnableGridlayout` - Controller State Enabled Container Widget"
+msgstr ""
+
+#. TODO StateEnableGridlayout widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2287
+#, no-wrap
+msgid " _disable the widgets inside it depending on LinuxCNC's current state_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2289
+msgid "This is a *container that other widgets can be placed in*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2291
+msgid ""
+"Embedded widgets are be greyed-out when the `StateEnableGridlayout` is "
+"disabled."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2293
+msgid "It can selectably react to:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2295
+msgid "Machine on"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2296
+msgid "Interpreter idle"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2297
+msgid "E-stop off"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2298
+msgid "All-homed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2300
+msgid "It is based on PyQt's _QGridLayout_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2302
+#, no-wrap
+msgid "`StatusImageSwitcher` - Controller Status Image Switching Widget"
+msgstr ""
+
+#. TODO StatusImageSwitcher widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2307
+msgid "This widget will *display images based on LinuxCNC status*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2309
+msgid "You can watch:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2311
+msgid "the state of the spindle,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2312
+msgid "the state of all homed,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2313
+msgid "the state of a certain axis homed,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2314
+msgid "the state of hard limits."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2318
+#, no-wrap
+msgid "`ToolOffsetView` - Tools Offsets View And Edit Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2320
+#, no-wrap
+msgid "QtVCP `ToolOffsetView`: Tools Offsets View And Edit Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2321
+#, no-wrap
+msgid "QtVCP ToolOffsetView: Tools Offsets View And Edit Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2321
+#, no-wrap
+msgid "images/qtvcp_tooloffsetview.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2324
+msgid "This widget *displays and allows one to modify tools offsets*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2326
+msgid "It will _update LinuxCNC's tool table_ for changes made or found."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2328
+msgid ""
+"The tool settings can only be changed in LinuxCNC after homing and when the "
+"motion controller is idle."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2330
+msgid ""
+"The display and entry will change between metric and imperial based on "
+"LinuxCNC's _current_ `G20`/`G21` setting."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2332
+msgid ""
+"The current in-use tool will be highlighted, and the current selected tool "
+"will be highlighted in a different color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2336
+#, no-wrap
+msgid ""
+"The checkbox beside each tool can be used to select too for an _action_ that "
+"depends on extra code added either to a combined widget, like the "
+"`toolOffsetView` dialog or the screens handler code.\n"
+"Typical actions are 'load selected tool', 'delete selected tools', etc."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2342
+msgid ""
+"The comments section will typically be displayed in the manual tool change "
+"dialog."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2344
+msgid "If using a _lathe configuration_, there can be columns for X and Z wear."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2346
+msgid ""
+"To use these columns to adjust the _tool wear_, it requires a remapped tool "
+"change routine."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2352
+msgid ""
+"`ToolOffsetView` has properties that can be set in Qt Designer, in Python "
+"handler code or (if appropriate) in stylesheets:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2355
+#, no-wrap
+msgid "*`text_dialog_code_string`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2363
+msgid "Current tool-in-use highlight color."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2363
+#, no-wrap
+msgid "*`styleCodeSelected`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2365
+msgid "Selected highlight color."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2367
+msgid "In a handler file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2372
+#, no-wrap
+msgid ""
+"self.w.tooloffsetview.setProperty('dialog_code','CALCULATOR')\n"
+"self.w.tooloffsetview.setProperty('metric_template','%10.3f')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2375
+msgid "and in style sheets:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2382
+#, no-wrap
+msgid ""
+"ToolOffsetView{\n"
+"  qproperty-styleColorHighlist: lightblue;\n"
+"  qproperty-styleColorSelected: #444;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2386
+msgid ""
+"`ToolOffsetView` has some functions useful for screen builders to add "
+"actions:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2387
+#, no-wrap
+msgid "*`add_tool()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2389
+msgid "Adds a blank dummy tool (99) that the user can edit to suit."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2389
+#, no-wrap
+msgid "*`delete_tools()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2391
+msgid "Deletes the currently checkbox selected tools."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2391
+#, no-wrap
+msgid "*`get_checked_list()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2393
+msgid "Returns a list of tools selected by checkboxs."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2393
+#, no-wrap
+msgid "*`set_all_unchecked()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2395
+msgid "Uncheck all selected tools."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2396
+#, no-wrap
+msgid "Example for handler file executing aforementioned functions."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2403
+#, no-wrap
+msgid ""
+"self.w.tooloffsetview.add_tool()\n"
+"self.w.tooloffsetview.delete_tools()\n"
+"toolList = self.w.tooloffsetview.get_checked_list()\n"
+"self.w.tooloffsetview.set_all_unchecked()\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2406
+#, no-wrap
+msgid "`VersaProbe` - Mill Probing Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2408
+#, no-wrap
+msgid "QtVCP `VersaProbe`: Mill Probing Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2409
+#, no-wrap
+msgid "QtVCP VersaProbe: Mill Probing Widget"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-widgets.adoc:2415
+#, no-wrap
+msgid "Dialog Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2418
+msgid ""
+"Dialogs are used to *present or request immediately required information* in "
+"a focused way."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2420
+msgid "The typical used dialogs can be loaded using the `ScreenOptions` _widget_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2422
+msgid ""
+"You can also add them directly to the _UI_ - but each dialog must have a "
+"unique launch name or you will see multiple dialogs displayed, one after "
+"another."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2423
+#, no-wrap
+msgid "Use dialogs from Python Code"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2425
+msgid ""
+"You can show dialogs directly with _Python code_, but a safer way is to *use "
+"`STATUS` messages* to request the dialog to launch and to return the "
+"gathered information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2428
+#, no-wrap
+msgid ""
+"*Register to `STATUS` channel*: +\n"
+"To set this up, first register to catch the `general` message from "
+"`STATUS`:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2439
+#, no-wrap
+msgid ""
+"*Add a function to call a dialog*: +\n"
+"This function must _build a message `dict` to send to the dialog_. +\n"
+"This message will be passed back in the general message with the addition of "
+"the _`return` variable_. +\n"
+"It is possible to add _extra user information_ to the message.\n"
+"The dialog will ignore these and pass them back.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2439
+#, no-wrap
+msgid "`NAME`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2440
+msgid "Launches code name of dialog to show."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2440
+#, no-wrap
+msgid "`ID`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2441
+msgid "A unique id so we process only a dialog that we requested."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2441
+#, no-wrap
+msgid "`TITLE`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2442
+msgid "The title to use on the dialog."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2450
+#, no-wrap
+msgid ""
+"def show_dialog(self):\n"
+"    mess = {'NAME':'ENTRY','ID':'__test1__',\n"
+"            'TITLE':'Test Entry'}\n"
+"    ACTION.CALL_DIALOG, mess)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2456
+#, no-wrap
+msgid ""
+"*Add a callback function that processes the general message*: +\n"
+"Keep in mind this function will _get all general messages_ so the `dict` "
+"keynames are not guaranteed to be there.\n"
+"Using the `.get()` function and/or using `try`/`except` is advisable.\n"
+"This function should:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2457
+#, no-wrap
+msgid "check the name and id is the same as we sent,\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2458
+#, no-wrap
+msgid "then extract the return value and any user variables.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2469
+#, no-wrap
+msgid ""
+"# process the STATUS return message\n"
+"def return_value(self, w, message):\n"
+"    rtn = message.get('RETURN')\n"
+"    code = bool(message.get('ID') == '__test1__')\n"
+"    name = bool(message.get('NAME') == 'ENTRY')\n"
+"    if code and name and not rtn is None:\n"
+"        print('Entry return value from {} = {}'.format(code, rtn))\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2472
+#, no-wrap
+msgid "`LcncDialog` - General Message Dialog Widget"
+msgstr ""
+
+#. TODO LcncDialog widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2477
+msgid "This is a *general message dialog widget*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2479
+msgid "If there is a Focus Overlay widget present, it can signal it to display."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2481
+msgid "If the sound library is set up it can _play sounds_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2483
+msgid ""
+"There are _options_ that can be set when requesting a dialog, these would be "
+"added to the message `dict`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2484
+#, no-wrap
+msgid "*`TITLE`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2485
+msgid "Title of the dialog window."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2485
+#, no-wrap
+msgid "*`MESSAGE`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2486
+msgid "Title message text in bold."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2486
+#, no-wrap
+msgid "*`MORE`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2487
+msgid "Standard text under the heading."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2487
+#, no-wrap
+msgid "*`DETAILS`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2488
+msgid "Initial hidden text."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2488
+#, no-wrap
+msgid "*`TYPE`* _(`OK`|`YESNO`|`OKCANCEL`)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2489
+#, no-wrap
+msgid "*`ICON`* (`QUESTION`|`INFO`|`CRITICAL`|`WARNING`)"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2490
+#, no-wrap
+msgid "*`PINNAME`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2492
+msgid "Not implemented yet."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2492
+#, no-wrap
+msgid "*`FOCUSTEXT`* _(overlay text|`None`)_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2494
+msgid "Text to display if focus overlay is used.  Use `None` for no text."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2494
+#, no-wrap
+msgid "*`FOCUSCOLOR`* (`QColor(_R, G, B, A_)`)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2496
+msgid "Color to use if focus overlay is used."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2496
+#, no-wrap
+msgid "*`PLAYALERT`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2498
+msgid "Sound to play if sound is available, i.e., `SPEAK` _<spoken_message>_ ."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2500
+msgid ""
+"When using `STATUS` 's `request-dialog` function, the _default launch name_ "
+"is *`MESSAGE`*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2502 src/gui/qtvcp-widgets.adoc:2519
+#: src/gui/qtvcp-widgets.adoc:2564
+msgid "It is based on PyQt's _QMessagebox_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2504
+#, no-wrap
+msgid "`ToolDialog` - Manual Tool Change Dialog Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2506
+#, no-wrap
+msgid "QtVCP `ToolDialog`: Manual Tool Change Dialog"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2507
+#, no-wrap
+msgid "QtVCP ToolDialog: Manual Tool Change Dialog"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2510
+msgid "This is used as a *manual tool change prompt*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2513
+msgid ""
+"It has _HAL pins to connect to the machine controller_.  The pins are named "
+"the same as the original AXIS manual tool prompt and works the same."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2515
+msgid "The tool change dialog _can only be launched by HAL pins_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2517 src/gui/qtvcp-widgets.adoc:2529
+#: src/gui/qtvcp-widgets.adoc:2609
+msgid "If there is a Focus Overlay widget present, it will signal it to display."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2521
+#, no-wrap
+msgid "`FileDialog` - Load and Save File Chooser Dialog Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2523
+#, no-wrap
+msgid "QtVCP `FileDialog`: Load and Save File Chooser Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2524
+#, no-wrap
+msgid "QtVCP FileDialog: Load and Save File Chooser Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2524
+#, no-wrap
+msgid "images/qtvcp_fileDialog.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2527
+msgid "This is used to *load G-code files*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2531
+msgid ""
+"When using `STATUS` 's `request-dialog` function, the default launch names "
+"are *`LOAD`* or *`SAVE`*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2533
+msgid ""
+"There are _options_ that can be set when requesting a dialog, these would be "
+"added to the message dict:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2534
+#, no-wrap
+msgid "*`EXTENSIONS`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2535
+#, no-wrap
+msgid "*`FILENAME`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2536
+#, no-wrap
+msgid "*`DIRECTORY`*"
+msgstr ""
+
+#.  end definition list
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2540
+msgid "An example Python call, for a _load dialog_:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2549
+#, no-wrap
+msgid ""
+"mess = {'NAME':'LOAD','ID':'_MY_DIALOG_',\n"
+"            'TITLE':'Load Some text File',\n"
+"            'FILENAME':'~/linuxcnc/nc_files/someprogram.txt',\n"
+"            'EXTENSIONS':'Text Files (*.txt);;ALL Files (*.*)'\n"
+"            }\n"
+"ACTION.CALL_DIALOG(mess)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2552
+msgid "And for a _save dialog_"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2561
+#, no-wrap
+msgid ""
+"mess = {'NAME':'SAVE','ID':'_MY_DIALOG_',\n"
+"            'TITLE':'Save Some text File',\n"
+"            'FILENAME':'~/linuxcnc/nc_files/someprogram.txt',\n"
+"            'EXTENSIONS':'Text Files (*.txt);;ALL Files (*.*)'\n"
+"            }\n"
+"ACTION.CALL_DIALOG(mess)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2566
+#, no-wrap
+msgid "`OriginOffsetDialog` - Origin Offset Setting Dialog Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2568 src/gui/qtvcp-widgets.adoc:2569
+#, no-wrap
+msgid "QtVCP `OriginOffsetDialog`: Origin Offset Setting Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2569
+#, no-wrap
+msgid "images/qtvcp_offsetpage.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2572
+msgid ""
+"This widget allows one to *modify User System origin offsets directly* in a "
+"dialog form."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2574 src/gui/qtvcp-widgets.adoc:2588
+msgid "If there is an Focus Overlay widget present, it will signal it to display."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2576
+msgid ""
+"When using `STATUS` 's `request-dialog` function, the default launch name is "
+"*`ORIGINOFFSET`*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2578 src/gui/qtvcp-widgets.adoc:2592
+#: src/gui/qtvcp-widgets.adoc:2613 src/gui/qtvcp-widgets.adoc:2624
+#: src/gui/qtvcp-widgets.adoc:2639 src/gui/qtvcp-widgets.adoc:2655
+#: src/gui/qtvcp-widgets.adoc:2665 src/gui/qtvcp-widgets.adoc:2675
+#: src/gui/qtvcp-widgets.adoc:2685 src/gui/qtvcp-widgets.adoc:2702
+msgid "It is based on PyQt's _QDialog_."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2580
+#, no-wrap
+msgid "`ToolOffsetDialog` - Tool Offset Setting Dialog Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2582 src/gui/qtvcp-widgets.adoc:2583
+#, no-wrap
+msgid "QtVCP `ToolOffsetDialog`: Tool Offset Setting Dialog Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2583
+#, no-wrap
+msgid "images/qtvcp_toolOffset.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2586
+msgid "This widget allows one to *modify Tool offsets directly* in a dialog form."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2590
+msgid ""
+"When using `STATUS` 's `request-dialog` function, the default launch name is "
+"*`TOOLOFFSET`*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2594
+#, no-wrap
+msgid "`MachineLog` - Machine Events Journal Display Widget"
+msgstr ""
+
+#. TODO MachineLog widget capture/example
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2598
+msgid "FIXME MachineLog documentation"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2600
+#, no-wrap
+msgid "`MacroTabDialog` - Macro Launch Dialog Widget"
+msgstr ""
+
+#. TODO MacroTab dialog capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2605
+msgid "This is a dialog to *display the macrotab widget*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2607
+msgid "`MacroTab` displays a _choice of macro programs to run using icons_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2611
+msgid ""
+"When using ``STATUS``'s `request-dialog` function, the default launch name "
+"is *`MACROTAB`*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2615
+#, no-wrap
+msgid "`CamViewDialog` - WebCam Part Alignment Dialog Widget"
+msgstr ""
+
+#. TODO CamView dialog capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2620
+msgid "This is a dialog to *display the CamView widget for Webcam part alignment*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2622
+msgid ""
+"When using ``STATUS``'s `request-dialog` function, the default launch name "
+"is *`CAMVIEW`*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2626
+#, no-wrap
+msgid "`EntryDialog` - Edit Line Dialog Widget"
+msgstr ""
+
+#. TODO EntryDialog dialog capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2631
+msgid ""
+"This is a dialog to *display an edit line for information entry*, such as "
+"origin offset."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2633 src/gui/qtvcp-widgets.adoc:2649
+msgid "It returns the entry via `STATUS` messages using a Python `DICT`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2635 src/gui/qtvcp-widgets.adoc:2651
+msgid ""
+"The `DICT` contains at minimum, the name of the dialog requested and an ID "
+"code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2637
+msgid ""
+"When using ``STATUS``'s `request-dialog` function, the default launch name "
+"is *`ENTRY`*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2641
+#, no-wrap
+msgid "`CalculatorDialog` - Calculator Dialog Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2643
+#, no-wrap
+msgid "QtVCP `CalculatorDialog`: Calculator Dialog Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2644
+#, no-wrap
+msgid "QtVCP CalculatorDialog: Calculator Dialog Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2644
+#, no-wrap
+msgid "images/qtvcp_calculator.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2647
+msgid ""
+"This is a dialog to *display a calculator for numeric entry*, such as origin "
+"offset."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2653
+msgid ""
+"When using ``STATUS``'s `request-dialog` function, the default launch name "
+"is *`CALCULATOR`*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2657
+#, no-wrap
+msgid "`RunFromLine` - Run-From-Line Dialog Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2659
+#, no-wrap
+msgid "QtVCP `RunFromLine`: Run-From-Line Dialog Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2660
+#, no-wrap
+msgid "QtVCP RunFromLine: Run-From-Line Dialog Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2660
+#, no-wrap
+msgid "images/qtvcp_runFromLine.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2663
+msgid ""
+"Dialog to *preset spindle settings before running a program from a specific "
+"line*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2667
+#, no-wrap
+msgid "`VersaProbeDialog` - Part Touch Probing Dialog Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2669
+#, no-wrap
+msgid "QtVCP `VersaProbeDialog`: Part Touch Probing Dialog Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2670
+#, no-wrap
+msgid "QtVCP VersaProbeDialog: Part Touch Probing Dialog Widget"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2673
+msgid ""
+"This is a dialog to display a *part probing screen based on Verser Probe "
+"v2*."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2677
+#, no-wrap
+msgid "`MachineLogDialog` - Machine and Debugging Logs Dialog Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2679
+#, no-wrap
+msgid "QtVCP `MachineLogDialog`: Machine and Debugging Logs Dialog Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2680
+#, no-wrap
+msgid "QtVCP MachineLogDialog: Machine and Debugging Logs Dialog Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2680
+#, no-wrap
+msgid "images/qtvcp_machineLog.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2683
+msgid "This is a dialog to *display the machine log and QtVCP's debugging log*."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-widgets.adoc:2687
+#, no-wrap
+msgid "Other Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2690
+msgid "Other available widgets:"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2692
+#, no-wrap
+msgid "`NurbsEditor` - NURBS Editing Widget"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2694
+#, no-wrap
+msgid "QtVCP `NurbsEditor`: NURBS Editing Widget"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2695
+#, no-wrap
+msgid "QtVCP NurbsEditor: NURBS Editing Widget"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2695
+#, no-wrap
+msgid "images/qtvcp_nurbsEditor.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2698
+msgid ""
+"The Nurbs editor allows you to *manipulate a NURBS based geometry* on screen "
+"and then *convert NURBS to G-code*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2700
+msgid "You can edit the G-code on screen and then send it to LinuxCNC."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2704
+#, no-wrap
+msgid "`JoyPad` - 5 button D-pad Widget"
+msgstr ""
+
+#. TODO JoyPad widget capture
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2709
+msgid "It is the base class for the `HALPad` widget."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2711
+msgid ""
+"This widget looks and acts like a *5 button D-pad, with a LED like "
+"indicators in a ring*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2713
+msgid "You can put text or icons in each of the button positions."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2715
+msgid "You can _connect to output signals_ when the buttons are pressed."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2717
+msgid "There are also _input slots_ to change the color of the indicator(s)."
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2718
+#, no-wrap
+msgid "ENUMS"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2721
+#, no-wrap
+msgid ""
+"There are *enumerated constants used to reference indicator positions*.\n"
+"They are used in Qt Designer editor's property editor or in Python code."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2722
+#, no-wrap
+msgid "*`NONE`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2723
+#, no-wrap
+msgid "*`LEFT`, `L`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2724
+#, no-wrap
+msgid "*`RIGHT`, `R`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2725
+#, no-wrap
+msgid "*`CENTER`, `C`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2726
+#, no-wrap
+msgid "*`TOP`, `T`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2727
+#, no-wrap
+msgid "*`BOTTOM`, `B`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2728
+#, no-wrap
+msgid "*`LEFTRIGHT`, `X`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2729
+#, no-wrap
+msgid "*`TOPBOTTOM`, `A`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2732
+msgid ""
+"For Python handler code, you use the widget name in Qt Designer plus the "
+"reference constant:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2736
+#, no-wrap
+msgid "self.w.joypadname.set_highlight(self.w.joypadname.LEFT)\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2738
+#, no-wrap
+msgid "Useful Override-able Functions"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2745
+#, no-wrap
+msgid ""
+"def _pressedOutput(self, btncode):\n"
+"    self.joy_btn_pressed.emit(btncode)\n"
+"    self[''.format(btncode.lower())].emit(True)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2749
+#, no-wrap
+msgid ""
+"def _releasedOutput(self, btncode):\n"
+"    self.joy_btn_released.emit(btncode)\n"
+"    self['joy_{}_pressed'.format(btncode.lower())].emit(False)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2752
+msgid ""
+"As coded these function _issue (emit) PyQt5 signals (joy_btn_pressed and "
+"joy_<letter>_pressed) for the any button pressed or released_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2755
+#, no-wrap
+msgid ""
+"Signal 'joy_btn_pressed' outputs a string code for the button.\n"
+"Signal 'joy_<letter>_pressed' outputs a bool value."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2757
+msgid ""
+"You could override the functions to do something else if making a custom "
+"widget:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2758
+#, no-wrap
+msgid "Callable Functions"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2759
+#, no-wrap
+msgid "*`reset_highlight()`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2761
+msgid "Clears the highlight indicator."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2761
+#, no-wrap
+msgid "*`set_highlight(_button_, state=_True_)`*"
+msgstr ""
+
+#. FIXME Document "strings letters"
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2763
+msgid "Set the highlight indicator in position `button` to state `state`. +"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2765
+msgid ""
+"You can use _strings letters_ (`LRCTBXA`) or _position_ `ENUMS` for the "
+"button argument."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2765
+#, no-wrap
+msgid "*`set_button_icon(_button_, _pixmap_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2767
+msgid "Sets the button's icon pixmap."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2767
+#, no-wrap
+msgid "*`set_button_text(_button_, _text_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2769
+msgid "Sets the button's icon text."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2769
+#, no-wrap
+msgid "*`set_tooltip(_button_, _text_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2771
+msgid "Sets the buttons pop-up tooltip descriptive text."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2771
+#, no-wrap
+msgid "*`setLight(_state_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2774
+#, no-wrap
+msgid ""
+"Sets the highlight indicator to the `True` color or `False` color.\n"
+"The `set_highlight()` function must be used prior to set the indicator to "
+"use."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2777
+msgid "These signals will be *sent when buttons are pressed*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2779
+msgid "They can be connected to in Qt Designer editor or Python code."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2781
+msgid "The first two output a string that indicates the button pressed:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2782
+#, no-wrap
+msgid "*`joy_btn_pressed`* _(string)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2783
+#, no-wrap
+msgid "*`joy_btn_released`* _(string)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2784
+#, no-wrap
+msgid "*`joy_l_pressed`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2785
+#, no-wrap
+msgid "*`joy_l_released`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2786
+#, no-wrap
+msgid "*`joy_r_pressed`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2787
+#, no-wrap
+msgid "*`joy_r_released`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2788
+#, no-wrap
+msgid "*`joy_c_pressed`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2789
+#, no-wrap
+msgid "*`joy_c_released`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2790
+#, no-wrap
+msgid "*`joy_t_pressed`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2791
+#, no-wrap
+msgid "*`joy_t_released`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2792
+#, no-wrap
+msgid "*`joy_b_pressed`* _(bool)_"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2793
+#, no-wrap
+msgid "*`joy_b_released`* _(bool)_"
+msgstr ""
+
+#.  end definition list
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2797
+msgid "They are based on PyQt's _Signal_ (`QtCore.pyqtSignal()`)"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2798
+#, no-wrap
+msgid "Slots"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2800
+msgid "Slots can be connected to in Qt Designer editor or Python code:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2801
+#, no-wrap
+msgid "*`set_colorStateTrue()`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2802
+#, no-wrap
+msgid "*`set_colorStateFalse()`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2803
+#, no-wrap
+msgid "*`set_colorState(_bool_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2805
+#, no-wrap
+msgid "*`set_true_color(_str_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2806
+#, no-wrap
+msgid "*`set_true_color(_qcolor_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2808
+#, no-wrap
+msgid "*`set_false_color(_str_)`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2809
+#, no-wrap
+msgid "*`set_false_color(_qcolor_)`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2814
+msgid "These can be set in stylesheets or Python code:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2815
+#, no-wrap
+msgid "*`highlightPosition`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2817
+msgid "Set the indicator position."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2817
+#, no-wrap
+msgid "*`setColorState`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2819
+msgid "Select the color state of the indicator."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2826
+#, no-wrap
+msgid ""
+"A file path or resource path to an image to display in the described button "
+"location.\n"
+"If the reset button is pressed in Qt Designer editor property, the image "
+"will not be displayed (allowing optionally text)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2836
+msgid ""
+"Color selection for the center LED ring to be displayed, when the "
+"`BASENAME.light.center` _HAL pin_ is `True` or `False`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2838
+#, no-wrap
+msgid "*`button_font`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2842
+msgid "The above properties could be set in:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2846
+#, no-wrap
+msgid ""
+"*Stylesheets*: +\n"
+"You would usually use the Qt Designer widget name with `#` _prefix_ to set "
+"individual widget properties,\n"
+"otherwise you would use the `JoyPad` _class name_ to set all `JoyPad` "
+"widgets the same:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2853
+#, no-wrap
+msgid ""
+"#joypadname{\n"
+"  qproperty-true_color: #000;\n"
+"  qproperty-false_color: #444;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2856
+#, no-wrap
+msgid "*In Python handler code*: +\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2861
+#, no-wrap
+msgid ""
+"self.w.joypadename.setProperty('true_color','green')\n"
+"self.w.joypadename.setProperty('false_color','red')\n"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2863
+#, no-wrap
+msgid "'WebWidget'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2868
+#, no-wrap
+msgid ""
+"This widget will create a html/pdf viewing page using the QtWebKit or "
+"QtWebEngine libraries. The newer QtWebEngine is preferred if both are on the "
+"system.\n"
+"If the QtWebEngine library is used with the Qt Designer editor, a "
+"placeholder QWidget will show in Qesigner. This will be replaced with the "
+"QtWebEngine widget at run time."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-widgets.adoc:2870
+#, no-wrap
+msgid "BaseClass/Mixin Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2873
+msgid ""
+"These widgets are used to *combine different properties and behaviours into "
+"other widgets*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2875
+msgid ""
+"You will see them as a collapsible header in the Qt Designer properties "
+"column."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:2877
+#, no-wrap
+msgid "`IndicatedPushButtons`"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2880
+msgid "This class *modifies `QPushButton` behaviour*."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-widgets.adoc:2882
+#, no-wrap
+msgid "Indicator Option"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2885
+#, no-wrap
+msgid "*`indicator_option`* _puts a 'LED' on the top of the button_.\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/qtvcp-widgets.adoc:2886
+#, no-wrap
+msgid "QtVCP `PushButton`: Indicated Action Button, LED Indicator Option"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:2887
+#, no-wrap
+msgid "QtVCP PushButton: Indicated Action Button, LED Indicator Option"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:2887
+#, no-wrap
+msgid "images/qtvcp_actionButton.png"
+msgstr ""
+
+#. FIXME Better document IndicatedPushButton
+#.  https://github.com/LinuxCNC/linuxcnc/blob/master/lib/python/qtvcp/widgets/simple_widgets.py#L317
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2893
+#, no-wrap
+msgid ""
+"It can be a _triangle_, _circle_, _top bar_, or _side bar_.\n"
+"The _size_ and _position_ can be adjusted."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2895
+msgid "It will indicate:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2897
+msgid "the *current state of the button*, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2898
+msgid "the *state of a HAL pin*, or"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2899
+#, no-wrap
+msgid "*LinuxCNC status*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2902
+msgid ""
+"These properties are available to customize the indicator (not all are "
+"applicable to every LED shape):"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2903
+#, no-wrap
+msgid "*`on_color`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2905
+#, no-wrap
+msgid "*`flashIndicator`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2907
+#, no-wrap
+msgid "*`indicator_size`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2908
+#, no-wrap
+msgid "*`circle_diameter`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2909
+#, no-wrap
+msgid "*`shape_option`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2910
+#, no-wrap
+msgid "*`right_edge_offset`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2911
+#, no-wrap
+msgid "*`top_edge_offset`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2912
+#, no-wrap
+msgid "*`height_fraction`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2913
+#, no-wrap
+msgid "*`width_fraction`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2914
+#, no-wrap
+msgid "*`corner_radius`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2915
+msgid "Indicator corner radius."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2917
+msgid ""
+"The LED indicator color can be defined in a _stylesheet_ with the following "
+"code added to the `.qss` file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2924
+#, no-wrap
+msgid ""
+"Indicated_PushButton{\n"
+"  qproperty-on_color: #000;\n"
+"  qproperty-off_color: #444;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2927
+msgid "Or for a particular button:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2934
+#, no-wrap
+msgid ""
+"Indicated_PushButton #button_estop{\n"
+"  qproperty-on_color: black;\n"
+"  qproperty-off_color: yellow;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2938
+msgid "`IndicatedPushButton` have *exclusive options*:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2939
+#, no-wrap
+msgid "*`indicator_HAL_pin_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2941
+msgid ""
+"Adds a `halpin`, named `<buttonname>-led` that controls the button indicator "
+"state."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:2941
+#, no-wrap
+msgid "*`indicator_status_option`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2943
+msgid "Makes the LED indicate the state of these selectable LinuxCNC status:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2945
+msgid "_Is Estopped_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2946
+msgid "_Is On_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2947
+msgid "_All Homed_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2948
+msgid "_Is Joint Homed_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2949
+msgid "_Idle_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2950
+msgid "_Paused_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2951
+msgid "_Flood_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2952
+msgid "_Mist_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2953
+msgid "_Block Delete_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2954
+msgid "_Optional Stop_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2955
+msgid "_Manual_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2956
+msgid "_MDI_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2957
+msgid "_Auto_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2958
+msgid "_Spindle Stopped_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2959
+msgid "_Spindle Forward_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2960
+msgid "_Spindle Reverse_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2961
+msgid "_On Limits_"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2966
+#, no-wrap
+msgid ""
+"Some `indicator_status_options` holds a property that can be used with a "
+"_stylesheet_ to change the color of the button based on the state of the "
+"property in LinuxCNC.\n"
+"Currently these status properties can be used to auto style buttons:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2968
+msgid "`is_estopped_status` will toggle the `isEstop` property"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2969
+msgid "`is_on_status` will toggle the `isStateOn` property"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2970
+msgid ""
+"`is_manual_status`, `is_mdi_status`, `is_auto_status` will toggle the "
+"`isManual`, `isMDI`, `isAuto` properties."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2971
+msgid "`is_homed_status` will toggle the 'isAllHomed' property"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2973
+msgid ""
+"Here is a sample stylesheet entry setting the background of mode button "
+"widgets when LinuxCNC is in that mode:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2985
+#, no-wrap
+msgid ""
+"ActionButton[isManual=true] {\n"
+"    background: red;\n"
+"}\n"
+"ActionButton[isMdi=true] {\n"
+"    background: blue;\n"
+"}\n"
+"ActionButton[isAuto=true] {\n"
+"    background: green;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:2988
+msgid ""
+"Here is how you specify a particular widget by its objectName in Qt "
+"Designer:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:2994
+#, no-wrap
+msgid ""
+"ActionButton #estop button [isEstopped=false] {\n"
+"    color: yellow;\n"
+"}\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-widgets.adoc:2997
+#, no-wrap
+msgid "Enabled by LinuxCNC State"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3000
+msgid ""
+"Often, having the button disabled and enabled based on the state of "
+"LinuxCNC's motion controller is necessary."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3002
+msgid "There are several properties that can be selected to aid with this:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3003
+#, no-wrap
+msgid "*`isAllHomedSentive`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3004
+#, no-wrap
+msgid "*`isOnSensitive`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3005
+#, no-wrap
+msgid "*`isIdleSensitive`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3006
+#, no-wrap
+msgid "*`isRunSensitive`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3007
+#, no-wrap
+msgid "*`isRunPausedSensitive`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3008
+#, no-wrap
+msgid "*`isManSensitive`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3009
+#, no-wrap
+msgid "*`isMDISensitive`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3010
+#, no-wrap
+msgid "*`isAutoSensitive`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3013
+msgid "You can select multiple properties for combined requirements."
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-widgets.adoc:3015
+#, no-wrap
+msgid "Text Changes On State"
+msgstr ""
+
+#. FIXME What is a 'checkable' button ? A checkbox ?
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3019
+msgid ""
+"Choosing the *`checked_state_text_option`* allows a 'checkable' button to "
+"_change the text based on its checked state_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3021
+msgid "It uses the following properties to specify the text for each state:"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3022
+#, no-wrap
+msgid "*`true_state_string`*"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3023
+#, no-wrap
+msgid "*`false_state_string`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3026
+msgid "`\\\\n` will be converted to a newline."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3028
+msgid "You can set/change these in stylesheets:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3035
+#, no-wrap
+msgid ""
+"ActionButton #action_aux{\n"
+"  qproperty-true_state_string: \"Air\\\\nOn\";\n"
+"  qproperty-false_state_string: \"Air\\\\nOff\";\n"
+"}\n"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-widgets.adoc:3038
+#, no-wrap
+msgid "Call Python Commands On State"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3042
+msgid ""
+"The *`python_command_option`* allow small snippets of Python code to be run "
+"from the push of a button, without having to edit the handler file.  Though, "
+"it can call functions in the handler file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3044
+msgid "When using the `command_string` properties."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3045
+#, no-wrap
+msgid "*`true_python_cmd_string`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3047
+msgid "A Python command that will be called when the button is toggled `True`."
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3047
+#, no-wrap
+msgid "*`false_python_cmd_string`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3049
+msgid "A Python command that will be called when the button is toggled `False`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3051
+msgid "_Special capitalized words_ will give access to the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3055
+#, no-wrap
+msgid ""
+"Will give access to the widgets instances and handler functions.\n"
+"E.g., `INSTANCE.my_handler_function_call(True)`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3055
+#, no-wrap
+msgid "*`ACTION`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3058
+#, no-wrap
+msgid ""
+"Will give access to QtVCP's `ACTION` library.\n"
+"E.g., `ACTION.TOGGLE_FLOOD()`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3058
+#, no-wrap
+msgid "*`PROGRAM_LOADER`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3061
+#, no-wrap
+msgid ""
+"Will give access to QtVCP's `PROGRAM_LOADER` library.\n"
+"E.g., `PROGRAM_LOADER.load_halshow()`"
+msgstr ""
+
+#. type: Labeled list
+#: src/gui/qtvcp-widgets.adoc:3061
+#, no-wrap
+msgid "*`HAL`*"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3064
+#, no-wrap
+msgid ""
+"Will give access to HAL's Python module.\n"
+"E.g., `HAL.set_p('motion.probe-input','1')`"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/qtvcp-widgets.adoc:3066
+#, no-wrap
+msgid "Import-Only Widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3069
+msgid "These widgets are usually the *base class widget for other QtVCP widgets*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3071
+msgid ""
+"They are _not available directly from the Qt Designer editor_ but could be "
+"*imported and manually inserted*."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3073
+msgid "They could also be *subclassed* to make a similar widget with new features."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:3075
+#, no-wrap
+msgid "Auto Height"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3079
+#, no-wrap
+msgid ""
+"Widget for measuring two heights with a probe.\n"
+"For setup."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:3081
+#, no-wrap
+msgid "G-code Utility"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3084
+msgid "Widgets for performing common machining processes."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:3086
+#, no-wrap
+msgid "Facing"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3089
+msgid "Slab or face a definable area with different strategies."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:3091
+#, no-wrap
+msgid "Hole Circle"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3094
+msgid "Drill multiple holes on a bolt hole circle."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:3096
+#, no-wrap
+msgid "Qt NGCGUI"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:3098
+#, no-wrap
+msgid "QtVCP NGCGUI: Shown from QtDragon"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:3098
+#, no-wrap
+msgid "images/qtvcp_ngcgui.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3100
+msgid "QtVCP's version of NGC subroutine selector (Shown as used in QtDragon)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3105
+#, no-wrap
+msgid ""
+"LinuxCNC needs to know where to look to run the subroutines.\n"
+"If the subroutine calls other subroutines or custom M codes, those paths "
+"must be added too."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3110
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"SUBROUTINE_PATH = "
+"~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3114
+#, no-wrap
+msgid ""
+"QtVCP needs to know where to open subroutines from.\n"
+"You can also specify subroutines to be pre-opened in tabs."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3125
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"# NGCGUI subroutine path.\n"
+"# This path must also be in [RS274NGC] SUBROUTINE_PATH\n"
+"NGCGUI_SUBFILE_PATH = ~/linuxcnc/nc_files/examples/ngcgui_lib\n"
+"# pre selected programs tabs\n"
+"# specify filenames only, files must be in the NGCGUI_SUBFILE_PATH\n"
+"NGCGUI_SUBFILE = slot.ngc\n"
+"NGCGUI_SUBFILE = qpocket.ngc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3130
+msgid "'NEW TAB' - add new blank tab to NGCGUI"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3131
+msgid "'SELECT PREAMBLE' - select a file that add preamble G-code"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3132
+msgid "'SELECT SUBFILE' - select a NGCGUI subroutine file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3133
+msgid "'SELECT POST' - select a file that add post G-code"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3134
+msgid "'REREAD FILE' - reload the subroutine file"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3135
+msgid "'CREATE FEATURE' - add feature to the list"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3136
+msgid "'RESTART FEATURE' - remove all features from the list"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3137
+msgid "'FINALIZE GCODE' - create the full G-code and send it to LinuxCNC/a file"
+msgstr ""
+
+#. type: Title ====
+#: src/gui/qtvcp-widgets.adoc:3138
+#, no-wrap
+msgid "Adding Custom Subroutines"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3141
+msgid ""
+"You can create your own subroutines for use with NGCGUI.  They must follow "
+"these rules:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3144
+msgid ""
+"The subroutine must be in a folder within LinuxCNC's INI designated search "
+"path."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3145
+msgid "On the first line there may be a comment of type info:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3146
+msgid "The subroutine must be surrounded by the sub and endsub tags."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3149
+msgid "If an image file of the same name is in the folder, it will be shown."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3157
+#, no-wrap
+msgid ""
+"(info: feedrate -- simple example for setting feedrate)\n"
+"o<feedrate> sub\n"
+"    #<feedrate>       = #1 (= 6 Feed Rate) ; comments in brackets will be "
+"shown in ngcui\n"
+"    f#<feedrate>\n"
+"o<feedrate> endsub\n"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/qtvcp-widgets.adoc:3159
+#, no-wrap
+msgid "QtVCP NGCGUI Custom Sub"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/qtvcp-widgets.adoc:3159
+#, no-wrap
+msgid "images/qtvcp_ngcgui_custom.png"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:3162
+#, no-wrap
+msgid "Qt PDF"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3165
+msgid "Allows adding loadable PDFs to a screen."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:3167
+#, no-wrap
+msgid "Qt Vismach"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3170
+msgid "Use this to build/add OpenGl simulated machines."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/qtvcp-widgets.adoc:3171
+#, no-wrap
+msgid "Hal Selection Box"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3173
+msgid ""
+"This widget is combobox that will allows selection of a pin or signal on the "
+"system. +"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3177
+#, no-wrap
+msgid "from qtvcp.widgets.hal_selectionbox import HALSelectionBox\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3186
+#, no-wrap
+msgid ""
+"    def buildComboBox(self):\n"
+"        # combo box for HAL pin selection\n"
+"        combobox = HALSelectionBox()\n"
+"        combobox.setShowTypes([combobox.PINS,combobox.SIGNALS])\n"
+"        combobox.setPinTypes([combobox.HAL_BIT], direction = "
+"[combobox.HAL_IN])\n"
+"        combobox.setSignalTypes([combobox.HAL_BIT], driven = [False,True])\n"
+"        combobox.hal_init()\n"
+"        combobox.selectionUpdated.connect(lambda w: "
+"self.signalSelected(w))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3189
+#, no-wrap
+msgid ""
+"    def signalSelected(self, sig):\n"
+"        print('Watching:',sig)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/qtvcp-widgets.adoc:3193
+msgid "There are function calls"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3198
+#, no-wrap
+msgid ""
+"# set the list of types to show from: PINS SIGNALS\n"
+"combobox.setShowTypes([combobox.PINS])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3202
+#, no-wrap
+msgid ""
+"# set the pin types to show: HAL_BIT,HAL_FLOAT,HAL_S32,HAL_U32\n"
+"# and a list of directions: HAL_IN HAL_OUT\n"
+"combobox.setPinTypes(types=[combobox.HAL_BIT], direction = [HAL_IN])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/qtvcp-widgets.adoc:3206
+#, no-wrap
+msgid ""
+"# set the signal types to show: HAL_BIT,HAL_FLOAT,HAL_S32,HAL_U32\n"
+"# and a list of driven/undriven (by a connected pin) to show\n"
+"combobox.setSignalTypes( types=[combobox.HAL_BIT], driven = [True,True])\n"
+msgstr ""
+
+#. type: Title =
+#: src/gui/tklinuxcnc.adoc:5
+#, no-wrap
+msgid "TkLinuxCNC GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:21
+msgid ""
+"TkLinuxCNC is one of the first graphical front-ends for LinuxCNC. It is "
+"written in Tcl and uses the Tk toolkit for the display. Being written in Tcl "
+"makes it very portable (it runs on a multitude of platforms). A separate "
+"backplot window can be displayed as shown."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/tklinuxcnc.adoc:23 src/gui/tklinuxcnc.adoc:24
+#, no-wrap
+msgid "TkLinuxCNC Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/tklinuxcnc.adoc:24 src/user/user-intro.adoc:137
+#, no-wrap
+msgid "images/tkemc.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:30
+msgid ""
+"To select TkLinuxCNC as the front-end for LinuxCNC, edit the INI file.  In "
+"the section '[DISPLAY]' change the 'DISPLAY' line to read"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tklinuxcnc.adoc:34
+#, no-wrap
+msgid "DISPLAY = tklinuxcnc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:39
+msgid ""
+"Then, start LinuxCNC and select that INI file. The sample configuration "
+"'sim/tklinuxcnc/tklinuxcnc.ini' is already configured to use TkLinuxCNC as "
+"its front-end."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:42
+msgid ""
+"When LinuxCNC is launched the <<cap:tklinuxcnc-display,TKLinuxCNC window>> "
+"is opened."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/tklinuxcnc.adoc:43
+#, no-wrap
+msgid "A typical session with TkLinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:46
+msgid "Start LinuxCNC and select a configuration file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:48
+msgid ""
+"Clear the 'E-STOP' condition and turn the machine on (by pressing F1 then "
+"F2)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:49
+msgid "'Home' each axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:50
+msgid "Load the file to be milled."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:51
+msgid "Put the stock to be milled on the table."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:55
+msgid ""
+"Set the proper offsets for each axis by jogging and either homing again or "
+"right-clicking an axis name and entering an offset value.  footnote:[For "
+"some of these actions it might be necessary to change the mode LinuxCNC is "
+"currently running in.]"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:58
+msgid ""
+"To mill the same file again, return to step 6. To mill a different file, "
+"return to step 4. When you're done, exit LinuxCNC."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/tklinuxcnc.adoc:59
+#, no-wrap
+msgid "Elements of the TkLinuxCNC window"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:62
+msgid "The TkLinuxCNC window contains the following elements:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:64
+msgid "A menubar that allows you to perform various actions"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:66
+msgid ""
+"A set of buttons that allow you to change the current working mode, "
+"start/stop spindle and other relevant I/O"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:67
+msgid "Status bar for various offset related displays"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:68
+msgid "Coordinate display area"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:71
+msgid ""
+"A set of sliders which control 'Jogging speed', 'Feed Override', and "
+"'Spindle speed Override' which allow you to increase or decrease those "
+"settings"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:72
+msgid "Manual data input text box 'MDI'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:73
+msgid "Status bar display with active G-codes, M-codes, F- and S-words"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:74
+msgid "Interpreter related buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:75
+msgid "A text display area that shows the G-code source of the loaded file"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/tklinuxcnc.adoc:76
+#, no-wrap
+msgid "Main buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:79
+msgid "From left to right, the buttons are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:81
+msgid "Machine enable: 'ESTOP' > 'ESTOP RESET' > 'ON'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:82
+msgid "Toggle mist coolant"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:83
+msgid "Decrease spindle speed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:84
+msgid "Set spindle direction 'SPINDLE OFF' > 'SPINDLE FORWARD' . 'SPINDLE REVERSE'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:85
+msgid "Increase spindle speed"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:88
+msgid "then on the second line:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:90
+msgid "Operation mode: 'MANUAL' > 'MDI' > 'AUTO'"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:91
+msgid "Toggle flood coolant"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:92
+msgid "Toggle spindle brake control"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/tklinuxcnc.adoc:93
+#, no-wrap
+msgid "Offset display status bar"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:98
+msgid ""
+"The Offset display status bar displays the currently selected tool (selected "
+"with Txx M6), the tool length offset (if active), and the work offsets (set "
+"by right-clicking the coordinates)."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/tklinuxcnc.adoc:99
+#, no-wrap
+msgid "Coordinate Display Area"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:107
+msgid ""
+"The main part of the display shows the current position of the tool.  The "
+"color of the position readout depends on the state of the axis. If the axis "
+"is unhomed the axis will be displayed in yellow letters. Once homed it will "
+"be displayed in green letters. If there is an error with the current axis "
+"TkLinuxCNC will use red letter to show that. (for example if an hardware "
+"limit switch is tripped)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:120
+msgid ""
+"To properly interpret these numbers, refer to the radio boxes on the "
+"right. If the position is 'Machine', then the displayed number is in the "
+"machine coordinate system. If it is 'Relative', then the displayed number is "
+"in the offset coordinate system. Further down the choices can be 'actual' or "
+"'commanded'. Actual refers to the feedback coming from encoders (if you have "
+"a servo machine), and the 'commanded' refers to the position command send "
+"out to the motors. These values can differ for several reasons: Following "
+"error, deadband, encoder resolution, or step size. For instance, if you "
+"command a movement to X 0.0033 on your mill, but one step of your stepper "
+"motor is 0.00125, then the 'Commanded' position will be 0.0033 but the "
+"'Actual' position will be 0.0025 (2 steps) or 0.00375 (3 steps)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:126
+msgid ""
+"Another set of radio buttons allows you to choose between 'joint' and "
+"'world' view. These make little sense on a normal type of machine (e.g.  "
+"trivial kinematics), but help on machines with non-trivial kinematics like "
+"robots or stewart platforms. (you can read more about kinematics in the "
+"Integrator Manual)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:130
+msgid ""
+"When the machine moves, it leaves a trail called the backplot. You can start "
+"the backplot window by selecting View→Backplot."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/tklinuxcnc.adoc:132
+#, no-wrap
+msgid ""
+"TkLinuxCNC Interpreter / Automatic Program Control(((TkLinuxCNC "
+"Interpreter)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/tklinuxcnc.adoc:134
+#, no-wrap
+msgid "TkLinuxCNC Interpreter / program control"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/tklinuxcnc.adoc:134
+#, no-wrap
+msgid "images/tkemc-interp.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/tklinuxcnc.adoc:136
+#, no-wrap
+msgid "Control Buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:139
+msgid ""
+"The buttons in the lower part of TkLinuxCNC are used to control the "
+"execution of a program:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:141
+msgid "'Open' to load a program,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:142
+msgid "'Verify' to check it for errors,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:143
+msgid "'Run' to start the actual cutting,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:144
+msgid "'Pause' to stop it while running,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:145
+msgid "'Resume' to resume an already paused program,"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:146
+msgid "'Step' to advance one line in the program and"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:148
+msgid ""
+"'Optional Stop' to toggle the optional stop switch (if the button is green "
+"the program execution will be stopped on any M1 encountered)."
+msgstr ""
+
+#. type: Block title
+#: src/gui/tklinuxcnc.adoc:149
+#, no-wrap
+msgid "Text Program Display Area"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:153
+msgid ""
+"When the program is running, the line currently being executed is "
+"highlighted in white. The text display will automatically scroll to show the "
+"current line."
+msgstr ""
+
+#. type: Block title
+#: src/gui/tklinuxcnc.adoc:156
+#, no-wrap
+msgid "Implicit keys"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:162
+msgid ""
+"TkLinuxCNC allows you to manually move the machine. This action is known as "
+"'jogging'. First, select the axis to be moved by clicking it. Then, click "
+"and hold the '+' or '-' button depending on the desired direction of "
+"motion. The first four axes can also be moved by the keyboard arrow keys (X "
+"and Y), the PAGE UP and PAGE DOWN keys (Z) and the '[' and ']' keys (A/4th)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:167
+msgid ""
+"If 'Continuous' is selected, the motion will continue as long as the button "
+"or key is pressed. If another value is selected, the machine will move "
+"exactly the displayed distance each time the button is clicked or the key is "
+"pressed. The available values are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tklinuxcnc.adoc:170
+#, no-wrap
+msgid "1.0000, 0.1000, 0.0100, 0.0010, 0.0001\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:177
+msgid ""
+"By pressing 'Home' or the HOME key, the selected axis will be homed.  "
+"Depending on your configuration, this may just set the axis value to be the "
+"absolute position 0.0, or it may make the machine move to a specific home "
+"location through use of 'home switches'. See the "
+"<<cha:homing-configuration,Homing Chapter>> for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:182
+msgid ""
+"By pressing 'Override Limits', the machine will temporarily be permitted to "
+"jog outside the limits defined in the INI file. (Note: if 'Override Limits' "
+"is active the button will be displayed using a red color)."
+msgstr ""
+
+#. type: Block title
+#: src/gui/tklinuxcnc.adoc:184
+#, no-wrap
+msgid "TkLinuxCNC Override Limits & Jogging increments example"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/tklinuxcnc.adoc:185
+#, no-wrap
+msgid "TkLinuxCNC Override Limits and Jogging increments example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/tklinuxcnc.adoc:185
+#, no-wrap
+msgid "images/tkemc-override-limits.png"
+msgstr ""
+
+#. type: Block title
+#: src/gui/tklinuxcnc.adoc:187
+#, no-wrap
+msgid "The Spindle group(((spindle)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:194
+msgid ""
+"The button on the first row selects the direction for the spindle to rotate: "
+"Counterclockwise, Stopped, Clockwise. The buttons next to it allow the user "
+"to increase or decrease the rotation speed. The button on the second row "
+"allows the spindle brake to be engaged or released.  Depending on your "
+"machine configuration, not all the items in this group may have an effect."
+msgstr ""
+
+#. type: Block title
+#: src/gui/tklinuxcnc.adoc:195
+#, no-wrap
+msgid "The Coolant group(((Coolant)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:199
+msgid ""
+"The two buttons allow the 'Mist' and 'Flood' coolants to be turned on and "
+"off. Depending on your machine configuration, not all the items in this "
+"group may appear."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/tklinuxcnc.adoc:200
+#, no-wrap
+msgid "Code Entry"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:205
+msgid ""
+"Manual Data Input (also called MDI), allows G-code programs to be entered "
+"manually, one line at a time. When the machine is not turned on, and not set "
+"to MDI mode, the code entry controls are unavailable."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/tklinuxcnc.adoc:206
+#, no-wrap
+msgid "The Code Entry tab"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/tklinuxcnc.adoc:206
+#, no-wrap
+msgid "images/tkemc-mdi.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:210
+msgid ""
+"This allows you to enter a G-code command to be executed. Execute the "
+"command by pressing Enter."
+msgstr ""
+
+#. type: Block title
+#: src/gui/tklinuxcnc.adoc:211
+#, no-wrap
+msgid "Active G-Codes"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:215
+msgid ""
+"This shows the 'modal codes' that are active in the interpreter. For "
+"instance, 'G54' indicates that the 'G54 offset' is applied to all "
+"coordinates that are entered."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:222
+msgid ""
+"By moving this slider, the speed of jogs can be modified. The numbers above "
+"refer to axis units / second. The text box with the number is "
+"clickable. Once clicked a popup window will appear, allowing for a number to "
+"be entered."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:230
+msgid ""
+"By moving this slider, the programmed feed rate can be modified. For "
+"instance, if a program requests 'F60' and the slider is set to 120%, then "
+"the resulting feed rate will be 72.  The text box with the number is "
+"clickable. Once clicked a popup window will appear, allowing for a number to "
+"be entered."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/tklinuxcnc.adoc:231
+#, no-wrap
+msgid "Spindle speed Override"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:241
+msgid ""
+"The spindle speed override slider works exactly like the feed override "
+"slider, but it controls to the spindle speed. If a program requested S500 "
+"(spindle speed 500 RPM), and the slider is set to 80%, then the resulting "
+"spindle speed will be 400 RPM. This slider has a minimum and maximum value "
+"defined in the INI file. If those are missing the slider is stuck at "
+"100%. The text box with the number is clickable. Once clicked a popup window "
+"will appear, allowing for a number to be entered."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:246
+msgid ""
+"Almost all actions in TkLinuxCNC can be accomplished with the keyboard.  "
+"Many of the shortcuts are unavailable when in MDI mode."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tklinuxcnc.adoc:249
+msgid ""
+"The most frequently used keyboard shortcuts are shown in the following "
+"table."
+msgstr ""
+
+#. type: Block title
+#: src/gui/tklinuxcnc.adoc:251
+#, no-wrap
+msgid "Most Common Keyboard Shortcuts(((TkLinuxCNC Common Keyboard Shortcuts)))"
+msgstr ""
+
+#. type: Table
+#: src/gui/tklinuxcnc.adoc:263
+#, no-wrap
+msgid "Send active axis Home"
+msgstr ""
+
+#. type: Title =
+#: src/gui/tooledit.adoc:5
+#, no-wrap
+msgid "Tool Edit GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:18
+msgid ""
+"The tooledit elements described here are available since version 2.5.1 and "
+"later.  In version 2.5.0, the graphical interface interface does not allow "
+"these adjustments."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/tooledit.adoc:19 src/gui/tooledit.adoc:20
+#, no-wrap
+msgid "Tool Edit GUI - Overview"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/tooledit.adoc:20
+#, no-wrap
+msgid "images/tooledit.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:29
+msgid ""
+"The 'tooledit' program can update the tool table file with edited changes by "
+"using the SaveFile button.  The SaveFile button updates the system file but "
+"a separate action is required to update the tool table data used by a "
+"running LinuxCNC instance.  With the AXIS GUI, both the file and the current "
+"tool table data used by LinuxCNC can be updated with the ReloadTable "
+"button.  This button is enabled only when the machine is ON and IDLE."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/tooledit.adoc:30
+#, no-wrap
+msgid "Column Sorting"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:36
+msgid ""
+"The tool table display can be sorted on any column in ascending order by "
+"clicking on the column header.  A second click sorts in descending order.  "
+"Column sorting requires that the machine is configured with the default Tcl "
+"version >= 8.5."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/tooledit.adoc:37 src/gui/tooledit.adoc:38
+#, no-wrap
+msgid "Tool Edit GUI - Column Sorting"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/tooledit.adoc:38
+#, no-wrap
+msgid "images/tooledit-sort.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:42
+msgid ""
+"In Ubuntu Lucid 10.04 Tcl/Tk8.4 it is installed by default.  The "
+"installation is performed as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:45
+#, no-wrap
+msgid "sudo apt-get install tcl8.5 tk8.5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:49
+msgid ""
+"Depending upon other applications installed on the system, it may be "
+"necessary to enable Tcl/Tk8.5 with the commands:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:53
+#, no-wrap
+msgid ""
+"sudo update-alternatives --config tclsh  ;# select the option for tclsh8.5\n"
+"sudo update-alternatives --config wish   ;# select the option for wish8.5\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/tooledit.adoc:55
+#, no-wrap
+msgid "Columns Selection"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:61
+msgid ""
+"By default, the 'tooledit' program will display all possible tool table "
+"parameter columns. Since few machines use all parameters, the columns "
+"displayed can be limited with the following INI file setting:"
+msgstr ""
+
+#. type: Block title
+#: src/gui/tooledit.adoc:62
+#, no-wrap
+msgid "Syntax of INI file"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:67
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"TOOL_EDITOR = tooledit column_name column_name ...\n"
+msgstr ""
+
+#. type: Block title
+#: src/gui/tooledit.adoc:69
+#, no-wrap
+msgid "Example for Z and DIAM columns"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:74
+#, no-wrap
+msgid ""
+"[DISPLAY]\n"
+"TOOL_EDITOR = tooledit Z DIAM\n"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/tooledit.adoc:76 src/gui/tooledit.adoc:77
+#, no-wrap
+msgid "Tool Edit GUI - Columns Selection Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/tooledit.adoc:77
+#, no-wrap
+msgid "images/tooledit-columns.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/tooledit.adoc:79
+#, no-wrap
+msgid "Stand Alone Use"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:84
+msgid ""
+"The 'tooledit' program can also be invoked as a standalone program. For "
+"example, if the program is in the user PATH, typing 'tooledit' will show the "
+"usage syntax:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:91
+#, no-wrap
+msgid ""
+"tooledit\n"
+"Usage:\n"
+"       tooledit filename\n"
+"       tooledit [column_1 ... column_n] filename\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:93
+#, no-wrap
+msgid "Valid column names are: x y z a b c u v w diam front back orien\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:98
+msgid ""
+"To synchronize a standalone 'tooledit' with a running LinuxCNC application, "
+"the filename must resolve to the same [EMCIO]TOOL_TABLE filename specified "
+"in the LinuxCNC INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:103
+msgid ""
+"When using the program 'tooledit' while LinuxCNC is running, G-code command "
+"execution or other programs may alter tool table data and the tool table "
+"file.  File changes are detected by 'tooledit' and a message is displayed:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:106
+#, no-wrap
+msgid "Warning: File changed by another process\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:110
+msgid ""
+"The 'tooledit' tool table display can be updated to read the modified file "
+"with the ReRead button."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:112
+msgid "The tool table is specified in the INI file with an entry:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:116
+#, no-wrap
+msgid "[EMCIO]TOOL_TABLE = tool_table_filename\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:120
+msgid ""
+"The tool table file can be edited with any simple text editor (not a word "
+"processor)."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:123
+msgid ""
+"The AXIS GUI can optionally use an INI file setting to specify the tool "
+"editor program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/tooledit.adoc:127
+#, no-wrap
+msgid "[DISPLAY]TOOL_EDITOR = path_to_editor_program\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/tooledit.adoc:133
+msgid ""
+"By default, the program named 'tooledit' is used. This editor supports all "
+"tool table parameters, allows addition and deletion of tool entries, and "
+"performs a number of validity checks on parameter values."
+msgstr ""
+
+#. type: Title =
+#: src/gui/touchy.adoc:5
+#, no-wrap
+msgid "The Touchy Graphical User Interface(((touchygui)))"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:13
+msgid ""
+"Touchy is a user interface for LinuxCNC meant for use on machine control "
+"panels, and therefore does not require keyboard or mouse."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:16
+msgid ""
+"It is meant to be used with a touch screen, and works in combination with a "
+"wheel/MPG and a few buttons and switches."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:21
+msgid ""
+"The 'Handwheel' tab has radio buttons to select between 'Feed Override', "
+"'Spindle Override', 'Maximum Velocity' and 'Jogging' functions for the "
+"wheel/MPG input. Radio buttons for axis selection and increment for jogging "
+"are also provided."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/touchy.adoc:22
+#, no-wrap
+msgid "Touchy GUI"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/touchy.adoc:22
+#, no-wrap
+msgid "images/touchy.png"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/touchy.adoc:24
+#, no-wrap
+msgid "Panel Configuration"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/touchy.adoc:26
+#, no-wrap
+msgid "HAL connections"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:34
+msgid ""
+"Touchy looks in the INI file, under the heading '[HAL]' for entries of "
+"'POSTGUI_HALFILE=<filename>'.  Typically '<filename>' would be "
+"'touchy_postgui.hal', but can be any legal filename.  These commands are "
+"executed after the screen is built, guaranteeing the widget HAL pins are "
+"available.  You can have multiple line of 'POSTGUI_HALFILE=<filename>' in "
+"the INI.  Each will be run one after the other in the order they appear in "
+"the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:39
+msgid ""
+"Touchy used to require that you create a file named 'touchy.hal' in your "
+"configuration directory (the directory your INI file is in). For legacy "
+"reasons this will continue to work, but INI based postgui files are "
+"preferred."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:42
+msgid ""
+"For more information on HAL files and the net command see the "
+"<<cha:basic-hal-reference,HAL Basics>>."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:45
+msgid ""
+"Touchy has several output pins that are meant to be connected to the motion "
+"controller to control wheel jogging:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:47
+msgid ""
+"'touchy.jog.wheel.increment', which is to be connected to the "
+"'axis._N_.jog-scale' pin of each axis _N_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:48
+msgid ""
+"'touchy.jog.wheel._N_', which is to be connected to 'axis._N_.jog-enable' "
+"for each axis _N_."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:51
+msgid "'N' represents the axis number 0-8."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:56
+msgid ""
+"In addition to being connected to 'touchy.wheel-counts', the wheel counts "
+"should also be connected to 'axis._N_.jog-counts' for each axis _N_.  If you "
+"use HAL component 'ilowpass' to smooth wheel jogging, be sure to smooth only "
+"'axis._N_.jog-counts' and not 'touchy.wheel-counts'."
+msgstr ""
+
+#. type: Block title
+#: src/gui/touchy.adoc:57
+#, no-wrap
+msgid "Required controls"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:60
+msgid "Abort button (momentary contact) connected to the HAL pin 'touchy.abort'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:61
+msgid "Cycle start button (momentary contact) connected to 'touchy.cycle-start'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:62
+msgid ""
+"Wheel/MPG, connected to 'touchy.wheel-counts' and motion pins as described "
+"above."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:63
+msgid "Single block (toggle switch) connected to 'touchy.single-block'."
+msgstr ""
+
+#. type: Block title
+#: src/gui/touchy.adoc:64
+#, no-wrap
+msgid "Optional controls"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:69
+msgid ""
+"For continuous jog, one center-off bidirectional momentary toggle (or two "
+"momentary buttons) for each axis, hooked to "
+"'touchy.jog.continuous.x.negative', 'touchy.jog.continuous.x.positive', etc."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:71
+msgid ""
+"If a quill up button is wanted (to jog Z to the top of travel at top speed), "
+"a momentary button connected to 'touchy.quill-up'."
+msgstr ""
+
+#. type: Block title
+#: src/gui/touchy.adoc:72
+#, no-wrap
+msgid "Optional panel lamps"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:75
+msgid "'touchy.jog.active' shows when the panel jogging controls are live."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:77
+msgid ""
+"'touchy.status-indicator' is on when the machine is executing G-code, and "
+"flashes when the machine is executing but is in pause/feedhold."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/touchy.adoc:78
+#, no-wrap
+msgid "Recommended for any setup"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:81
+msgid "Estop button hardwired in the estop chain"
+msgstr ""
+
+#. type: Title ===
+#: src/gui/touchy.adoc:84
+#, no-wrap
+msgid "Enabling Touchy"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:88
+msgid ""
+"To use Touchy, in the '[DISPLAY]' section of your INI file change the "
+"display selector line to 'DISPLAY = touchy'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:94
+msgid ""
+"When you start Touchy the first time, check the Preferences tab.  If using a "
+"touchscreen, choose the option to hide the pointer for best results."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:99
+msgid ""
+"The Status Window is a fixed height, set by the size of a fixed font.  This "
+"can be affected by the Gnome DPI, configured in System / Preferences / "
+"Appearance / Fonts / Details. If the bottom of the screen is cut off, reduce "
+"the DPI setting."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:101
+msgid "All other font sizes can be changed on the Preferences tab."
+msgstr ""
+
+#. type: Title ===
+#: src/gui/touchy.adoc:102
+#, no-wrap
+msgid "Macros"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:107
+msgid ""
+"Touchy can invoke O-word macros using the MDI interface.  To configure this, "
+"in the '[TOUCHY]' section of the INI file, add one or more 'MACRO' lines.  "
+"Each should be of the following format:"
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/touchy.adoc:111
+#, no-wrap
+msgid "MACRO=increment xinc yinc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:115
+msgid ""
+"In this example, increment is the name of the macro, and it accepts two "
+"parameters, named xinc and yinc."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:118
+msgid ""
+"Now, place the macro in a file named 'increment.ngc', in the "
+"'PROGRAM_PREFIX' directory or any directory in the 'SUBROUTINE_PATH'."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:120
+msgid "It should look like:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:131
+msgid ""
+"Notice the name of the sub matches the file name and macro name exactly, "
+"including case."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:136
+msgid ""
+"When you invoke the macro by pressing the Macro button on the MDI tab in "
+"Touchy, you can enter values for xinc and yinc.  These are passed to the "
+"macro as '#1' and '#2' respectively.  Parameters you leave empty are passed "
+"as value 0."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/touchy.adoc:143
+msgid ""
+"In this simple example, if you enter -1 for xinc and press cycle start, a "
+"rapid 'G0' move will be invoked, moving one unit to the left."
+msgstr ""
+
+#. type: Title =
+#: src/gui/vismach.adoc:5
+#, no-wrap
+msgid "Vismach"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:11
+msgid ""
+"Vismach is a set of Python functions that can be used to create and animate "
+"models of machines. Vismach displays the model in a 3D viewport and the "
+"model parts are animated as the values of associated HAL pins change."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/gui/vismach.adoc:12
+#, no-wrap
+msgid "Vismach displays the model in a 3D viewport"
+msgstr ""
+
+#. type: Target for macro image
+#: src/gui/vismach.adoc:12
+#, no-wrap
+msgid "images/vismach.png"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:15
+msgid "The Vismach viewport view can be manipulated as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:17
+#, no-wrap
+msgid "*zoom* by scroll wheel or right button drag,\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:18
+#, no-wrap
+msgid "*pan* by left button drag,\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:19
+#, no-wrap
+msgid "*rotate* by middle-button drag or shift-drag.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:24
+msgid ""
+"A Vismach model takes the form of a Python script and can use standard "
+"Python syntax. This means that there is more than one way to lay out the "
+"script, but in the examples given in this document I will use the simplest "
+"and most basic of them."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:26
+msgid "The basic sequence in creating the Vismach model is"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:28
+msgid "Create the HAL pins that control the motion."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:29
+msgid "Create the parts."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:30
+msgid "Define how they move."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:31
+msgid "Assemble into movement groups."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:37
+msgid ""
+"It is useful for testing to include the '#!/usr/bin/env python3' to allow "
+"the file to be run as a script. The first thing to do is to import the "
+"required libraries."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/vismach.adoc:46
+#, no-wrap
+msgid ""
+"from vismach import *\n"
+"import hal\n"
+"import math\n"
+"import sys\n"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/vismach.adoc:48
+#, no-wrap
+msgid "Create the HAL pins."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:57
+msgid ""
+"HAL pins are created with the normal Python \"hal\" library, and are not "
+"specific to Vismach. Further details can be found in the "
+"<<cha:halmodule,Creating Non-realtime Components in Python>> section.  A "
+"component should be created with a name that matches the script file name "
+"and then the HAL pins are added to that component. They will be referenced "
+"by their component handle and short name when used to animate the Vismach "
+"model."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:69
+msgid ""
+"Will create HAL pins 'samplegui.joint0' and 'samplegui.joint1'. When loading "
+"the Vismach model with 'loadusr -W samplegui' the 'c.ready()' function tells "
+"loadusr it's ready."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:76
+msgid ""
+"It is probably easiest to create geometry in a CAD package and *import* into "
+"the model script with the `AsciiSTL()` or `AsciiOBJ()` functions.  Both "
+"functions can take one of two named arguments, either a filename or raw "
+"data:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:84
+#, no-wrap
+msgid ""
+"`part = AsciiSTL(filename=\"path/to/file.stl\")\n"
+"part = AsciiSTL(data=\"solid part1 facet normal ....\")\n"
+"part = AsciiOBJ(filename=\"path/to/file.obj\")\n"
+"part = AsciiOBJ(data=\"v 0.123 0.234 0.345 1.0 ...\")`\n"
+"The parts will be created in the Vismach space in the same locations as they "
+"occupy in the STL or OBJ space. This means that it may be possible to "
+"assemble the model in the CAD package."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:88
+msgid ""
+"Alternatively parts can be created inside the model script from a range of "
+"*shape primitives*. Many shapes are created at the origin and need to be "
+"moved to the required location after creation:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:94
+#, no-wrap
+msgid ""
+"`cylinder = CylinderX(x1, r1, x2, r2)\n"
+"cylinder = CylinderY(y1, r1, y2, r2)\n"
+"cylinder = CylinderZ(z1, r1, z2, r2)`\n"
+"Creates a (optionally tapered) cylinder on the given axis with the given "
+"radii at the given points on the axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:96
+#, no-wrap
+msgid ""
+"`sphere = Sphere(x, y, z, r)`\n"
+"Creates a sphere of radius r at (x,y,z)"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:102
+#, no-wrap
+msgid ""
+"`triangle = TriangleXY(x1, y1, x2, y2, x3, y3, z1, z2)\n"
+"triangle = TriangleXZ(x1, z1, x2, z2, x3, z3, y1, y2)\n"
+"triangle = TriangleYZ(y1, z1, y2, z2, y3, z3, x1, x2)`\n"
+"Creates a triangular plate between planes defined by the last two values "
+"parallel to the specified plane, with vertices given by the three coordinate "
+"pairs."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:104
+#, no-wrap
+msgid ""
+"`arc = ArcX(x1, x2, r1, r2, a1, a2)`\n"
+"Create an arc shape."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:107
+#, no-wrap
+msgid ""
+"`box = Box(x1, y1, z1, x2, y2, z2)`\n"
+"Creates a rectangular prism with opposite corners at the specified positions "
+"and edges parallel to the XYZ axes."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:109
+#, no-wrap
+msgid ""
+"`box = BoxCentered(xw, yw, zw)`\n"
+"Creates an xw by yw by zw box centred on the origin."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:111
+#, no-wrap
+msgid ""
+"`box = BoxCenteredXY(xw, yw, z)`\n"
+"Creates a box of width xw / yw and height z."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:114
+msgid ""
+"Composite parts may be created by *assembling* these primitives either at "
+"creation time or subsequently using `Collection()`:"
+msgstr ""
+
+#. type: Title ==
+#: src/gui/vismach.adoc:123
+#, no-wrap
+msgid "Moving Parts"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:128
+msgid ""
+"Parts may need to be moved in the Vismach space to assemble the model.  They "
+"may also need to be moved to create the animation as the animation rotation "
+"axis is created at the origin (but moves with the Part):"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:131
+#, no-wrap
+msgid ""
+"`part1 = Translate([part1], x, y, z)`\n"
+"Move part1 the specified distances in x, y and z."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:134
+#, no-wrap
+msgid ""
+"`part1 = Rotate([part1], theta, x, y, z)`\n"
+"Rotate the part by angle theta about an axis between the origin and x, y, z."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:144
+msgid ""
+"To animate the model (controlled by the values of HAL pins) there are two "
+"functions 'HalTranslate' and 'HalRotate'. For parts to move inside an "
+"assembly they need to have their HAL motions defined before being assembled "
+"with the \"Collection\" command. The rotation axis and translation vector "
+"move with the part as it is moved by the vismach script during model "
+"assembly, or as it moves in response to the HAL pins as the model is "
+"animated:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:147
+#, no-wrap
+msgid ""
+"`part = HalTranslate([part], comp, \"hal_pin\", xs, ys, zs)`\n"
+"The function arguments are:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:150
+msgid ""
+"first a _collection/part_ which can be pre-created earlier in the script, or "
+"could be created at this point if preferred eg `part1 = "
+"HalTranslate([Box(....)], ...)`."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:155
+msgid ""
+"The _HAL component_ is the next argument, i.e. the object returned by the "
+"`comp = hal.component(...)` command. After that is the name of the HAL in "
+"that will animate the motion, this needs to match an existing HAL pin that "
+"is part of the HAL component created earlier in the script."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:161
+#, no-wrap
+msgid ""
+"Then follow the _X, Y, Z scales_.\n"
+"For a Cartesian machine created at 1:1 scale this would typically be 1,0,0 "
+"for a motion in the positive X direction.\n"
+"However if the STL file happened to be in cm and the machine was in inches, "
+"this could be fixed at this point by using 0.3937 (1cm /2.54in) as the "
+"scale."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:165
+#, no-wrap
+msgid ""
+"`part = HalRotate([part], comp, \"hal_pin\", angle_scale, x, y, z)`\n"
+"This command is similar in its operation to HalTranslate except that it is "
+"typically necessary to move the part to the origin first to define the axis."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:170
+#, no-wrap
+msgid ""
+"The _axis of rotation_ is from the origin point to the point defined by "
+"(x,y,z).\n"
+"When the part is moved back away from the origin to its correct location the "
+"axis of rotation can be considered to remain \"embedded\" in the part."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/vismach.adoc:173
+#, no-wrap
+msgid "Assembling the model."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:180
+msgid ""
+"In order for parts to move together they need to be assembled with the "
+"Collection() command. It is important to assemble the parts and define their "
+"motions in the correct sequence. For example to create a moving head milling "
+"machine with a rotating spindle and an animated draw bar you would:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:223
+msgid ""
+"Finally a single collection of all the machine parts, floor and work (if "
+"any) needs to be created:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:230
+msgid ""
+"Thus, for example, in scaragui.py link3 is added to link2, link2 to link1 "
+"and link1 to link0, so the final model is created by:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:237
+msgid "Whereas a VMC model with separate parts moving on the base might have:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:250
+#, no-wrap
+msgid ""
+"`part = Color([colorspec], [part])`\n"
+"Sets the display color of the part. Note that unlike the other functions the "
+"part definition comes second in this case.\n"
+"The colorspec consists of the three RGB values and an opacity. For example "
+"[1,0,0,0.5] for a 50% opacity red."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:253
+#, no-wrap
+msgid ""
+"`myhud = Hud()`\n"
+"Creates a heads-up display in the Vismach GUI to display such items as axis "
+"positions."
+msgstr ""
+
+#. Need to play around with this to see how it works.
+#. type: Plain text
+#: src/gui/vismach.adoc:259
+#, no-wrap
+msgid ""
+"`part = Capture()`\n"
+"I have no idea what this does ! But it seems to be important for tool tip "
+"visualization..."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:262
+#, no-wrap
+msgid ""
+"`main(model, tooltip, work, size=10, hud=0, rotation_vectors=None, lat=0, "
+"lon=0)`\n"
+"This is the command that makes it all happen, creates the display etc."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:263
+msgid "_model_ should be a collection that contains all the machine parts."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:267
+#, no-wrap
+msgid ""
+"_tooltip_ and _work_ need to be created by `Capture()` to visualize their "
+"motion in the back plot.\n"
+"See `scaragui.py` for an example of how to connect the tool tip to a tool "
+"and the tool to the model."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:270
+msgid ""
+"Either _rotation_vectors_ or _latitude/longitude_ can be used to set the "
+"original viewpoint and it is advisable to do as the default initial "
+"viewpoint is rather unhelpfully from immediately overhead."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:271
+msgid "_size_ sets the extent of the volume visualized in the initial view."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/vismach.adoc:272
+msgid "_hud_ refers to a head-up display of axis positions."
+msgstr ""
+
+#. type: Title ==
+#: src/gui/vismach.adoc:273
+#, no-wrap
+msgid "Basic structure of a Vismach script."
+msgstr ""
+
+#. type: delimited block -
+#: src/gui/vismach.adoc:299
+#, no-wrap
+msgid ""
+"#imports\n"
+"from vismach import *\n"
+"import hal\n"
+"#create the HAL component and pins\n"
+"comp = hal.component(\"compname\")\n"
+"comp.newpin(\"pin_name\", hal.HAL_FLOAT, hal.HAL_IN)\n"
+"...\n"
+"#create the floor, tool and work\n"
+"floor = Box(-50, -50, -3, 50, 50, 0)\n"
+"work = Capture()\n"
+"tooltip = Capture()\n"
+"...\n"
+"#Build and assemble the model\n"
+"part1 = Collection([Box(-6,-3,94,6,3,100)])\n"
+"part1 = Color([1,1,1,1],[part1])\n"
+"part1 = HalRotate([part1],comp,\"pin_name\",360,0,0,1)\n"
+"part1 = Translate([dogs],-1,49,0)\n"
+"...\n"
+"#create a top-level model\n"
+"model = Collection([base, saddle, head, carousel])\n"
+"#Start the visualization\n"
+"main(model, tooltip, work, 100, lat=-75, lon=215)\n"
+msgstr ""
+
+#. type: Title =
+#: src/hal/basic-hal.adoc:5
+#, no-wrap
+msgid "HAL Basics(((HAL Basics)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:14
+msgid "This document provides a reference to the basics of HAL."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/basic-hal.adoc:16
+#, no-wrap
+msgid "HAL Commands(((HAL Commands)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:19
+msgid ""
+"More detailed information can be found in the man page for halcmd: run 'man "
+"halcmd' in a terminal window."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:22
+msgid ""
+"To see the HAL configuration and check the status of pins and parameters use "
+"the HAL Configuration window on the Machine menu in AXIS.  To watch a pin "
+"status open the Watch tab and click on each pin you wish to watch and it "
+"will be added to the watch window."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:23
+#, no-wrap
+msgid "HAL Configuration Window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/basic-hal.adoc:24
+#, no-wrap
+msgid "The HAL Configuration Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/basic-hal.adoc:24
+#, no-wrap
+msgid "images/HAL_Configuration.png"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:27
+#, no-wrap
+msgid "loadrt(((HAL loadrt,loadrt)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:32
+msgid ""
+"The command `loadrt` loads a real time HAL component.  Real time component "
+"functions need to be added to a thread to be updated at the rate of the "
+"thread.  You cannot load a non-realtime component into the realtime space."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:33
+#, no-wrap
+msgid "loadrt Syntax and Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:38
+#, no-wrap
+msgid ""
+"loadrt <component> <options>\n"
+"loadrt mux4 count=1\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:41
+#, no-wrap
+msgid "addf(((HAL addf,addf)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:45
+msgid ""
+"The `addf` command adds a function to a real-time thread.  If the StepConf "
+"wizard was used to create the configuration, two threads have been created "
+"(``base-thread`` and ``servo-thread``)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:51
+msgid ""
+"`addf` adds function _functname_ to thread _threadname_.  Default is to add "
+"the function in the order they are in the file.  If _position_ is specified, "
+"adds the function to that spot in the thread.  A negative _position_ "
+"indicates the position with respect to the end of the thread.  For example "
+"'1' is start of thread, '-1' is the end of the thread, '-3' is third from "
+"the end."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:55
+msgid ""
+"For some functions it is important to load them in a certain order, like the "
+"parport read and write functions.  The function name is usually the "
+"component name plus a number.  In the following example the component 'or2' "
+"is loaded and `show function` shows the name of the or2 function."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:63
+#, no-wrap
+msgid ""
+"$ halrun\n"
+"halcmd: loadrt or2\n"
+"halcmd: show function\n"
+"Exported Functions:\n"
+"Owner   CodeAddr  Arg       FP   Users  Name\n"
+" 00004  f8bc5000  f8f950c8  NO       0   or2.0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:69
+msgid ""
+"You have to add a function from a HAL real time component to a thread to get "
+"the function to update at the rate of the thread.  Usually there are two "
+"threads as shown in this example.  Some components use floating point math "
+"and must be added to a thread that supports floating point math.  The `FP` "
+"indicates if floating point math is supported in that thread."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:78
+#, no-wrap
+msgid ""
+"$ halrun\n"
+"halcmd: loadrt motmod base_period_nsec=55555 servo_period_nsec=1000000 "
+"num_joints=3\n"
+"halcmd: show thread\n"
+"Realtime Threads:\n"
+"     Period  FP     Name               (     Time, Max-Time )\n"
+"     995976  YES          servo-thread (        0,        0 )\n"
+"      55332  NO            base-thread (        0,        0 )\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:83
+msgid ""
+"base-thread (the high-speed thread): This thread handles items that need a "
+"fast response, like making step pulses, and reading and writing the parallel "
+"port.  Does not support floating point math."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:85
+msgid ""
+"servo-thread (the slow-speed thread): This thread handles items that can "
+"tolerate a slower response, like the motion controller, ClassicLadder, and "
+"the motion command handler and supports floating point math."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:86
+#, no-wrap
+msgid "addf Syntax and Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:91
+#, no-wrap
+msgid ""
+"addf <function> <thread>\n"
+"addf mux4.0 servo-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:95
+msgid ""
+"If the component requires a floating point thread that is usually the slower "
+"servo-thread."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:97
+#, no-wrap
+msgid "loadusr(((HAL loadusr,loadusr)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:102
+msgid ""
+"The command `loadusr` loads a non-realtime HAL component.  Non-realtime "
+"programs are their own separate processes, which optionally talk to other "
+"HAL components via pins and parameters.  You cannot load realtime components "
+"into non-realtime space."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:104
+msgid "Flags may be one or more of the following:"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/basic-hal.adoc:106
+#, no-wrap
+msgid "-W"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:107
+msgid ""
+"to wait for the component to become ready. The component is assumed to have "
+"the same name as the first argument of the command."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/basic-hal.adoc:108
+#, no-wrap
+msgid "-Wn <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:109
+msgid ""
+"to wait for the component, which will have the given <name>.  This only "
+"applies if the component has a name option."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/basic-hal.adoc:110
+#, no-wrap
+msgid "-w"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:111
+msgid "to wait for the program to exit"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/basic-hal.adoc:112 src/man/man1/rs274.1.adoc:29
+#, no-wrap
+msgid "-i"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:113
+msgid "to ignore the program return value (with -w)"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/basic-hal.adoc:114 src/man/man1/rs274.1.adoc:22
+#, no-wrap
+msgid "-n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:115
+msgid "name a component when it is a valid option for that component."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:116
+#, no-wrap
+msgid "Syntax and Examples of `loadusr`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:122
+#, no-wrap
+msgid ""
+"loadusr <component> <options>\n"
+"loadusr halui\n"
+"loadusr -Wn spindle gs2_vfd -n spindle\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:125
+msgid ""
+"In English it means 'loadusr wait for name spindle component gs2_vfd name "
+"spindle'."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:127
+#, no-wrap
+msgid "net(((HAL net,net)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:134
+msgid ""
+"The command `net` creates a 'connection' between a signal and one or more "
+"pins.  If the signal does not exist net creates the new signal.  This "
+"replaces the need to use the command newsig.  The optional direction arrows "
+"`<=`, `=>` and `<=>` make it easier to follow the logic when reading a `net` "
+"command line and are not used by the net command.  The direction arrows must "
+"be separated by a space from the pin names."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:135
+#, no-wrap
+msgid "Syntax and Examples of `net`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:140
+#, no-wrap
+msgid ""
+"net signal-name pin-name <optional arrow> <optional second pin-name>\n"
+"net home-x joint.0.home-sw-in <= parport.0.pin-11-in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:144
+msgid ""
+"In the above example `home-x` is the signal name, `joint.0.home-sw-in` is a "
+"'Direction IN' pin, `<=` is the optional direction arrow, and "
+"`parport.0.pin-11-in` is a 'Direction OUT' pin.  This may seem confusing but "
+"the in and out labels for a parallel port pin indicates the physical way the "
+"pin works not how it is handled in HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:146
+msgid "A pin can be connected to a signal if it obeys the following rules:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:148
+msgid "An IN pin can always be connected to a signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:149
+msgid "An IO pin can be connected unless there's an OUT pin on the signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:150
+msgid ""
+"An OUT pin can be connected only if there are no other OUT or IO pins on the "
+"signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:152
+msgid ""
+"The same 'signal-name' can be used in multiple net commands to connect "
+"additional pins, as long as the rules above are obeyed."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/basic-hal.adoc:154 src/hal/basic-hal.adoc:155
+#, no-wrap
+msgid "Signal Direction"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/basic-hal.adoc:155
+#, no-wrap
+msgid "images/signal-direction.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:159
+msgid ""
+"This example shows the signal xStep with the source being `stepgen.0.out` "
+"and with two readers, `parport.0.pin-02-out` and `parport.0.pin-08-out`.  "
+"Basically the value of `stepgen.0.out` is sent to the signal xStep and that "
+"value is then sent to `parport.0.pin-02-out` and `parport.0.pin-08-out`."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:164
+#, no-wrap
+msgid ""
+"#   signal    source            destination          destination\n"
+"net xStep stepgen.0.out => parport.0.pin-02-out parport.0.pin-08-out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:168
+msgid ""
+"Since the signal xStep contains the value of `stepgen.0.out` (the source) "
+"you can use the same signal again to send the value to another reader.  To "
+"do this just use the signal with the readers on another line."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:173
+#, no-wrap
+msgid ""
+"#   signal       destination2\n"
+"net xStep => parport.0.pin-06-out\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:175
+#, no-wrap
+msgid "I/O pins"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:177
+msgid ""
+"An I/O pin like encoder._N_.index-enable can be read or set as allowed by "
+"the component."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:179
+#, no-wrap
+msgid "setp(((HAL setp,setp)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:184
+msgid ""
+"The command `setp` sets the value of a pin or parameter.  The valid values "
+"will depend on the type of the pin or parameter.  It is an error if the data "
+"types do not match."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:188
+msgid ""
+"Some components have parameters that need to be set before use.  Parameters "
+"can be set before use or while running as needed.  You cannot use setp on a "
+"pin that is connected to a signal."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:189
+#, no-wrap
+msgid "Syntax and Examples of `setp`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:194
+#, no-wrap
+msgid ""
+"setp <pin/parameter-name> <value>\n"
+"setp parport.0.pin-08-out TRUE\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:197
+#, no-wrap
+msgid "sets(((HAL sets,sets)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:200
+msgid "The command `sets` sets the value of a signal."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:201
+#, no-wrap
+msgid "Syntax and Examples of `sets`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:207
+#, no-wrap
+msgid ""
+"sets <signal-name> <value>\n"
+"net mysignal and2.0.in0 pyvcp.my-led\n"
+"sets mysignal 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:212
+msgid "The signal-name does not exist"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:213
+msgid "If the signal already has a writer"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:214
+msgid "If value is not the correct type for the signal"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:216
+#, no-wrap
+msgid "unlinkp(((HAL unlinkp,unlinkp)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:221
+msgid ""
+"The command `unlinkp` unlinks a pin from the connected signal.  If no signal "
+"was connected to the pin prior running the command, nothing happens.  The "
+"`unlinkp` command is useful for trouble shooting."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:222
+#, no-wrap
+msgid "Syntax and Examples of `unlinkp`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:227
+#, no-wrap
+msgid ""
+"unlinkp <pin-name>\n"
+"unlinkp parport.0.pin-02-out\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:229
+#, no-wrap
+msgid "Obsolete Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:234
+msgid ""
+"The following commands are depreciated and may be removed from future "
+"versions.  Any new configuration should use the <<sub:hal-net,`net`>> "
+"command.  These commands are included so older configurations will still "
+"work."
+msgstr ""
+
+#. type: Title ====
+#: src/hal/basic-hal.adoc:235
+#, no-wrap
+msgid "linksp (deprecated)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:238
+msgid "The command `linksp` creates a 'connection' between a signal and one pin."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:239
+#, no-wrap
+msgid "Syntax and Examples of `linksp`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:244
+#, no-wrap
+msgid ""
+"linksp <signal-name> <pin-name>\n"
+"linksp X-step parport.0.pin-02-out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:247
+#, no-wrap
+msgid "*The `linksp` command has been superseded by the `net` command.*\n"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/basic-hal.adoc:248
+#, no-wrap
+msgid "linkps (deprecated)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:252
+msgid ""
+"The command `linkps` creates a 'connection' between one pin and one signal.  "
+"It is the same as `linksp` but the arguments are reversed."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:253
+#, no-wrap
+msgid "Syntax and Examples of `linkps`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:258
+#, no-wrap
+msgid ""
+"linkps <pin-name> <signal-name>\n"
+"linkps parport.0.pin-02-out X-Step\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:261
+#, no-wrap
+msgid "*The `linkps` command has been superseded by the `net` command.*\n"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/basic-hal.adoc:262
+#, no-wrap
+msgid "newsig"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:266
+msgid ""
+"the command `newsig` creates a new HAL signal by the name _<signame>_ and "
+"the data type of _<type>_.  Type must be 'bit', 's32', 'u32', 's64', 'u64' "
+"or 'float'. Error if _<signame>_ already exists."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:267
+#, no-wrap
+msgid "Syntax and Examples of `newsig`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:272
+#, no-wrap
+msgid ""
+"newsig <signame> <type>\n"
+"newsig Xstep bit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:275
+msgid ""
+"More information can be found in the HAL manual or the man pages for "
+"`halrun`."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/basic-hal.adoc:277
+#, no-wrap
+msgid "HAL Data(((HAL Data)))"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:280
+#, no-wrap
+msgid "Bit(((HAL Bit,bit)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:283
+msgid "A bit value is an on or off."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:285
+msgid "bit values = true or 1 and false or 0 (True, TRUE, true are all valid)"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:287
+#, no-wrap
+msgid "Float(((HAL Float,float)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:291
+msgid ""
+"A 'float' is a floating point number.  In other words the decimal point can "
+"move as needed."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:293
+msgid ""
+"float values = a 64 bit floating point value, with approximately 53 bits of "
+"resolution and over 2^10^ (~ 1000) bits of dynamic range."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:295
+msgid "For more information on floating point numbers see:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:297
+msgid "https://en.wikipedia.org/wiki/Floating_point[https://en.wikipedia.org/wiki/Floating_point]"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:299
+#, no-wrap
+msgid "s32(((HAL s32,s32)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:302
+msgid ""
+"An 's32' number is a whole number that can have a negative or positive "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:304
+msgid "s32 values = integer numbers from -2147483648 to 2147483647"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:306
+#, no-wrap
+msgid "u32(((HAL u32,u32)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:309
+msgid "A 'u32' number is a whole number that is positive only."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:311
+msgid "u32 values = integer numbers from 0 to 4294967295"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:313
+#, no-wrap
+msgid "s64(((HAL s64,s64)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:316
+msgid ""
+"An 's64' number is a whole number that can have a negative or positive "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:319
+msgid ""
+"s64 values = integer numbers from -9,223,372,036,854,775,808 to "
+"+9,223,372,036,854,775,807"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:321
+#, no-wrap
+msgid "u64(((HAL u64,u64)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:324
+msgid "A 'u64' number is a whole number that is positive only."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:326
+msgid "u64 values = integer numbers from 0 to 18,446,744,073,709,551,615"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/basic-hal.adoc:328
+#, no-wrap
+msgid "HAL Files(((HAL Files)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:331
+msgid ""
+"If you used the Stepper Config Wizard to generate your config you will have "
+"up to three HAL files in your config directory."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:333
+msgid ""
+"'my-mill.hal' (if your config is named 'my-mill') This file is loaded first "
+"and should not be changed if you used the Stepper Config Wizard."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:335
+msgid ""
+"'custom.hal' This file is loaded next and before the GUI loads.  This is "
+"where you put your custom HAL commands that you want loaded before the GUI "
+"is loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:338
+msgid ""
+"'custom_postgui.hal' This file is loaded after the GUI loads.  This is where "
+"you put your custom HAL commands that you want loaded after the GUI is "
+"loaded.  Any HAL commands that use PyVCP widgets need to be placed here."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/basic-hal.adoc:340
+#, no-wrap
+msgid "HAL Parameter(((HAL Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:344
+msgid ""
+"Two parameters are automatically added to each HAL component when it is "
+"created.  These parameters allow you to scope the execution time of a "
+"component."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/basic-hal.adoc:346
+#, no-wrap
+msgid "`.time`(((HAL time)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:347
+msgid "Time is the number of CPU cycles it took to execute the function."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/basic-hal.adoc:347
+#, no-wrap
+msgid "`.tmax`(((HAL tmax)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:348
+msgid "Tmax is the maximum number of CPU cycles it took to execute the function."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:350
+msgid ""
+"`tmax` is a read/write parameter so the user can set it to 0 to get rid of "
+"the first time initialization on the function's execution time."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/basic-hal.adoc:352
+#, no-wrap
+msgid "Basic Logic Components(((HAL Logic Components)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:357
+msgid ""
+"HAL contains several real time logic components.  Logic components follow a "
+"'Truth Table' that states what the output is for any given input.  Typically "
+"these are bit manipulators and follow electrical logic gate truth tables."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:359
+msgid ""
+"For further components see <<sec:hal-components,HAL Components List>> or the "
+"man pages."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:361
+#, no-wrap
+msgid "and2(((HAL and2,and2)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:365
+msgid ""
+"The `and2` component is a two input and-gate.  The truth table below shows "
+"the output based on each combination of input."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:369
+#, no-wrap
+msgid "and2 [count=N] | [names=name1[,name2...]]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:374
+#, no-wrap
+msgid "and2.n\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:381
+#, no-wrap
+msgid ""
+"and2.N.in0 (bit, in)\n"
+"and2.N.in1 (bit, in)\n"
+"and2.N.out (bit, out)\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:383
+#, no-wrap
+msgid "Truth Table of `and2`"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:386 src/hal/basic-hal.adoc:448
+#: src/hal/basic-hal.adoc:480
+#, no-wrap
+msgid "in0"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:386 src/hal/basic-hal.adoc:448
+#: src/hal/basic-hal.adoc:480
+#, no-wrap
+msgid "in1"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:387 src/hal/basic-hal.adoc:419
+#: src/hal/basic-hal.adoc:449 src/hal/basic-hal.adoc:481
+#: src/hal/parallel-port.adoc:109 src/hal/parallel-port.adoc:110
+#: src/hal/parallel-port.adoc:111 src/hal/parallel-port.adoc:112
+#: src/hal/parallel-port.adoc:113 src/hal/parallel-port.adoc:114
+#: src/hal/parallel-port.adoc:115 src/hal/parallel-port.adoc:116
+#: src/hal/parallel-port.adoc:117 src/hal/parallel-port.adoc:118
+#: src/hal/parallel-port.adoc:122 src/hal/parallel-port.adoc:124
+#: src/hal/parallel-port.adoc:125
+#, no-wrap
+msgid "out"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:394
+#, no-wrap
+msgid "not(((HAL not,not)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:397
+msgid "The `not` component is a bit inverter."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:401
+#, no-wrap
+msgid "not [count=n] | [names=name1[,name2...]]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:407
+#, no-wrap
+msgid ""
+"not.all\n"
+"not.n\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:413
+#, no-wrap
+msgid ""
+"not.n.in (bit, in)\n"
+"not.n.out (bit, out)\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:415
+#, no-wrap
+msgid "Truth Table of `not`"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:418 src/hal/parallel-port.adoc:108
+#: src/hal/parallel-port.adoc:110 src/hal/parallel-port.adoc:111
+#: src/hal/parallel-port.adoc:112 src/hal/parallel-port.adoc:113
+#: src/hal/parallel-port.adoc:114 src/hal/parallel-port.adoc:115
+#: src/hal/parallel-port.adoc:116 src/hal/parallel-port.adoc:117
+#: src/hal/parallel-port.adoc:118 src/hal/parallel-port.adoc:119
+#: src/hal/parallel-port.adoc:120 src/hal/parallel-port.adoc:121
+#: src/hal/parallel-port.adoc:122 src/hal/parallel-port.adoc:123
+#: src/hal/parallel-port.adoc:124 src/hal/parallel-port.adoc:125
+#: src/hal/parallel-port.adoc:126
+#, no-wrap
+msgid "in"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:424
+#, no-wrap
+msgid "or2(((HAL or2,or2)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:427
+msgid "The `or2` component is a two input or-gate."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:431
+#, no-wrap
+msgid "or2[count=n] | [names=name1[,name2...]]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:436
+#, no-wrap
+msgid "or2.n\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:443
+#, no-wrap
+msgid ""
+"or2.n.in0 (bit, in)\n"
+"or2.n.in1 (bit, in)\n"
+"or2.n.out (bit, out)\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:445
+#, no-wrap
+msgid "or2 Truth Table"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:456
+#, no-wrap
+msgid "xor2(((HAL xor2,xor2)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:459
+msgid "The `xor2` component is a two input xor (exclusive or)-gate."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:463
+#, no-wrap
+msgid "xor2[count=n] | [names=name1[,name2...]]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:468
+#, no-wrap
+msgid "xor2.n\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:475
+#, no-wrap
+msgid ""
+"xor2.n.in0 (bit, in)\n"
+"xor2.n.in1 (bit, in)\n"
+"xor2.n.out (bit, out)\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:477
+#, no-wrap
+msgid "xor2 Truth Table"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/basic-hal.adoc:488
+#, no-wrap
+msgid "Logic Examples(((HAL Logic Examples)))"
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:490
+#, no-wrap
+msgid "Example using `and2`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:498
+#, no-wrap
+msgid ""
+"loadrt and2 count=1\n"
+"addf and2.0 servo-thread\n"
+"net my-sigin1 and2.0.in0 <= parport.0.pin-11-in\n"
+"net my-sigin2 and2.0.in1 <= parport.0.pin-12-in\n"
+"net both-on parport.0.pin-14-out <= and2.0.out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:505
+msgid ""
+"In the above example one copy of `and2` is loaded into real time space and "
+"added to the servo thread.  Next `pin-11` of the parallel port is connected "
+"to the `in0` bit of the and gate.  Next `pin-12` is connected to the `in1` "
+"bit of the and gate.  Last we connect the `and2` out bit to the parallel "
+"port `pin-14`.  So following the truth table for `and2` if pin 11 and pin 12 "
+"are on then the output pin 14 will be on."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/basic-hal.adoc:507
+#, no-wrap
+msgid "Conversion Components(((HAL Conversion Components)))"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/basic-hal.adoc:510
+#, no-wrap
+msgid "weighted_sum(((HAL weighted_sum,weighted_sum)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:516
+msgid ""
+"The weighted sum converts a group of bits into an integer.  The conversion "
+"is the sum of the 'weights' of the bits present plus any offset.  It's "
+"similar to 'binary coded decimal' but with more options.  The 'hold' bit "
+"interrupts the input processing, so that the 'sum' value no longer changes."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:517
+#, no-wrap
+msgid "Syntax for loading component `weighted_sum`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:521
+#, no-wrap
+msgid "loadrt weighted_sum wsum_sizes=size[,size,...]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:524
+msgid ""
+"Creates groups of ``weighted_sum``s, each with the given number of input "
+"bits (size)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:526
+msgid ""
+"To update the `weighted_sum`, the `process_wsums` must be attached to a "
+"thread."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:527
+#, no-wrap
+msgid "Add `process_wsums` to servo thread"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/basic-hal.adoc:531
+#, no-wrap
+msgid "addf process_wsums servo-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:534
+msgid "Which updates the `weighted_sum` component."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/basic-hal.adoc:537
+msgid ""
+"In the following example, a copy of the AXIS HAL configuration window, bits "
+"'0' and '2' are TRUE, they have no offset.  The weight ('weight') of bit 0 "
+"is 1, that of bit 2 is 4, so the sum is 5."
+msgstr ""
+
+#. type: Block title
+#: src/hal/basic-hal.adoc:538
+#, no-wrap
+msgid "Component pins of `weighted_sum`"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:541
+#, no-wrap
+msgid "Owner"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:541
+#, no-wrap
+msgid "Dir"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:542 src/ladder/classic-ladder.adoc:783
+#: src/ladder/classic-ladder.adoc:814 src/ladder/classic-ladder.adoc:847
+#: src/plasma/qtplasmac.adoc:123 src/plasma/qtplasmac.adoc:678
+#: src/plasma/qtplasmac.adoc:703 src/plasma/qtplasmac.adoc:740
+#: src/plasma/qtplasmac.adoc:758 src/plasma/qtplasmac.adoc:772
+#: src/plasma/qtplasmac.adoc:811 src/plasma/qtplasmac.adoc:821
+#: src/plasma/qtplasmac.adoc:836 src/plasma/qtplasmac.adoc:856
+#: src/plasma/qtplasmac.adoc:873 src/plasma/qtplasmac.adoc:889
+#: src/plasma/qtplasmac.adoc:956 src/plasma/qtplasmac.adoc:978
+#: src/plasma/qtplasmac.adoc:995 src/plasma/qtplasmac.adoc:1006
+#: src/plasma/qtplasmac.adoc:1016 src/plasma/qtplasmac.adoc:1026
+#: src/plasma/qtplasmac.adoc:1035 src/plasma/qtplasmac.adoc:1046
+#: src/plasma/qtplasmac.adoc:1083 src/plasma/qtplasmac.adoc:1147
+#: src/plasma/qtplasmac.adoc:1190 src/plasma/qtplasmac.adoc:1504
+#: src/plasma/qtplasmac.adoc:1518 src/plasma/qtplasmac.adoc:1768
+#: src/plasma/qtplasmac.adoc:2340 src/plasma/qtplasmac.adoc:2605
+#: src/plasma/qtplasmac.adoc:3115 src/plasma/qtplasmac.adoc:3935
+#, no-wrap
+msgid "Name"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:542 src/hal/basic-hal.adoc:544
+#: src/hal/basic-hal.adoc:546 src/hal/basic-hal.adoc:548
+#: src/hal/basic-hal.adoc:550
+#, no-wrap
+msgid "bit"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:542 src/hal/basic-hal.adoc:544
+#: src/hal/basic-hal.adoc:546 src/hal/basic-hal.adoc:548
+#: src/hal/basic-hal.adoc:550
+#, no-wrap
+msgid "In"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:542 src/hal/basic-hal.adoc:546
+#, no-wrap
+msgid "TRUE"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:543
+#, no-wrap
+msgid "wsum.0.bit.0.in"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:543 src/hal/basic-hal.adoc:545
+#: src/hal/basic-hal.adoc:547 src/hal/basic-hal.adoc:549
+#: src/hal/basic-hal.adoc:551 src/hal/basic-hal.adoc:552
+#, no-wrap
+msgid "s32"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:543 src/hal/basic-hal.adoc:545
+#: src/hal/basic-hal.adoc:547 src/hal/basic-hal.adoc:549
+#: src/hal/basic-hal.adoc:551
+#, no-wrap
+msgid "I/O"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:544
+#, no-wrap
+msgid "wsum.0.bit.0.weight"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:544 src/hal/basic-hal.adoc:548
+#: src/hal/basic-hal.adoc:550
+#, no-wrap
+msgid "FALSE"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:545
+#, no-wrap
+msgid "wsum.0.bit.1.in"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:546
+#, no-wrap
+msgid "wsum.0.bit.1.weight"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:547
+#, no-wrap
+msgid "wsum.0.bit.2.in"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:548
+#, no-wrap
+msgid "wsum.0.bit.2.weight"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:549
+#, no-wrap
+msgid "wsum.0.bit.3.in"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:550
+#, no-wrap
+msgid "wsum.0.bit.3.weight"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:551
+#, no-wrap
+msgid "wsum.0.hold"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:552
+#, no-wrap
+msgid "wsum.0.offset"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:552
+#, no-wrap
+msgid "Out"
+msgstr ""
+
+#. type: Table
+#: src/hal/basic-hal.adoc:553
+#, no-wrap
+msgid "wsum.0.sum"
+msgstr ""
+
+#. type: Title =
+#: src/hal/canonical-devices.adoc:5
+#, no-wrap
+msgid "Canonical Device Interfaces(((HAL Canonical Device Interfaces)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:11
+msgid ""
+"The following sections show the pins, parameters, and functions that are "
+"supplied by \"canonical devices\".  All HAL device drivers should supply the "
+"same pins and parameters, and implement the same behavior."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:14
+msgid ""
+"Note that only the `_<io-type>_` and `_<specific-name>_` fields are defined "
+"for a canonical device.  The `_<device-name>`, `_<device-num>_`, and "
+"`_<chan-num>_` fields are set based on the characteristics of the real "
+"device."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/canonical-devices.adoc:16
+#, no-wrap
+msgid "Digital Input(((HAL Digital Input)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:19
+msgid "The canonical digital input (I/O type field: `digin`) is quite simple."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:21
+#, no-wrap
+msgid "Pins(((HAL Digital Input Pins)))"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:23
+#, no-wrap
+msgid "(bit) *in*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:24
+msgid "State of the hardware input."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:24
+#, no-wrap
+msgid "(bit) *in-not*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:25
+msgid "Inverted state of the input."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:27
+#, no-wrap
+msgid "Parameters(((HAL Digital Input Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:30 src/man/man3/rtapi_app_exit.3rtapi.adoc:18
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:18
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:26
+#: src/man/man9/hal_bb_gpio.9.adoc:63 src/man/man9/setsserial.9.adoc:16
+#: src/man/man9/setsserial.9.adoc:20 src/man/man9/siggen.9.adoc:77
+#: src/man/man9/threads.9.adoc:38 src/man/man9/threads.9.adoc:42
+#: src/man/man9/threads.9.adoc:46
+#, no-wrap
+msgid "None"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:32
+#, no-wrap
+msgid "Functions(((HAL Digital Input Functions)))"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:34 src/hal/canonical-devices.adoc:79
+#, no-wrap
+msgid "(funct) *read*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:35
+msgid "Read hardware and set `in` and `in-not` HAL pins."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/canonical-devices.adoc:37
+#, no-wrap
+msgid "Digital Output(((HAL Digital Output)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:40
+msgid "The canonical digital output (I/O type field: `digout`) is also very simple."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:42
+#, no-wrap
+msgid "Pins(((HAL Digital Output Pins)))"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:44
+#, no-wrap
+msgid "(bit) *out*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:45
+msgid "Value to be written (possibly inverted) to the hardware output."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:47
+#, no-wrap
+msgid "Parameters(((HAL Digital Output Parameters)))"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:49
+#, no-wrap
+msgid "(bit) *invert*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:50
+msgid "If TRUE, *out* is inverted before writing to the hardware."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:52
+#, no-wrap
+msgid "Functions(((HAL Digital Output Functions)))"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:54 src/hal/canonical-devices.adoc:109
+#, no-wrap
+msgid "(funct) *write*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:55
+msgid "Read *out* and *invert*, and set hardware output accordingly."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/canonical-devices.adoc:57
+#, no-wrap
+msgid "Analog Input(((HAL Analog Input)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:61
+msgid ""
+"The canonical analog input (I/O type: `adcin`).  This is expected to be used "
+"for analog to digital converters, which convert e.g. voltage to a continuous "
+"range of values."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:63
+#, no-wrap
+msgid "Pins(((HAL Analog Input Pins)))"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:65 src/hal/canonical-devices.adoc:91
+#, no-wrap
+msgid "(float) *value*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:67
+#, no-wrap
+msgid ""
+"The hardware reading, scaled according to the *scale* and *offset* "
+"parameters.\n"
+"*value* = ((input reading, in hardware-dependent units) * *scale*) - "
+"*offset*"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:69
+#, no-wrap
+msgid "Parameters(((HAL Analog Input Parameters)))"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:71 src/hal/canonical-devices.adoc:98
+#, no-wrap
+msgid "(float) *scale*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:72
+msgid ""
+"The input voltage (or current) will be multiplied by *scale* before being "
+"output to *value*."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:72 src/hal/canonical-devices.adoc:97
+#, no-wrap
+msgid "(float) *offset*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:73
+msgid ""
+"This will be subtracted from the hardware input voltage (or current) after "
+"the scale multiplier has been applied."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:73
+#, no-wrap
+msgid "(float) *bit_weight*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:74
+msgid ""
+"The value of one least significant bit (LSB). This is effectively the "
+"granularity of the input reading."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:74
+#, no-wrap
+msgid "(float) *hw_offset*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:75
+msgid "The value present on the input when 0 Volts is applied to the input pin(s)."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:77
+#, no-wrap
+msgid "Functions(((HAL Analog Input Functions)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:80
+msgid ""
+"Read the values of this analog input channel.  This may be used for "
+"individual channel reads, or it may cause all channels to be read."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/canonical-devices.adoc:82
+#, no-wrap
+msgid "Analog Output(((HAL Analog Output)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:87
+msgid ""
+"The canonical analog output (I/O Type: *adcout*).  This is intended for any "
+"kind of hardware that can output a more-or-less continuous range of values.  "
+"Examples are digital to analog converters or PWM generators."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:89
+#, no-wrap
+msgid "Pins(((HAL Analog Output Pins)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:92
+msgid ""
+"The value to be written. The actual value output to the hardware will depend "
+"on the scale and offset parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:92
+#, no-wrap
+msgid "(bit) *enable*"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:93
+msgid "If false, then output 0 to the hardware, regardless of the *value* pin."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:95
+#, no-wrap
+msgid "Parameters(((HAL Analog Output Parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:98
+msgid "This will be added to the *value* before the hardware is updated."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:99
+msgid ""
+"This should be set so that an input of 1 on the *value* pin will cause the "
+"analog output pin to read 1 volt."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:99
+#, no-wrap
+msgid "(float) *high_limit* (optional)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:101
+msgid ""
+"When calculating the value to output to the hardware, if *value* + *offset* "
+"is greater than *high_limit*, then *high_limit* will be used instead."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:101
+#, no-wrap
+msgid "(float) *low_limit* (optional)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:103
+msgid ""
+"When calculating the value to output to the hardware, if *value* + *offset* "
+"is less than *low_limit*, then *low_limit* will be used instead."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:103
+#, no-wrap
+msgid "(float) *bit_weight* (optional)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:104
+msgid ""
+"The value of one least significant bit (LSB), in volts (or mA, for current "
+"outputs)."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/canonical-devices.adoc:104
+#, no-wrap
+msgid "(float) *hw_offset*  (optional)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:105
+msgid ""
+"The actual voltage (or current) that will be output if 0 is written to the "
+"hardware."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/canonical-devices.adoc:107
+#, no-wrap
+msgid "Functions(((HAL Analog Output Functions)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/canonical-devices.adoc:116
+msgid ""
+"This causes the calculated value to be output to the hardware.  If enable is "
+"false, then the output will be 0, regardless of *value*, *scale*, and "
+"*offset*.  The meaning of \"0\" is dependent on the hardware.  For example, "
+"a bipolar 12-bit A/D may need to write 0x1FF (mid scale) to the D/A get 0 "
+"volts from the hardware pin.  If enable is true, read scale, offset and "
+"value and output to the adc (*scale* * *value*) + *offset*.  If enable is "
+"false, then output 0."
+msgstr ""
+
+#. type: Title =
+#: src/hal/comp.adoc:5
+#, no-wrap
+msgid "HAL Component Generator(((HAL Component Generator)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:19
+msgid ""
+"This section introduces to the compilation HAL components, i.e. the addition "
+"of some machinists' knowledge on how to deal with the machine.  It should be "
+"noted that such components do not necessarily deal with the hardware "
+"directly.  They often do, but not necessarily, e.g. there could be a "
+"component to convert between imperial and metric scales, so this section "
+"does not require to dive into the interaction with hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:23
+msgid ""
+"Writing a HAL component can be a tedious process, most of it in setup calls "
+"to 'rtapi_' and 'hal_' functions and associated error checking.  "
+"'halcompile' will write all this code for you, automatically.  Compiling a "
+"HAL component is also much easier when using 'halcompile', whether the "
+"component is part of the LinuxCNC source tree, or outside it."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:26
+msgid ""
+"For instance, when coded in C, a simple component such as \"ddt\" is around "
+"80 lines of code.  The equivalent component is very short when written using "
+"the 'halcompile' preprocessor:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/comp.adoc:28
+#, no-wrap
+msgid "Simple Component Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:40
+#, no-wrap
+msgid ""
+"component ddt \"Compute the derivative of the input function\";\n"
+"pin in float in;\n"
+"pin out float out;\n"
+"variable double old;\n"
+"function _;\n"
+"license \"GPL\"; // indicates GPL v2 or later\n"
+";;\n"
+"float tmp = in;\n"
+"out = (tmp - old) / fperiod;\n"
+"old = tmp;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:47
+msgid ""
+"To compile a component, if a packaged version of LinuxCNC is used, "
+"development packages have to be installed using either Synaptic from the "
+"main menu 'System -> Administration -> Synaptic package manager' or by "
+"running one of the following commands in a terminal window:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/comp.adoc:48
+#, no-wrap
+msgid "Installation of Development packages for LinuxCNC"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:53
+#, no-wrap
+msgid ""
+"sudo apt install linuxcnc-dev\n"
+"# or\n"
+"sudo apt install linuxcnc-uspace-dev\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:56
+msgid ""
+"Another method is using the Synaptic package manager, from the Applications "
+"menu, to install the `linuxcnc-dev` or `linuxcnc-uspace-dev` packages."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:57
+#, no-wrap
+msgid "Using a Component"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:62
+msgid ""
+"Components need to be loaded and added to a thread before it can be "
+"employed.  The provided functionality can then be invoked directly and "
+"repeatedly by one of the threads or it is called by other components that "
+"have their own respective triggers."
+msgstr ""
+
+#. type: Block title
+#: src/hal/comp.adoc:63
+#, no-wrap
+msgid ""
+"Example HAL script for installing a component (ddt) and executing it every "
+"millisecond."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:68
+#, no-wrap
+msgid ""
+"loadrt threads name1=servo-thread period1=1000000\n"
+"loadrt ddt\n"
+"addf ddt.0 servo-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:72
+msgid ""
+"More information on 'loadrt' and 'addf' can be found in the "
+"<<cha:basic-hal-reference,HAL Basics>>."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:74
+msgid ""
+"To test your component you can follow the examples in the "
+"<<cha:hal-tutorial,HAL Tutorial>>."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:75
+#, no-wrap
+msgid "Definitions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:79
+msgid ""
+"'component' - A component is a single real-time module, which is loaded with "
+"'halcmd loadrt'.  One '.comp' file specifies one component. The component "
+"name and file name must match."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:83
+msgid ""
+"'instance' - A component can have zero or more instances.  Each instance of "
+"a component is created equal (they all have the same pins, parameters, "
+"functions, and data) but behave independently when their pins, parameters, "
+"and data have different values."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:87
+msgid ""
+"'singleton' - It is possible for a component to be a \"singleton\", in which "
+"case exactly one instance is created.  It seldom makes sense to write a "
+"'singleton' component, unless there can literally only be a single object of "
+"that kind in the system (for instance, a component whose purpose is to "
+"provide a pin with the current UNIX time, or a hardware driver for the "
+"internal PC speaker)."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:88
+#, no-wrap
+msgid "Instance creation"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:91
+msgid "For a singleton, the one instance is created when the component is loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:95
+msgid ""
+"For a non-singleton, the 'count' module parameter determines how many "
+"numbered instances are created.  If 'count' is not specified, the 'names' "
+"module parameter determines how many named instances are created.  If "
+"neither 'count' nor 'names' is specified, a single numbered instance is "
+"created."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:96
+#, no-wrap
+msgid "Implicit Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:101
+msgid ""
+"Functions are implicitly passed the 'period' parameter which is the time in "
+"nanoseconds of the last period to execute the component.  Functions which "
+"use floating-point can also refer to 'fperiod' which is the floating-point "
+"time in seconds, or (period*1e-9).  This can be useful in components that "
+"need the timing information."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:105
+msgid ""
+"A '.comp' file consists of a number of declarations, followed by ';;' on a "
+"line of its own, followed by C code implementing the module's functions."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:107
+msgid "Declarations include:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:109
+msgid "'component HALNAME (DOC);'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:110
+msgid ""
+"'pin PINDIRECTION TYPE HALNAME ([SIZE]|[MAXSIZE: CONDSIZE]) (if CONDITION) "
+"(= STARTVALUE) (DOC) ;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:111
+msgid ""
+"'param PARAMDIRECTION TYPE HALNAME ([SIZE]|[MAXSIZE: CONDSIZE]) (if "
+"CONDITION) (= STARTVALUE) (DOC) ;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:112
+msgid "'function HALNAME (fp | nofp) (DOC);'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:113
+msgid "'option OPT (VALUE);'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:114
+msgid "'variable CTYPE STARREDNAME ([SIZE]);'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:115
+msgid "'description DOC;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:116
+msgid "'examples DOC;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:117
+msgid "'notes DOC;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:118
+msgid "'see_also DOC;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:119
+msgid "'license LICENSE;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:120
+msgid "'author AUTHOR;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:121
+msgid "'include HEADERFILE;'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:124
+msgid ""
+"Parentheses indicate optional items. A vertical bar indicates alternatives.  "
+"Words in 'CAPITALS' indicate variable text, as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:126
+msgid "'NAME' - A standard C identifier"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:129
+msgid ""
+"'STARREDNAME' - A C identifier with zero or more * before it.  This syntax "
+"can be used to declare instance variables that are pointers.  Note that "
+"because of the grammar, there may not be whitespace between the * and the "
+"variable name."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:133
+msgid ""
+"'HALNAME' - An extended identifier.  When used to create a HAL identifier, "
+"any underscores are replaced with dashes, and any trailing dash or period is "
+"removed, so that \"this_name_\" will be turned into \"this-name\", and if "
+"the name is \"_\", then a trailing period is removed as well, so that "
+"\"function _\" gives a HAL function name like \"component.<num>\" instead of "
+"\"component.<num>.\""
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:135
+msgid ""
+"If present, the prefix 'hal_' is removed from the beginning of the component "
+"name when creating pins, parameters and functions."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:138
+msgid ""
+"In the HAL identifier for a pin or parameter, # denotes an array item, and "
+"must be used in conjunction with a '[SIZE]' declaration.  The hash marks are "
+"replaced with a 0-padded number with the same length as the number of # "
+"characters."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:140
+msgid ""
+"When used to create a C identifier, the following changes are applied to the "
+"HALNAME:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:142
+msgid ""
+"Any \"#\" characters, and any \".\", \"_\" or \"-\" characters immediately "
+"before them, are removed."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:143
+msgid "Any remaining \".\" and \"-\" characters are replaced with \"_\"."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:144
+msgid "Repeated \"\\_\" characters are changed to a single \"\\_\" character."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:146
+msgid ""
+"A trailing \"_\" is retained, so that HAL identifiers which would otherwise "
+"collide with reserved names or keywords (e.g., 'min') can be used."
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:149
+#, no-wrap
+msgid "HALNAME"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:149
+#, no-wrap
+msgid "C Identifier"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:150
+#, no-wrap
+msgid "HAL Identifier"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:150 src/hal/comp.adoc:151
+#, no-wrap
+msgid "x_y_z"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:151 src/hal/comp.adoc:153
+#, no-wrap
+msgid "x-y-z"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:151 src/hal/comp.adoc:152
+#, no-wrap
+msgid "x-y.z"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:152
+#, no-wrap
+msgid "x_y_z_"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:153
+#, no-wrap
+msgid "x.##.y"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:153
+#, no-wrap
+msgid "x_y(MM)"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:154
+#, no-wrap
+msgid "x.MM.z"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:154
+#, no-wrap
+msgid "x.##"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:154
+#, no-wrap
+msgid "x(MM)"
+msgstr ""
+
+#. type: Table
+#: src/hal/comp.adoc:155
+#, no-wrap
+msgid "x.MM"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:158
+msgid ""
+"'if CONDITION' - An expression involving the variable 'personality' which is "
+"nonzero when the pin or parameter should be created."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:160
+msgid ""
+"'SIZE' - A number that gives the size of an array. The array items are "
+"numbered from 0 to 'SIZE'-1."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:164
+msgid ""
+"'MAXSIZE : CONDSIZE' - A number that gives the maximum size of the array, "
+"followed by an expression involving the variable 'personality' and which "
+"always evaluates to less than 'MAXSIZE'.  When the array is created its size "
+"will be 'CONDSIZE'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:166
+msgid ""
+"'DOC' - A string that documents the item. String can be a C-style \"double "
+"quoted\" string, like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:169
+#, no-wrap
+msgid "\"Selects the desired edge: TRUE means falling, FALSE means rising\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:172
+msgid ""
+"or a Python-style \"triple quoted\" string, which may include embedded "
+"newlines and quote characters, such as:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:176
+#, no-wrap
+msgid ""
+"\"\"\"The effect of this parameter, also known as \"the orb of zot\",\n"
+"will require at least two paragraphs to explain.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:179
+#, no-wrap
+msgid ""
+"Hopefully these paragraphs have allowed you to understand \"zot\"\n"
+"better.\"\"\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:182
+msgid ""
+"Or a string may be preceded by the literal character 'r', in which case the "
+"string is interpreted like a Python raw-string."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:186
+msgid ""
+"The documentation string is in \"groff -man\" format.  For more information "
+"on this markup format, see 'groff_man(7)'.  Remember that 'halcompile' "
+"interprets backslash escapes in strings, so for instance to set the italic "
+"font for the word 'example', write:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:189
+#, no-wrap
+msgid "\"\\\\fIexample\\\\fB\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:192
+msgid ""
+"In this case, r-strings are particularly useful, because the backslashes in "
+"an r-string need not be doubled:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:195
+#, no-wrap
+msgid "r\"\\fIexample\\fB\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:199
+msgid ""
+"'TYPE' - One of the HAL types: 'bit', 's32', 'u32', 's64', 'u64' or "
+"'float'.  The names 'signed' and 'unsigned' may also be used for 's32' and "
+"'u32' but 's32' and 'u32' are preferred."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:201
+msgid ""
+"'PINDIRECTION' - One of the following: 'in', 'out', or 'io'.  A component "
+"sets a value for an 'out' pin, it reads a value from an 'in' pin, and it may "
+"read or set the value of an 'io' pin."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:202
+msgid ""
+"'PARAMDIRECTION' - One of the following: 'r' or 'rw'. A component sets a "
+"value for a 'r' parameter, and it may read or set the value of a 'rw' "
+"parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:204
+msgid ""
+"'STARTVALUE' - Specifies the initial value of a pin or parameter.  If it is "
+"not specified, then the default is '0' or 'FALSE', depending on the type of "
+"the item."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:206
+msgid ""
+"'HEADERFILE' - The name of a header file, either in double-quotes (`include "
+"\"myfile.h\";`) or in angle brackets (`include <systemfile.h>;`).  The "
+"header file will be included (using C's #include) at the top of the file, "
+"before pin and parameter declarations."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:207
+#, no-wrap
+msgid "HAL functions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:210
+msgid "'fp' - Indicates that the function performs floating-point calculations."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:214
+msgid ""
+"'nofp' - Indicates that it only performs integer calculations.  If neither "
+"is specified, 'fp' is assumed.  Neither 'halcompile' nor gcc can detect the "
+"use of floating-point calculations in functions that are tagged 'nofp', but "
+"the use of such operations results in undefined behavior."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:218
+msgid "The currently defined options are:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:222
+msgid ""
+"'option singleton yes' - (default: no)  Do not create a 'count' module "
+"parameter, and always create a single instance.  With 'singleton', items are "
+"named 'component-name.item-name' and without 'singleton', items for numbered "
+"instances are named 'component-name.<num>.item-name'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:224
+msgid ""
+"'option default_count number' - (default: 1)  Normally, the module parameter "
+"'count' defaults to 1. If specified, the 'count' will default to this value "
+"instead."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:227
+msgid ""
+"'option count_function yes' - (default: no)  Normally, the number of "
+"instances to create is specified in the module parameter 'count'; if "
+"'count_function' is specified, the value returned by the function 'int "
+"get_count(void)' is used instead, and the 'count' module parameter is not "
+"defined."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:231
+msgid ""
+"'option rtapi_app no' - (default: yes)  Normally, the functions "
+"`rtapi_app_main()` and `rtapi_app_exit()` are automatically defined.  With "
+"'option rtapi_app no', they are not, and must be provided in the C code.  "
+"Use the following prototypes:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:234
+#, no-wrap
+msgid "`int rtapi_app_main(void);`\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:236
+#, no-wrap
+msgid "`void rtapi_app_exit(void);`\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:239
+msgid ""
+"When implementing your own `rtapi_app_main()`, call the function `int "
+"export(char *prefix, long extra_arg)` to register the pins, parameters, and "
+"functions for `prefix`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:243
+#, no-wrap
+msgid ""
+"'option data TYPE' - (default: none) *deprecated*\n"
+"If specified, each instance of the component will have an associated data "
+"block of type 'TYPE' (which can be a simple type like 'float' or the name of "
+"a type created with 'typedef'). In new components, 'variable' should be used "
+"instead."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:247
+#, no-wrap
+msgid ""
+"'option extra_setup yes' - (default: no)\n"
+"If specified, call the function defined by 'EXTRA_SETUP' for each "
+"instance. If using the automatically defined 'rtapi_app_main', 'extra_arg' "
+"is the number of this instance."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:251
+#, no-wrap
+msgid ""
+"'option extra_cleanup yes' - (default: no)\n"
+"If specified, call the function defined by 'EXTRA_CLEANUP' from the "
+"automatically defined 'rtapi_app_exit' or, in case of a detected error, in "
+"the automatically defined 'rtapi_app_main'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:259
+#, no-wrap
+msgid ""
+"'option userspace yes' - (default: no)\n"
+"If specified, this file describes a non-realtime (formerly known as "
+"\"userspace\") component, rather than a regular (i.e., realtime) one. A "
+"non-realtime component may not have functions defined by the 'function' "
+"directive. Instead, after all the instances are constructed, the C function "
+"`void user_mainloop(void);` is called. When this function returns, the "
+"component exits. Typically, 'user_mainloop()' will use 'FOR_ALL_INSTS()' to "
+"perform the update action for each instance, then sleep for a short "
+"time. Another common action in 'user_mainloop()' may be to call the event "
+"handler loop of a GUI toolkit."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:265
+#, no-wrap
+msgid ""
+"'option userinit yes' - (default: no)\n"
+"This option is ignored if the option 'userspace' (see above) is set to "
+"'no'. If 'userinit' is specified, the function 'userinit(argc,argv)' is "
+"called before 'rtapi_app_main()' (and thus before the call to 'hal_init()' "
+"). This function may process the commandline arguments or take other "
+"actions. Its return type is 'void'; it may call 'exit()' if it wishes to "
+"terminate rather than create a HAL component (e.g., because the commandline "
+"arguments were invalid)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:267
+msgid "'option extra_link_args \"...\"' - (default: \"\")"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:273
+msgid ""
+"This option is ignored if the option 'userspace' (see above) is set to "
+"'no'.  When linking a non-realtime component, the arguments given are "
+"inserted in the link line.  Note that because compilation takes place in a "
+"temporary directory, \"-L.\" refers to the temporary directory and not the "
+"directory where the .comp source file resides.  This option can be set in "
+"the halcompile command-line with -extra-link-args=\"-L.....\".  This "
+"alternative provides a way to set extra flags in cases where the input file "
+"is a .c file rather than a .comp file."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:275
+msgid "'option extra_compile_args \"...\"' - (default: \"\")"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:279
+msgid ""
+"This option is ignored if the option 'userspace' (see above) is set to "
+"'no'.  When compiling a non-realtime component, the arguments given are "
+"inserted in the compiler command line.  If the input file is a .c file this "
+"option can be set in the halcompile command-line with "
+"--extra-compile-args=\"-I.....\".  This alternative provides a way to set "
+"extra flags in cases where the input file is a .c file rather than a .comp "
+"file."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:282
+#, no-wrap
+msgid ""
+"'option homemod yes' - (default: no)\n"
+"Module is a custom Homing module loaded using "
+"`[EMCMOT]HOMEMOD=`__modulename__ ."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:285
+#, no-wrap
+msgid ""
+"'option tpmod yes' - (default: no)\n"
+"Module is a custom Trajectory Planning (tp) module loaded using "
+"`[TRAJ]TPMOD=`__modulename__ ."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:289
+#, no-wrap
+msgid ""
+"If an option's VALUE is not specified, then it is equivalent to specifying "
+"'option … yes'.\n"
+"The result of assigning an inappropriate value to an option is undefined.\n"
+"The result of using any other option is undefined. +"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:290
+#, no-wrap
+msgid "License and Authorship"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:294
+msgid ""
+"`LICENSE` - Specify the license of the module for the documentation and for "
+"the MODULE_LICENSE() module declaration.  For example, to specify that the "
+"module's license is GPL v2 or later:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:296
+#, no-wrap
+msgid "`license \"GPL\"; // indicates GPL v2 or later`\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:299
+msgid ""
+"For additional information on the meaning of MODULE_LICENSE() and additional "
+"license identifiers, see '<linux/module.h>' or the manual page "
+"'rtapi_module_param(3)'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:301
+msgid "This declaration is *required*."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:303
+msgid "`AUTHOR` - Specify the author of the module for the documentation."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:304
+#, no-wrap
+msgid "Per-instance data storage"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:310
+#, no-wrap
+msgid ""
+"`variable CTYPE STARREDNAME;\n"
+"variable CTYPE STARREDNAME[SIZE];\n"
+"variable CTYPE STARREDNAME = DEFAULT;\n"
+"variable CTYPE STARREDNAME[SIZE] = DEFAULT;`"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:316
+msgid ""
+"Declare a per-instance variable 'STARREDNAME' of type 'CTYPE', optionally as "
+"an array of 'SIZE' items, and optionally with a default value 'DEFAULT'.  "
+"Items with no 'DEFAULT' are initialized to all-bits-zero.  'CTYPE' is a "
+"simple one-word C type, such as `float`, `u32`, `s32`, `int`, etc.  Access "
+"to array variables uses square brackets."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:319
+msgid ""
+"If a variable is to be of a pointer type, there may not be any space between "
+"the \"*\" and the variable name.  Therefore, the following is acceptable:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:322
+#, no-wrap
+msgid "variable int *example;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:325
+msgid "But the following are not:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:329
+#, no-wrap
+msgid ""
+"variable int* badexample;\n"
+"variable int * badexample;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:336
+msgid ""
+"C++-style one-line comments (`//...`) and C-style multi-line comments (`/* "
+"... */`)  are both supported in the declaration section."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:337
+#, no-wrap
+msgid "Restrictions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:340
+msgid ""
+"Though HAL permits a pin, a parameter, and a function to have the same name, "
+"'halcompile' does not."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:342
+msgid ""
+"Variable and function names that can not be used or are likely to cause "
+"problems include:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:344
+msgid "Anything beginning with '__comp_'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:345
+msgid "'comp_id'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:346
+msgid "'fperiod'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:347
+msgid "'rtapi_app_main'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:348
+msgid "'rtapi_app_exit'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:349
+msgid "'extra_setup'"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:350
+msgid "'extra_cleanup'"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:351
+#, no-wrap
+msgid "Convenience Macros"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:357
+msgid ""
+"Based on the items in the declaration section, 'halcompile' creates a C "
+"structure called `struct __comp_state`.  However, instead of referring to "
+"the members of this structure (e.g., `*(inst->name)`), they will generally "
+"be referred to using the macros below.  The details of `struct __comp_state` "
+"and these macros may change from one version of 'halcompile' to the next."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:360
+msgid ""
+"`FUNCTION(`__name__`)` - Use this macro to begin the definition of a "
+"realtime function, which was previously declared with 'function NAME'.  The "
+"function includes a parameter 'period' which is the integer number of "
+"nanoseconds between calls to the function."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:362
+msgid ""
+"`EXTRA_SETUP()` - Use this macro to begin the definition of the function "
+"called to perform extra setup of this instance.  Return a negative Unix "
+"'errno' value to indicate failure (e.g., 'return -EBUSY' on failure to "
+"reserve an I/O port), or 0 to indicate success."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:365
+msgid ""
+"`EXTRA_CLEANUP()` - Use this macro to begin the definition of the function "
+"called to perform extra cleanup of the component.  Note that this function "
+"must clean up all instances of the component, not just one.  The "
+"\"pin_name\", \"parameter_name\", and \"data\" macros may not be used here."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:371
+msgid ""
+"'pin_name' or 'parameter_name' - For each pin 'pin_name' or param "
+"'parameter_name' there is a macro which allows the name to be used on its "
+"own to refer to the pin or parameter.  When 'pin_name' or 'parameter_name' "
+"is an array, the macro is of the form 'pin_name(idx)' or 'param_name(idx)', "
+"where 'idx' is the index into the pin array. When the array is a "
+"variable-sized array, it is only legal to refer to items up to its "
+"'condsize'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:373
+msgid ""
+"When the item is a conditional item, it is only legal to refer to it when "
+"its 'condition' evaluated to a nonzero value."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:376
+msgid ""
+"'variable_name' - For each variable 'variable_name' there is a macro which "
+"allows the name to be used on its own to refer to the variable.  When "
+"'variable_name' is an array, the normal C-style subscript is used: "
+"'variable_name[idx]'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:377
+msgid ""
+"'data' - If \"option data\" is specified, this macro allows access to the "
+"instance data."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:378
+msgid ""
+"'fperiod' - The floating-point number of seconds between calls to this "
+"realtime function."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:381
+msgid ""
+"`FOR_ALL_INSTS() {`...`}` - For non-realtime components.  This macro "
+"iterates over all the defined instances.  Inside the body of the loop, the "
+"'pin_name', 'parameter_name', and 'data' macros work as they do in realtime "
+"functions."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:382
+#, no-wrap
+msgid "Components with one function"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:387
+msgid ""
+"If a component has only one function and the string \"FUNCTION\" does not "
+"appear anywhere after ';;', then the portion after ';;' is all taken to be "
+"the body of the component's single function.  See the "
+"<<code:simple-comp-example,Simple Comp>> for an example of this."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:388
+#, no-wrap
+msgid "Component Personality"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:394
+msgid ""
+"If a component has any pins or parameters with an \"if condition\" or "
+"\"[maxsize : condsize]\", it is called a component with 'personality'.  The "
+"'personality' of each instance is specified when the module is "
+"loaded. 'Personality' can be used to create pins only when needed.  For "
+"instance, personality is used in the 'logic' component, to allow for a "
+"variable number of input pins to each logic gate and to allow for a "
+"selection of any of the basic boolean logic functions 'and', 'or', and "
+"'xor'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:397
+msgid ""
+"The default number of allowed 'personality' items is a compile-time setting "
+"(64).  The default applies to numerous components included in the "
+"distribution that are built using halcompile."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:400
+msgid ""
+"To alter the allowed number of personality items for user-built components, "
+"use the '--personalities' option with halcompile.  For example, to allow up "
+"to 128 personality times:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:403
+#, no-wrap
+msgid "  [sudo] halcompile --personalities=128 --install ...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:407
+msgid ""
+"When using components with personality, normal usage is to specify a "
+"personality item for *each* specified component instance.  Example for 3 "
+"instances of the logic component:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:411
+#, no-wrap
+msgid "loadrt logic names=and4,or3,nand5, personality=0x104,0x203,0x805\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:419
+msgid ""
+"If a loadrt line specifies more instances than personalities, the instances "
+"with unspecified personalities are assigned a personality of 0.  If the "
+"requested number of instances exceeds the number of allowed personalities, "
+"personalities are assigned by indexing modulo the number of allowed "
+"personalities.  A message is printed denoting such assignments."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:420
+#, no-wrap
+msgid "Compiling"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:424
+msgid ""
+"Place the '.comp' file in the source directory 'linuxcnc/src/hal/components' "
+"and re-run 'make'.  'Comp' files are automatically detected by the build "
+"system."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:427
+msgid ""
+"If a '.comp' file is a driver for hardware, it may be placed in "
+"'linuxcnc/src/hal/drivers' and will be built unless LinuxCNC is configured "
+"as a non-realtime simulator."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:428
+#, no-wrap
+msgid "Compiling realtime components outside the source tree"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:432
+msgid ""
+"'halcompile' can process, compile, and install a realtime component in a "
+"single step, placing 'rtexample.ko' in the LinuxCNC realtime module "
+"directory:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:435
+#, no-wrap
+msgid "[sudo] halcompile --install rtexample.comp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:440
+msgid ""
+"sudo (for root permission) is needed when using LinuxCNC from a deb package "
+"install.  When using a Run-In-Place (RIP) build, root privileges should not "
+"be needed."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:442
+msgid ""
+"Or, it can process and compile in one step, leaving 'example.ko' (or "
+"'example.so' for the simulator) in the current directory:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:445
+#, no-wrap
+msgid "halcompile --compile rtexample.comp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:448
+msgid "Or it can simply process, leaving 'example.c' in the current directory:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:451
+#, no-wrap
+msgid "halcompile rtexample.comp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:454
+msgid ""
+"'halcompile' can also compile and install a component written in C, using "
+"the '--install' and '--compile' options shown above:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:457
+#, no-wrap
+msgid "[sudo] halcompile --install rtexample2.c\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:460
+msgid ""
+"man-format documentation can also be created from the information in the "
+"declaration section:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:463
+#, no-wrap
+msgid "halcompile --document rtexample.comp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:466
+msgid "The resulting manpage, 'example.9' can be viewed with"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:469
+#, no-wrap
+msgid "man ./example.9\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:472
+msgid "or copied to a standard location for manual pages."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:473
+#, no-wrap
+msgid "Compiling non-realtime components outside the source tree"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:476
+msgid ""
+"'halcompile' can process, compile, install, and document non-realtime "
+"components:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:482
+#, no-wrap
+msgid ""
+"halcompile non-rt-example.comp\n"
+"halcompile --compile non-rt-example.comp\n"
+"[sudo] halcompile --install non-rt-example.comp\n"
+"halcompile --document non-rt-example.comp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:488
+msgid ""
+"For some libraries (for example modbus) it might be necessary to add extra "
+"compiler and linker arguments to enable the compiler to find and link the "
+"libraries.  In the case of .comp files this can be done via \"option\" "
+"statements in the .comp file.  For .c files this is not possible so the "
+"--extra-compile-args and --extra-link-args parameters can be used instead.  "
+"As an example, this command line can be used to compile the vfdb_vfd.c "
+"component out-of-tree."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:490
+#, no-wrap
+msgid ""
+"halcompile --userspace --install "
+"--extra-compile-args=\"-I/usr/include/modbus\" --extra-link-args=\"-lm "
+"-lmodbus -llinuxcncini\" vfdb_vfd.c\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:492
+msgid "The effect of using both command-line and in-file extra-args is undefined."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:495
+#, no-wrap
+msgid "constant"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:499
+msgid ""
+"Note that the declaration \"function _\" creates functions named "
+"\"constant.0\", etc.  The file name must match the component name."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:509
+#, no-wrap
+msgid ""
+"component constant;\n"
+"pin out float out;\n"
+"param r float value = 1.0;\n"
+"function _;\n"
+"license \"GPL\"; // indicates GPL v2 or later\n"
+";;\n"
+"FUNCTION(_) { out = value; }\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:511
+#, no-wrap
+msgid "sincos"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:516
+msgid ""
+"This component computes the sine and cosine of an input angle in radians.  "
+"It has different capabilities than the \"sine\" and \"cosine\" outputs of "
+"siggen, because the input is an angle, rather than running freely based on a "
+"\"frequency\" parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:519
+msgid ""
+"The pins are declared with the names 'sin_' and 'cos_' in the source code so "
+"that they do not interfere with the functions 'sin()' and 'cos()'.  The HAL "
+"pins are still called 'sincos.<num>.sin'."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:531
+#, no-wrap
+msgid ""
+"component sincos;\n"
+"pin out float sin_;\n"
+"pin out float cos_;\n"
+"pin in float theta;\n"
+"function _;\n"
+"license \"GPL\"; // indicates GPL v2 or later\n"
+";;\n"
+"#include <rtapi_math.h>\n"
+"FUNCTION(_) { sin_ = sin(theta); cos_ = cos(theta); }\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:533
+#, no-wrap
+msgid "out8"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:539
+msgid ""
+"This component is a driver for a 'fictional' card called \"out8\", which has "
+"8 pins of digital output which are treated as a single 8-bit value.  There "
+"can be a varying number of such cards in the system, and they can be at "
+"various addresses.  The pin is called 'out_' because 'out' is an identifier "
+"used in '<asm/io.h>'.  It illustrates the use of 'EXTRA_SETUP' and "
+"'EXTRA_CLEANUP' to request an I/O region and then free it in case of error "
+"or when the module is unloaded."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:545
+#, no-wrap
+msgid ""
+"component out8;\n"
+"pin out unsigned out_ \"Output value; only low 8 bits are used\";\n"
+"param r unsigned ioaddr;\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:547
+#, no-wrap
+msgid "function _;\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:552
+#, no-wrap
+msgid ""
+"option count_function;\n"
+"option extra_setup;\n"
+"option extra_cleanup;\n"
+"option constructable no;\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:556
+#, no-wrap
+msgid ""
+"license \"GPL\"; // indicates GPL v2 or later\n"
+";;\n"
+"#include <asm/io.h>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:560
+#, no-wrap
+msgid ""
+"#define MAX 8\n"
+"int io[MAX] = {0,};\n"
+"RTAPI_MP_ARRAY_INT(io, MAX, \"I/O addresses of out8 boards\");\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:566
+#, no-wrap
+msgid ""
+"int get_count(void) {\n"
+"    int i = 0;\n"
+"    for(i=0; i<MAX && io[i]; i++) { /* Nothing */ }\n"
+"    return i;\n"
+"}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:577
+#, no-wrap
+msgid ""
+"EXTRA_SETUP() {\n"
+"    if(!rtapi_request_region(io[extra_arg], 1, \"out8\")) {\n"
+"        // set this I/O port to 0 so that EXTRA_CLEANUP does not release the "
+"IO\n"
+"        // ports that were never requested.\n"
+"        io[extra_arg] = 0;\n"
+"        return -EBUSY;\n"
+"    }\n"
+"    ioaddr = io[extra_arg];\n"
+"    return 0;\n"
+"}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:584
+#, no-wrap
+msgid ""
+"EXTRA_CLEANUP() {\n"
+"    int i;\n"
+"    for(i=0; i < MAX && io[i]; i++) {\n"
+"        rtapi_release_region(io[i], 1);\n"
+"    }\n"
+"}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:586
+#, no-wrap
+msgid "FUNCTION(_) { outb(out_, ioaddr); }\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:588
+#, no-wrap
+msgid "hal_loop"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:594
+#, no-wrap
+msgid ""
+"component hal_loop;\n"
+"pin out float example;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:597
+msgid ""
+"This fragment of a component illustrates the use of the 'hal_' prefix in a "
+"component name."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:599
+msgid ""
+"`loop` is a common name, and the `hal_` prefix avoids potential name "
+"collisions with other unrelated software.  For example, on RTAI realtime "
+"systems realtime code runs in the kernel, so if the component were named "
+"just `loop` it could easily conflict with the standard `loop` kernel module."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:602
+msgid ""
+"When loaded, 'halcmd show comp' will show a component called 'hal_loop'.  "
+"However, the pin shown by 'halcmd show pin' will be 'loop.0.example', not "
+"'hal-loop.0.example'."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:603
+#, no-wrap
+msgid "arraydemo"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:606
+msgid "This realtime component illustrates use of fixed-size arrays:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:618
+#, no-wrap
+msgid ""
+"component arraydemo \"4-bit Shift register\";\n"
+"pin in bit in;\n"
+"pin out bit out-# [4];\n"
+"function _ nofp;\n"
+"license \"GPL\"; // indicates GPL v2 or later\n"
+";;\n"
+"int i;\n"
+"for(i=3; i>0; i--) out(i) = out(i-1);\n"
+"out(0) = in;\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:620
+#, no-wrap
+msgid "rand"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:623
+msgid ""
+"This non-realtime component changes the value on its output pin to a new "
+"random value in the range (0,1) about once every 1&#8239;ms."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:628
+#, no-wrap
+msgid ""
+"component rand;\n"
+"option userspace;\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:633
+#, no-wrap
+msgid ""
+"pin out float out;\n"
+"license \"GPL\"; // indicates GPL v2 or later\n"
+";;\n"
+"#include <unistd.h>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:640
+#, no-wrap
+msgid ""
+"void user_mainloop(void) {\n"
+"    while(1) {\n"
+"        usleep(1000);\n"
+"        FOR_ALL_INSTS() out = drand48();\n"
+"    }\n"
+"}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:642
+#, no-wrap
+msgid "logic"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:645
+msgid ""
+"This realtime component shows how to use \"personality\" to create "
+"variable-size arrays and optional pins."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:678
+#, no-wrap
+msgid ""
+"component logic \"LinuxCNC HAL component providing experimental logic "
+"functions\";\n"
+"pin in bit in-##[16 : personality & 0xff];\n"
+"pin out bit and if personality & 0x100;\n"
+"pin out bit or if personality & 0x200;\n"
+"pin out bit xor if personality & 0x400;\n"
+"function _ nofp;\n"
+"description \"\"\"\n"
+"Experimental general 'logic function' component.  Can perform 'and', 'or'\n"
+"and 'xor' of up to 16 inputs.  Determine the proper value for "
+"'personality'\n"
+"by adding:\n"
+".IP \\\\(bu 4\n"
+"The number of input pins, usually from 2 to 16\n"
+".IP \\\\(bu\n"
+"256 (0x100)  if the 'and' output is desired\n"
+".IP \\\\(bu\n"
+"512 (0x200)  if the 'or' output is desired\n"
+".IP \\\\(bu\n"
+"1024 (0x400)  if the 'xor' (exclusive or) output is desired\"\"\";\n"
+"license \"GPL\"; // indicates GPL v2 or later\n"
+";;\n"
+"FUNCTION(_) {\n"
+"    int i, a=1, o=0, x=0;\n"
+"    for(i=0; i < (personality & 0xff); i++) {\n"
+"        if(in(i)) { o = 1; x = !x; }\n"
+"        else { a = 0; }\n"
+"    }\n"
+"    if(personality & 0x100) and = a;\n"
+"    if(personality & 0x200) or = o;\n"
+"    if(personality & 0x400) xor = x;\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:681
+msgid "A typical load line for this component might be"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:685
+#, no-wrap
+msgid "loadrt logic count=3 personality=0x102,0x305,0x503\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:688
+msgid "which creates the following pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:690
+msgid "A 2-input AND gate: `logic.0.and`, `logic.0.in-00`, `logic.0.in-01`"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:691
+msgid ""
+"5-input AND and OR gates: `logic.1.and`, `logic.1.or`, `logic.1.in-00`, "
+"`logic.1.in-01`, `logic.1.in-02`, `logic.1.in-03`, `logic.1.in-04`,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:692
+msgid ""
+"3-input AND and XOR gates: `logic.2.and`, `logic.2.xor`, `logic.2.in-00`, "
+"`logic.2.in-01`, `logic.2.in-02`"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/comp.adoc:693
+#, no-wrap
+msgid "General Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:697
+msgid ""
+"This example shows how to call functions from the main function.  It also "
+"shows how to pass reference of HAL pins to those functions."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:704
+#, no-wrap
+msgid ""
+"component example;\n"
+"pin in s32 in;\n"
+"pin out bit out1;\n"
+"pin out bit out2;\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:708
+#, no-wrap
+msgid ""
+"function _;\n"
+"license \"GPL\";\n"
+";;\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:713
+#, no-wrap
+msgid ""
+"// general pin set true function\n"
+"void set(hal_bit_t *p){\n"
+"    *p = 1;\n"
+"}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:718
+#, no-wrap
+msgid ""
+"// general pin set false function\n"
+"void unset(hal_bit_t *p){\n"
+"    *p = 0;\n"
+"}\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:732
+#, no-wrap
+msgid ""
+"//main function\n"
+"FUNCTION(_) {\n"
+"    if (in < 0){\n"
+"        set(&out1);\n"
+"        unset(&out2);\n"
+"    }else if (in >0){\n"
+"        unset(&out2);\n"
+"        set(&out2);\n"
+"    }else{\n"
+"        unset(&out1);\n"
+"        unset(&out2);\n"
+"    }\n"
+"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:735
+msgid ""
+"This component uses two general function to manipulate a HAL bit pin "
+"referenced to it."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/comp.adoc:736
+#, no-wrap
+msgid "Command Line Usage"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:739
+msgid "The halcompile man page gives details for invoking `halcompile`."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:742
+#, no-wrap
+msgid "$ man halcompile\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/comp.adoc:745
+msgid "A brief summary of halcompile usage is given by:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/comp.adoc:748
+#, no-wrap
+msgid "$ halcompile --help\n"
+msgstr ""
+
+#. type: Title =
+#: src/hal/components.adoc:5
+#, no-wrap
+msgid "HAL Component List(((\"HAL Component List\")))"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/components.adoc:7 src/ladder/classic-ladder.adoc:38
+#, no-wrap
+msgid "Components"
+msgstr ""
+
+#.  < explanation of the difference between a realtime and a non-realtime component >
+#. type: Plain text
+#: src/hal/components.adoc:15
+msgid ""
+"Most of the commands in the following list have their own dedicated man "
+"pages.  Some will have expanded descriptions, some will have limited "
+"descriptions.  From this list you know what components exist, and you can "
+"use `man` _name_ on your UNIX command line to get additional information.  "
+"To view the information in the man page, in a terminal window type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/components.adoc:18
+#, no-wrap
+msgid "man axis\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/components.adoc:23
+msgid ""
+"The one or other setup of a UNIX system may require to explicitly specify "
+"the section of the man page.  If you do not find the man page or the name of "
+"the man page is already taken by another UNIX tool with the LinuxCNC man "
+"page residing in another section, then try to explicitly specify the "
+"section, as in `man _sectionno_ axis`, with _sectionno_ = 1 for non-realtime "
+"and 9 for realtime components."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/components.adoc:27
+msgid ""
+"See also the 'Man Pages' section of the link:../index.html[docs main page] "
+"or the link:../man/[directory listing].  To search in the man pages, use the "
+"UNIX tool `apropos`."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:29
+#, no-wrap
+msgid "User Interfaces (non-realtime)"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/components.adoc:31
+#, no-wrap
+msgid "Machine Control"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:34
+#, no-wrap
+msgid "link:../man/man1/axis.1.html[axis]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:34
+#, no-wrap
+msgid "AXIS LinuxCNC (The Enhanced Machine Controller) GUI"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:35
+#, no-wrap
+msgid "link:../man/man1/axis-remote.1.html[axis-remote]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:35
+#, no-wrap
+msgid "AXIS Remote Interface"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:36
+#, no-wrap
+msgid "link:../man/man1/gmoccapy.1.html[gmoccapy]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:36 src/hal/components.adoc:37
+#, no-wrap
+msgid "Touchy LinuxCNC Graphical User Interface"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:37
+#, no-wrap
+msgid "link:../man/man1/gscreen.1.html[gscreen]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:38
+#, no-wrap
+msgid "link:../man/man1/halui.1.html[halui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:38
+#, no-wrap
+msgid "Observe HAL pins and command LinuxCNC through NML"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:39
+#, no-wrap
+msgid "link:../man/man1/mdro.1.html[mdro]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:39
+#, no-wrap
+msgid "manual only Digital Read Out (DRO)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:40
+#, no-wrap
+msgid "link:../man/man1/ngcgui.1.html[ngcgui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:40
+#, no-wrap
+msgid "Framework for conversational G-code generation on the controller"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:41
+#, no-wrap
+msgid "link:../man/man1/panelui.1.html[panelui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:41 src/hal/components.adoc:141
+#: src/hal/components.adoc:143
+#, no-wrap
+msgid "Short description"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:42
+#, no-wrap
+msgid "link:../man/man1/pyngcgui.1.html[pyngcgui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:42
+#, no-wrap
+msgid "Python implementation of NGCGUI"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:43
+#, no-wrap
+msgid "link:../man/man1/touchy.1.html[touchy]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:43
+#, no-wrap
+msgid "AXIS - TOUCHY LinuxCNC Graphical User Interface"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/components.adoc:46
+#, no-wrap
+msgid "Virtual Control Panels (VCP)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:49
+#, no-wrap
+msgid "link:../man/man1/gladevcp.1.html[gladevcp]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:49
+#, no-wrap
+msgid "Virtual Control Panel for LinuxCNC based on Glade, Gtk and HAL widgets"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:50
+#, no-wrap
+msgid "link:../man/man1/gladevcp_demo.1.html[gladevcp_demo]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:50
+#, no-wrap
+msgid "GladeVCP - used by sample configs to deonstrate Glade Virtual_demo"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:51
+#, no-wrap
+msgid "link:../man/man1/gremlin_view.1.html[gremlin_view]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:51
+#, no-wrap
+msgid "G-code graphical preview"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:52
+#, no-wrap
+msgid "link:../man/man1/moveoff_gui.1.html[moveoff_gui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:52
+#, no-wrap
+msgid "GUI for the moveoff component"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:53
+#, no-wrap
+msgid "link:../man/man1/pyui.1.html[pyui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:53
+#, no-wrap
+msgid "Utility for panelui"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:54
+#, no-wrap
+msgid "link:../man/man1/pyvcp.1.html[pyvcp]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:54
+#, no-wrap
+msgid "Virtual Control Panel for LinuxCNC"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:55
+#, no-wrap
+msgid "link:../man/man1/pyvcp_demo.1.html[pyvcp_demo]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:55
+#, no-wrap
+msgid "Python Virtual Control Panel demonstration component"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:56
+#, no-wrap
+msgid "link:../man/man1/qtvcp.1.html[qtvcp]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:56
+#, no-wrap
+msgid "Qt based virtual control panel"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/components.adoc:59
+#, no-wrap
+msgid "Vismach Virtual Machines"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:62
+#, no-wrap
+msgid "link:../man/man1/5axisgui.1.html[5axisgui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:62 src/hal/components.adoc:63
+#: src/hal/components.adoc:64 src/hal/components.adoc:65
+#: src/hal/components.adoc:69 src/hal/components.adoc:70
+#: src/hal/components.adoc:71 src/hal/components.adoc:72
+#: src/hal/components.adoc:73
+#, no-wrap
+msgid "Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:63
+#, no-wrap
+msgid "link:../man/man1/hbmgui.1.html[hbmgui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:64
+#, no-wrap
+msgid "link:../man/man1/hexagui.1.html[hexagui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:65
+#, no-wrap
+msgid "link:../man/man1/lineardelta.1.html[lineardelta]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:66
+#, no-wrap
+msgid "link:../man/man1/maho600gui.1.html[maho600gui]"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/components.adoc:66 src/hal/components.adoc:67
+#: src/man/man1/hexagui.1.adoc:6
+#, no-wrap
+msgid "hexagui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:67
+#, no-wrap
+msgid "link:../man/man1/max5gui.1.html[max5gui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:68
+#, no-wrap
+msgid "link:../man/man1/puma560gui.1.html[puma560gui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:68
+#, no-wrap
+msgid "puma560agui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:69
+#, no-wrap
+msgid "link:../man/man1/pumagui.1.html[pumagui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:70
+#, no-wrap
+msgid "link:../man/man1/rotarydelta.1.html[rotarydelta]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:71
+#, no-wrap
+msgid "link:../man/man1/scaragui.1.html[scaragui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:72
+#, no-wrap
+msgid "link:../man/man1/xyzac-trt-gui.1.html[xyzac-trt-gui]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:73
+#, no-wrap
+msgid "link:../man/man1/xyzbc-trt-gui.1.html[xyzbc-trt-gui]"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:76
+#, no-wrap
+msgid "Motion (non-realtime)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:79
+#, no-wrap
+msgid "link:../man/man1/io.1.html[io]"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/components.adoc:79 src/man/man1/iocontrol.1.adoc:6
+#, no-wrap
+msgid "iocontrol - interacts with HAL or G-code in non-realtime"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:80
+#, no-wrap
+msgid "link:../man/man1/iocontrol.1.html[iocontrol]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:80 src/hal/components.adoc:81
+#, no-wrap
+msgid "Interacts with HAL or G-code in non-realtime"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:81
+#, no-wrap
+msgid "link:../man/man1/iov2.1.html[iov2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:82
+#, no-wrap
+msgid "link:../man/man1/mdi.1.html[mdi]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:82
+#, no-wrap
+msgid "Send G-code commands from the terminal to the running LinuxCNC instance"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:83
+#, no-wrap
+msgid "link:../man/man1/milltask.1.html[milltask]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:83
+#, no-wrap
+msgid "Non-realtime task controller for LinuxCNC"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/components.adoc:87
+#, no-wrap
+msgid "VFD & Communication Interfaces (non-realtime)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:90
+#, no-wrap
+msgid "link:../man/man1/elbpcom.1.html[elbpcom]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:90
+#, no-wrap
+msgid "Communicate with Mesa ethernet cards"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:91
+#, no-wrap
+msgid "link:../man/man1/gs2_vfd.1.html[gs2_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:91
+#, no-wrap
+msgid "HAL non-realtime component for Automation Direct GS2 VFDs"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:92
+#, no-wrap
+msgid "link:../man/man1/hy_gt_vfd.1.html[hy_gt_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:92
+#, no-wrap
+msgid "HAL non-realtime component for Huanyang GT-series VFDs"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:93
+#, no-wrap
+msgid "link:../man/man1/hy_vfd.1.html[hy_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:93
+#, no-wrap
+msgid "HAL non-realtime component for Huanyang VFDs"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:94
+#, no-wrap
+msgid "link:../man/man1/mb2hal.1.html[mb2hal]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:94
+#, no-wrap
+msgid ""
+"MB2HAL is a generic non-realtime HAL component to communicate with one or "
+"more Modbus devices. Modbus RTU and Modbus TCP are supported."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:95
+#, no-wrap
+msgid "link:../man/man1/mitsub_vfd.1.html[mitsub_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:95
+#, no-wrap
+msgid ""
+"HAL non-realtime component for Mitsubishi A500 F500 E500 A500 D700 E700 "
+"F700-series VFDs (others may work)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:96
+#, no-wrap
+msgid "link:../man/man1/monitor-xhc-hb04.1.html[monitor-xhc-hb04]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:96
+#, no-wrap
+msgid "Monitors the XHC-HB04 pendant and warns of disconnection"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:97
+#, no-wrap
+msgid "link:../man/man1/pi500_vfd.1.html[pi500_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:97
+#, no-wrap
+msgid "Powtran PI500 modbus driver"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:98
+#, no-wrap
+msgid "link:../man/man1/pmx485.1.html[pmx485]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:98
+#, no-wrap
+msgid "Modbus communications with a Powermax Plasma Cutter"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:99
+#, no-wrap
+msgid "link:../man/man1/pmx485-test.1.html[pmx485-test]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:99
+#, no-wrap
+msgid "Modbus communications testing with a Powermax Plasma Cutter"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:100
+#, no-wrap
+msgid "link:../man/man1/shuttle.1.html[shuttle]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:100
+#, no-wrap
+msgid ""
+"control HAL pins with the ShuttleXpress, ShuttlePRO, and ShuttlePRO2 device "
+"made by Contour Design"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:101
+#, no-wrap
+msgid "link:../man/man1/svd-ps_vfd.1.html[svd-ps_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:101
+#, no-wrap
+msgid "HAL non-realtime component for SVD-P(S) VFDs"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:102
+#, no-wrap
+msgid "link:../man/man1/vfdb_vfd.1.html[vfdb_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:102
+#, no-wrap
+msgid "HAL non-realtime component for Delta VFD-B Variable Frequency Drives"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:103
+#, no-wrap
+msgid "link:../man/man1/vfs11_vfd.1.html[vfs11_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:103
+#, no-wrap
+msgid ""
+"HAL non-realtime component for Toshiba-Schneider VF-S11 Variable Frequency "
+"Drives"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:104
+#, no-wrap
+msgid "link:../man/man1/wj200_vfd.1.html[wj200_vfd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:104
+#, no-wrap
+msgid "Hitachi wj200 modbus driver"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:105
+#, no-wrap
+msgid "link:../man/man1/xhc-hb04.1.html[xhc-hb04]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:105
+#, no-wrap
+msgid "Non-realtime HAL component for the xhc-hb04 pendant"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:106
+#, no-wrap
+msgid "link:../man/man1/xhc-hb04-accels.1.html[xhc-hb04-accels]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:106
+#, no-wrap
+msgid "Obsolete script for jogging wheel"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:107
+#, no-wrap
+msgid "link:../man/man1/xhc-whb04b-6.1.html[xhc-whb04b-6]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:107
+#, no-wrap
+msgid "Non-realtime jog dial HAL component for the wireless XHC WHB04B-6 USB device"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:110
+#, no-wrap
+msgid "Mesa and other I/O Cards (Realtime)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:113
+#, no-wrap
+msgid "hal_ppmc"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:113
+#, no-wrap
+msgid ""
+"Pico Systems <<cha:pico-drivers,driver>> for analog servo, PWM and Stepper "
+"controller"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:114
+#, no-wrap
+msgid "link:../man/man9/hal_bb_gpio.9.html[hal_bb_gpio]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:114
+#, no-wrap
+msgid "Driver for beaglebone GPIO pins"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:115
+#, no-wrap
+msgid "link:../man/man9/hal_parport.9.html[hal_parport]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:115
+#, no-wrap
+msgid "Realtime HAL component to communicate with one or more PC parallel ports"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:116
+#, no-wrap
+msgid "link:../man/man9/hm2_7i43.9.html[hm2_7i43]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:116
+#, no-wrap
+msgid ""
+"Mesa Electronics driver for the 7I43 EPP Anything IO board with "
+"HostMot2. (See the man page for more information)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:117
+#, no-wrap
+msgid "link:../man/man9/hm2_7i90.9.html[hm2_7i90]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:117
+#, no-wrap
+msgid ""
+"LinuxCNC HAL driver for the Mesa Electronics 7I90 EPP Anything IO board with "
+"HostMot2 firmware"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:118
+#, no-wrap
+msgid "link:../man/man9/hm2_eth.9.html[hm2_eth]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:118
+#, no-wrap
+msgid ""
+"LinuxCNC HAL driver for the Mesa Electronics Ethernet Anything IO boards, "
+"with HostMot2 firmware"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:119
+#, no-wrap
+msgid "link:../man/man9/hm2_pci.9.html[hm2_pci]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:119
+#, no-wrap
+msgid ""
+"Mesa Electronics driver for the 5I20, 5I22, 5I23, 4I65, and 4I68 Anything "
+"I/O boards, with HostMot2 firmware. (See the man page for more information)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:120
+#, no-wrap
+msgid "link:../man/man9/hm2_rpspi.9.html[hm2_rpspi]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:120 src/hal/components.adoc:121
+#, no-wrap
+msgid ""
+"LinuxCNC HAL driver for the Mesa Electronics SPI Anything IO boards, with "
+"HostMot2 firmware"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:121
+#, no-wrap
+msgid "link:../man/man9/hm2_spi.9.html[hm2_spi]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:122
+#, no-wrap
+msgid "link:../man/man9/hostmot2.9.html[hostmot2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:122
+#, no-wrap
+msgid ""
+"Mesa Electronics <<cha:mesa-hostmot2-driver,driver>> for the HostMot2 "
+"firmware."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:123
+#, no-wrap
+msgid "link:../man/man9/max31855.9.html[max31855]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:123
+#, no-wrap
+msgid ""
+"Support for the MAX31855 Thermocouple-to-Digital converter using bitbanged "
+"SPI"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:124
+#, no-wrap
+msgid "link:../man/man9/mesa_7i65.9.html[mesa_7i65]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:124
+#, no-wrap
+msgid ""
+"Mesa Electronics driver for the 7I65 eight-axis servo card. (See the man "
+"page for more information)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:125
+#, no-wrap
+msgid "link:../man/man9/mesa_pktgyro_test.9.html[mesa_pktgyro_test]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:125
+#, no-wrap
+msgid "PktUART simple test with Microstrain 3DM-GX3-15 gyro"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:126
+#, no-wrap
+msgid "link:../man/man9/opto_ac5.9.html[opto_ac5]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:126
+#, no-wrap
+msgid "Realtime driver for opto22 PCI-AC5 cards"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:127
+#, no-wrap
+msgid "pluto_servo"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:127
+#, no-wrap
+msgid ""
+"Pluto-P <<cha:pluto-p-driver,driver>> and firmware for the parallel port "
+"FPGA, for servos"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:128
+#, no-wrap
+msgid "pluto_step"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:128
+#, no-wrap
+msgid ""
+"Pluto-P <<cha:pluto-p-driver,driver>> for the parallel port FPGA, for "
+"steppers"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:129
+#, no-wrap
+msgid "link:../man/man9/serport.9.html[serport]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:129
+#, no-wrap
+msgid "Hardware driver for the digital I/O bits of the 8250 and 16550 serial port"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:130
+#, no-wrap
+msgid "link:../man/man9/sserial.9.html[sserial]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:130
+#, no-wrap
+msgid ""
+"hostmot2 - Smart Serial LinuxCNC HAL driver for the Mesa Electronics "
+"HostMot2 Smart-Serial remote cards"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:131
+#, no-wrap
+msgid "link:../man/man9/thc.9.html[thc]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:131
+#, no-wrap
+msgid "Torch Height Control using a Mesa THC card or any analog to velocity input"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:134
+#, no-wrap
+msgid "Utilities (non-realtime)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:137
+#, no-wrap
+msgid "link:../man/man1/hal-histogram.1.html[hal-histogram]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:137
+#, no-wrap
+msgid "Plots the value of a HAL pin as a histogram"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:138
+#, no-wrap
+msgid "link:../man/man1/halcompile.1.html[halcompile]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:138
+#, no-wrap
+msgid "Build, compile and install LinuxCNC HAL components"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:139
+#, no-wrap
+msgid "link:../man/man1/halmeter.1.html[halmeter]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:139
+#, no-wrap
+msgid "Observe HAL pins, signals, and parameters"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:140
+#, no-wrap
+msgid "link:../man/man1/halcmd.1.html[halcmd]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:140 src/hal/components.adoc:144
+#, no-wrap
+msgid "Manipulate the LinuxCNC HAL from the command line"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:141
+#, no-wrap
+msgid "link:../man/man1/halcmd_twopass.1.html[halcmd_twopass]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:142
+#, no-wrap
+msgid "link:../man/man1/halreport.1.html[halreport]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:142
+#, no-wrap
+msgid "Creates a report on the status of the HAL"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:143
+#, no-wrap
+msgid "link:../man/man1/halrmt.1.html[halrmt]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:144
+#, no-wrap
+msgid "link:../man/man1/halrun.1.html[halrun]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:145
+#, no-wrap
+msgid "link:../man/man1/halsampler.1.html[halsampler]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:145
+#, no-wrap
+msgid "Sample data from HAL in realtime"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:146
+#, no-wrap
+msgid "link:../man/man1/halscope.1.html[halscope]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:146
+#, no-wrap
+msgid ""
+"Software oscilloscope for viewing real time waveforms of HAL pins and "
+"signals"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:147
+#, no-wrap
+msgid "link:../man/man1/halshow.1.html[halshow]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:147
+#, no-wrap
+msgid "Show HAL parameters, pins and signals"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:148
+#, no-wrap
+msgid "link:../man/man1/halstreamer.1.html[halstreamer]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:148
+#, no-wrap
+msgid "Stream file data into HAL in real time"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:149
+#, no-wrap
+msgid "link:../man/man1/haltcl.1.html[haltcl]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:149
+#, no-wrap
+msgid "Manipulates the LinuxCNC HAL from the command line using Tcl"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:150
+#, no-wrap
+msgid "link:../man/man1/image-to-gcode.1.html[image-to-gcode]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:150
+#, no-wrap
+msgid "Converts bitmap images to G-code"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:151
+#, no-wrap
+msgid "link:../man/man1/latency-histogram.1.html[latency-histogram]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:151
+#, no-wrap
+msgid "Plots histogram of machine latency"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:152
+#, no-wrap
+msgid "link:../man/man1/latency-plot.1.html[latency-plot]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:152
+#, no-wrap
+msgid "Another way to view latency numbers"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:153
+#, no-wrap
+msgid "link:../man/man1/latency-test.1.html[latency-test]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:153
+#, no-wrap
+msgid "Tests the realtime system latency"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:154
+#, no-wrap
+msgid "link:../man/man1/pncconf.1.html[pncconf]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:154
+#, no-wrap
+msgid "Configuration wizard for Mesa cards"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:155
+#, no-wrap
+msgid "link:../man/man9/setsserial.9.html[setsserial]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:157
+#, no-wrap
+msgid ""
+"Utility for setting Smart Serial NVRAM parameters.\n"
+"NOTE: This rather clunky utility is no longer needed except for flashing new "
+"smart-serial remote firmware.\n"
+"Smart-serial remote parameters can now be set in the HAL file in the normal "
+"way."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:158
+#, no-wrap
+msgid "link:../man/man1/sim_pin.1.html[sim_pin]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:158
+#, no-wrap
+msgid "GUI for displaying and setting one or more HAL inputs"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:159
+#, no-wrap
+msgid "link:../man/man1/stepconf.1.html[stepconf]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:159
+#, no-wrap
+msgid "Configuration wizard for parallel-port based machines"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:162
+#, no-wrap
+msgid "Signal processing (Realtime)"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/components.adoc:163
+#, no-wrap
+msgid "Logic and Bitwise"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:166
+#, no-wrap
+msgid "link:../man/man9/and2.9.html[and2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:166
+#, no-wrap
+msgid ""
+"Two-input AND gate. For out to be true both inputs must be "
+"true. (link:../man/man9/and2.9.html[and2])"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:167
+#, no-wrap
+msgid "link:../man/man9/bitwise.9.html[bitwise]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:167
+#, no-wrap
+msgid "Computes various bitwise operations on the two input values"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:168
+#, no-wrap
+msgid "link:../man/man9/dbounce.9.html[dbounce]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:168
+#, no-wrap
+msgid "Filter noisy digital inputs link:../man/man9/dbounce.9.html[Details]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:169
+#, no-wrap
+msgid "link:../man/man9/debounce.9.html[debounce]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:169
+#, no-wrap
+msgid ""
+"Filter noisy digital inputs link:../man/man9/debounce.9.html[Details] "
+"<<sec:debounce,Description>>"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:170
+#, no-wrap
+msgid "link:../man/man9/demux.9.html[demux]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:170
+#, no-wrap
+msgid "Select one of several output pins by integer and/or or individual bits"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:171
+#, no-wrap
+msgid "link:../man/man9/edge.9.html[edge]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:171
+#, no-wrap
+msgid "Edge detector"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:172
+#, no-wrap
+msgid "link:../man/man9/estop_latch.9.html[estop_latch]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:172
+#, no-wrap
+msgid "E-stop latch"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:173
+#, no-wrap
+msgid "link:../man/man9/flipflop.9.html[flipflop]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:173
+#, no-wrap
+msgid "D-type flip-flop"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:174
+#, no-wrap
+msgid "link:../man/man9/logic.9.html[logic]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:174
+#, no-wrap
+msgid "General logic function component"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:175
+#, no-wrap
+msgid "link:../man/man9/lut5.9.html[lut5]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:175
+#, no-wrap
+msgid "5-input logic function based on a look-up table <<sec:lut5,Description>>"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:176
+#, no-wrap
+msgid "link:../man/man9/match8.9.html[match8]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:176
+#, no-wrap
+msgid "8-bit binary match detector"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:177
+#, no-wrap
+msgid "link:../man/man9/multiclick.9.html[multiclick]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:177
+#, no-wrap
+msgid "Single-, double-, triple-, and quadruple-click detector"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:178
+#, no-wrap
+msgid "link:../man/man9/multiswitch.9.html[multiswitch]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:178
+#, no-wrap
+msgid "Toggles between a specified number of output bits"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:179
+#, no-wrap
+msgid "link:../man/man9/not.9.html[not]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:179
+#, no-wrap
+msgid "Inverter"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:180
+#, no-wrap
+msgid "link:../man/man9/oneshot.9.html[oneshot]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:180
+#, no-wrap
+msgid "One-shot pulse generator"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:181
+#, no-wrap
+msgid "link:../man/man9/or2.9.html[or2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:181
+#, no-wrap
+msgid "Two-input OR gate"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:182
+#, no-wrap
+msgid "link:../man/man9/select8.9.html[select8]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:182
+#, no-wrap
+msgid "8-bit binary match detector."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:183
+#, no-wrap
+msgid "link:../man/man9/tof.9.html[tof]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:183
+#, no-wrap
+msgid "IEC TOF timer - delay falling edge on a signal"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:184
+#, no-wrap
+msgid "link:../man/man9/toggle.9.html[toggle]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:184
+#, no-wrap
+msgid "Push-on, push-off from momentary pushbuttons"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:185
+#, no-wrap
+msgid "link:../man/man9/toggle2nist.9.html[toggle2nist]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:185
+#, no-wrap
+msgid "Toggle button to nist logic"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:186
+#, no-wrap
+msgid "link:../man/man9/ton.9.html[ton]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:186
+#, no-wrap
+msgid "IEC TON timer - delay rising edge on a signal"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:187
+#, no-wrap
+msgid "link:../man/man9/timedelay.9.html[timedelay]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:187
+#, no-wrap
+msgid "Equivalent of a time-delay relay."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:188
+#, no-wrap
+msgid "link:../man/man9/tp.9.html[tp]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:188
+#, no-wrap
+msgid "IEC TP timer - generate a high pulse of defined duration on rising edge"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:189
+#, no-wrap
+msgid "link:../man/man9/tristate_bit.9.html[tristate_bit]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:189 src/hal/components.adoc:190
+#, no-wrap
+msgid ""
+"Places signal on an I/O pin only when enabled, similar to a tristate buffer "
+"in electronics"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:190
+#, no-wrap
+msgid "link:../man/man9/tristate_float.9.html[tristate_float]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:191
+#, no-wrap
+msgid "link:../man/man9/xor2.9.html[xor2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:191
+#, no-wrap
+msgid "Two-input XOR (exclusive OR) gate"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/components.adoc:194
+#, no-wrap
+msgid "Arithmetic and float"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:197
+#, no-wrap
+msgid "link:../man/man9/abs_s32.9.html[abs_s32]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:197 src/hal/components.adoc:198
+#, no-wrap
+msgid "Computes the absolute value and sign of the input signal"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:198
+#, no-wrap
+msgid "link:../man/man9/abs.9.html[abs]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:199
+#, no-wrap
+msgid "link:../man/man9/biquad.9.html[biquad]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:199
+#, no-wrap
+msgid "Biquad IIR filter"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:200
+#, no-wrap
+msgid "link:../man/man9/blend.9.html[blend]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:200
+#, no-wrap
+msgid "Perform linear interpolation between two values"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:201 src/hal/components.adoc:306
+#, no-wrap
+msgid "link:../man/man9/comp.9.html[comp]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:201
+#, no-wrap
+msgid "Two input comparator with hysteresis"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:202
+#, no-wrap
+msgid "link:../man/man9/constant.9.html[constant]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:202
+#, no-wrap
+msgid "Uses parameter to set the value of a pin"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:203
+#, no-wrap
+msgid "link:../man/man9/counter.9.html[counter]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:203
+#, no-wrap
+msgid "Counts input pulses (deprecated). Use the <<sec:encoder,encoder>> component."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:204
+#, no-wrap
+msgid "link:../man/man9/ddt.9.html[ddt]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:204
+#, no-wrap
+msgid "Computes the derivative of the input function."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:205
+#, no-wrap
+msgid "link:../man/man9/deadzone.9.html[deadzone]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:205
+#, no-wrap
+msgid "Returns the center if within the threshold."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:206
+#, no-wrap
+msgid "link:../man/man9/div2.9.html[div2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:206
+#, no-wrap
+msgid "Quotient of two floating point inputs."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:207
+#, no-wrap
+msgid "link:../man/man9/hypot.9.html[hypot]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:207
+#, no-wrap
+msgid "Three-input hypotenuse (Euclidean distance) calculator."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:208
+#, no-wrap
+msgid "link:../man/man9/ilowpass.9.html[ilowpass]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:208
+#, no-wrap
+msgid "Low-pass filter with integer inputs and outputs"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:209
+#, no-wrap
+msgid "link:../man/man9/integ.9.html[integ]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:209
+#, no-wrap
+msgid "Integrator"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:210
+#, no-wrap
+msgid "link:../man/man9/invert.9.html[invert]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:210
+#, no-wrap
+msgid "Computes the inverse of the input signal."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:211
+#, no-wrap
+msgid "link:../man/man9/filter_kalman.9.html[filter_kalman]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:211
+#, no-wrap
+msgid ""
+"Unidimensional Kalman filter, also known as linear quadratic estimation "
+"(LQE)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:212
+#, no-wrap
+msgid "link:../man/man9/knob2float.9.html[knob2float]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:212
+#, no-wrap
+msgid "Converts counts (probably from an encoder) to a float value."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:213
+#, no-wrap
+msgid "link:../man/man9/lowpass.9.html[lowpass]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:213
+#, no-wrap
+msgid "Low-pass filter"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:214
+#, no-wrap
+msgid "link:../man/man9/limit1.9.html[limit1]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:214
+#, no-wrap
+msgid ""
+"Limits the output signal to fall between min and max. footnote:[When the "
+"input is a position, this means that the 'position' is limited.]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:215
+#, no-wrap
+msgid "link:../man/man9/limit2.9.html[limit2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:216
+#, no-wrap
+msgid ""
+"Limits the output signal to fall between min and max.  Limit its slew rate "
+"to less than maxv per second.\n"
+"footnote:[When the input is a position, this means that 'position' and "
+"'velocity' are limited.]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:217
+#, no-wrap
+msgid "link:../man/man9/limit3.9.html[limit3]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:219
+#, no-wrap
+msgid ""
+"Limit the output signal to fall between min and max.\n"
+"Limit its slew rate to less than maxv per second. Limit its second "
+"derivative to less than MaxA per second squared footnote:[When\n"
+"the input is a position, this means that the 'position', 'velocity', and "
+"'acceleration' are limited.]."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:220
+#, no-wrap
+msgid "link:../man/man9/lincurve.9.html[lincurve]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:220
+#, no-wrap
+msgid "One-dimensional lookup table"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:221
+#, no-wrap
+msgid "link:../man/man9/maj3.9.html[maj3]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:221
+#, no-wrap
+msgid "Compute the majority of 3 inputs"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:222
+#, no-wrap
+msgid "link:../man/man9/minmax.9.html[minmax]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:222
+#, no-wrap
+msgid "Tracks the minimum and maximum values of the input to the outputs."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:223
+#, no-wrap
+msgid "link:../man/man9/mult2.9.html[mult2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:223
+#, no-wrap
+msgid "Product of two inputs."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:224
+#, no-wrap
+msgid "link:../man/man9/mux16.9.html[mux16]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:224
+#, no-wrap
+msgid "Select from one of 16 input values (multiplexer)."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:225
+#, no-wrap
+msgid "link:../man/man9/mux2.9.html[mux2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:225
+#, no-wrap
+msgid "Select from one of two input values (multiplexer)."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:226
+#, no-wrap
+msgid "link:../man/man9/mux4.9.html[mux4]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:226
+#, no-wrap
+msgid "Select from one of four input values (multiplexer)."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:227
+#, no-wrap
+msgid "link:../man/man9/mux8.9.html[mux8]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:227
+#, no-wrap
+msgid "Select from one of eight input values (multiplexer)."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:228
+#, no-wrap
+msgid "link:../man/man9/mux_generic.9.html[mux_generic]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:228
+#, no-wrap
+msgid "Select one from several input values (multiplexer)."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:229
+#, no-wrap
+msgid "link:../man/man9/near.9.html[near]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:229
+#, no-wrap
+msgid "Determine whether two values are roughly equal."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:230
+#, no-wrap
+msgid "link:../man/man9/offset.9.html[offset]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:230
+#, no-wrap
+msgid "Adds an offset to an input, and subtracts it from the feedback value."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:231
+#, no-wrap
+msgid "link:../man/man9/sample_hold.9.html[sample_hold]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:231
+#, no-wrap
+msgid "Sample and Hold."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:232
+#, no-wrap
+msgid "link:../man/man9/scale.9.html[scale]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:232
+#, no-wrap
+msgid "Applies a scale and offset to its input."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:233
+#, no-wrap
+msgid "link:../man/man9/sum2.9.html[sum2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:233
+#, no-wrap
+msgid "Sum of two inputs (each with a gain) and an offset."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:234
+#, no-wrap
+msgid "link:../man/man9/timedelta.9.html[timedelta]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:234
+#, no-wrap
+msgid "Component that measures thread scheduling timing behavior."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:235
+#, no-wrap
+msgid "link:../man/man9/updown.9.html[updown]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:235
+#, no-wrap
+msgid "Counts up or down, with optional limits and wraparound behavior."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:236
+#, no-wrap
+msgid "link:../man/man9/wcomp.9.html[wcomp]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:236
+#, no-wrap
+msgid "Window comparator."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:237
+#, no-wrap
+msgid "link:../man/man9/weighted_sum.9.html[weighted_sum]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:237
+#, no-wrap
+msgid "Convert a group of bits to an integer."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:238
+#, no-wrap
+msgid "link:../man/man9/xhc_hb04_util.9.html[xhc_hb04_util]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:238
+#, no-wrap
+msgid "xhc-hb04 convenience utility"
+msgstr ""
+
+#. type: Title ====
+#: src/hal/components.adoc:241
+#, no-wrap
+msgid "Type conversion"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:244
+#, no-wrap
+msgid "link:../man/man9/bin2gray.9.html[bin2gray]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:244
+#, no-wrap
+msgid "Converts a number to the gray-code representation"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:245
+#, no-wrap
+msgid "link:../man/man9/bitslice.9.html[bitslice]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:245
+#, no-wrap
+msgid "Converts an unsigned-32 input into individual bits"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:246
+#, no-wrap
+msgid "link:../man/man9/conv_bit_float.9.html[conv_bit_float]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:246
+#, no-wrap
+msgid "Converts from bit to float"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:247
+#, no-wrap
+msgid "link:../man/man9/conv_bit_s32.9.html[conv_bit_s32]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:247
+#, no-wrap
+msgid "Converts from bit to s32"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:248
+#, no-wrap
+msgid "link:../man/man9/conv_bit_u32.9.html[conv_bit_u32]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:248
+#, no-wrap
+msgid "Converts from bit to u32"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:249
+#, no-wrap
+msgid "link:../man/man9/conv_float_s32.9.html[conv_float_s32]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:249
+#, no-wrap
+msgid "Converts from float to s32"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:250
+#, no-wrap
+msgid "link:../man/man9/conv_float_u32.9.html[conv_float_u32]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:250
+#, no-wrap
+msgid "Converts from float to u32"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:251
+#, no-wrap
+msgid "link:../man/man9/conv_s32_bit.9.html[conv_s32_bit]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:251
+#, no-wrap
+msgid "Converts from s32 to bit"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:252
+#, no-wrap
+msgid "link:../man/man9/conv_s32_float.9.html[conv_s32_float]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:252
+#, no-wrap
+msgid "Converts from s32 to float"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:253
+#, no-wrap
+msgid "link:../man/man9/conv_s32_u32.9.html[conv_s32_u32]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:253
+#, no-wrap
+msgid "Converts from s32 to u32"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:254
+#, no-wrap
+msgid "link:../man/man9/conv_u32_bit.9.html[conv_u32_bit]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:254
+#, no-wrap
+msgid "Converts from u32 to bit"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:255
+#, no-wrap
+msgid "link:../man/man9/conv_u32_float.9.html[conv_u32_float]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:255
+#, no-wrap
+msgid "Converts from u32 to float"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:256
+#, no-wrap
+msgid "link:../man/man9/conv_u32_s32.9.html[conv_u32_s32]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:256
+#, no-wrap
+msgid "Converts from u32 to s32"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:257
+#, no-wrap
+msgid "link:../man/man9/gray2bin.9.html[gray2bin]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:257
+#, no-wrap
+msgid "Converts gray-code input to binary"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:260
+#, no-wrap
+msgid "Kinematics (Realtime)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:263
+#, no-wrap
+msgid "link:../man/man9/corexy_by_hal.9.html[corexy_by_hal]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:263
+#, no-wrap
+msgid "CoreXY kinematics"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:264
+#, no-wrap
+msgid "link:../man/man9/differential.9.html[differential]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:264
+#, no-wrap
+msgid "Kinematics for a differential transmission"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:265
+#, no-wrap
+msgid "link:../man/man9/gantry.9.html[gantry]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:265
+#, no-wrap
+msgid "LinuxCNC HAL component for driving multiple joints from a single axis"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:266
+#, no-wrap
+msgid "link:../man/man9/gantrykins.9.html[gantrykins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:266
+#, no-wrap
+msgid "Kinematics module that maps one axis to multiple joints."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:267
+#, no-wrap
+msgid "link:../man/man9/genhexkins.9.html[genhexkins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:267
+#, no-wrap
+msgid ""
+"Gives six degrees of freedom in position and orientation (XYZABC). The "
+"location of the motors is defined at compile time."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:268
+#, no-wrap
+msgid "link:../man/man9/genserkins.9.html[genserkins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:268
+#, no-wrap
+msgid ""
+"Kinematics that can model a general serial-link manipulator with up to 6 "
+"angular joints."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:269
+#, no-wrap
+msgid "link:../man/man9/gentrivkins.9.html[gentrivkins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:269
+#, no-wrap
+msgid ""
+"1:1 correspondence between joints and axes. Most standard milling machines "
+"and lathes use the trivial kinematics module."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:270
+#, no-wrap
+msgid "link:../man/man9/kins.9.html[kins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:270
+#, no-wrap
+msgid "Kinematics definitions for LinuxCNC."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:271
+#, no-wrap
+msgid "link:../man/man9/lineardeltakins.9.html[lineardeltakins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:271
+#, no-wrap
+msgid "Kinematics for a linear delta robot"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:272
+#, no-wrap
+msgid "link:../man/man9/maxkins.9.html[maxkins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:272
+#, no-wrap
+msgid ""
+"Kinematics for a tabletop 5 axis mill named 'max' with tilting head (B axis) "
+"and horizontal rotary mounted to the table (C axis). Provides UVW motion in "
+"the rotated coordinate system. The source file, maxkins.c, may be a useful "
+"starting point for other 5-axis systems."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:273
+#, no-wrap
+msgid "link:../man/man9/millturn.9.html[millturn]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:273
+#, no-wrap
+msgid "Switchable kinematics for a mill-turn machine"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:274
+#, no-wrap
+msgid "link:../man/man9/pentakins.9.html[pentakins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:275
+#, no-wrap
+msgid "link:../man/man9/pumakins.9.html[pumakins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:275
+#, no-wrap
+msgid "Kinematics for PUMA-style robots."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:276
+#, no-wrap
+msgid "link:../man/man9/rosekins.9.html[rosekins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:276
+#, no-wrap
+msgid "Kinematics for a rose engine"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:277
+#, no-wrap
+msgid "link:../man/man9/rotatekins.9.html[rotatekins]"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/components.adoc:277 src/man/man9/kins.9.adoc:320
+#, no-wrap
+msgid "The X and Y axes are rotated 45 degrees compared to the joints 0 and 1."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:278
+#, no-wrap
+msgid "link:../man/man9/scarakins.9.html[scarakins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:278
+#, no-wrap
+msgid "Kinematics for SCARA-type robots."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:279
+#, no-wrap
+msgid "link:../man/man9/tripodkins.9.html[tripodkins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:279
+#, no-wrap
+msgid ""
+"The joints represent the distance of the controlled point from three "
+"predefined locations (the motors), giving three degrees of freedom in "
+"position (XYZ)."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:280
+#, no-wrap
+msgid "link:../man/man9/userkins.9.html[userkins]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:280
+#, no-wrap
+msgid "Template for user-built kinematics"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:283
+#, no-wrap
+msgid "Motion control (Realtime)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:286
+#, no-wrap
+msgid "link:../man/man9/motion.9.html[motion]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:286
+#, no-wrap
+msgid "Accepts NML motion commands, interacts with HAL in realtime"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:289
+#, no-wrap
+msgid "Motor control (Realtime)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:292
+#, no-wrap
+msgid "link:../man/man9/at_pid.9.html[at_pid]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:292
+#, no-wrap
+msgid "Proportional/integral/derivative controller with auto tuning."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:293
+#, no-wrap
+msgid "link:../man/man9/bldc.9.html[bldc]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:293
+#, no-wrap
+msgid "BLDC and AC-servo control component"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:294
+#, no-wrap
+msgid "link:../man/man9/clarke2.9.html[clarke2]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:294
+#, no-wrap
+msgid "Two input version of Clarke transform"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:295
+#, no-wrap
+msgid "link:../man/man9/clarke3.9.html[clarke3]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:295
+#, no-wrap
+msgid "Clarke (3 phase to cartesian) transform"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:296
+#, no-wrap
+msgid "link:../man/man9/clarkeinv.9.html[clarkeinv]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:296
+#, no-wrap
+msgid "Inverse Clarke transform"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:297
+#, no-wrap
+msgid "link:../man/man9/encoder.9.html[encoder]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:297
+#, no-wrap
+msgid ""
+"Software counting of quadrature encoder signals, see "
+"<<sec:encoder,Description>>."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:298
+#, no-wrap
+msgid "link:../man/man9/pid.9.html[pid]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:298
+#, no-wrap
+msgid "Proportional/integral/derivative controller, <<sec:pid,Description>>."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:299
+#, no-wrap
+msgid "link:../man/man9/pwmgen.9.html[pwmgen]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:299
+#, no-wrap
+msgid "Software PWM/PDM generation, see <<sec:pwmgen,Description>>."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:300
+#, no-wrap
+msgid "link:../man/man9/stepgen.9.html[stepgen]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:300
+#, no-wrap
+msgid "Software step pulse generation, see <<sec:stepgen,Description>>."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/components.adoc:303
+#, no-wrap
+msgid "Other (Realtime)"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:306
+#, no-wrap
+msgid "Build, compile and install LinuxCNC HAL components."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:307
+#, no-wrap
+msgid "link:../man/man9/classicladder.9.html[classicladder]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:307
+#, no-wrap
+msgid ""
+"Realtime software PLC based on ladder logic. See "
+"<<cha:classicladder,ClassicLadder>> chapter for more information."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:308
+#, no-wrap
+msgid "link:../man/man9/threads.9.html[threads]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:308
+#, no-wrap
+msgid "Creates hard realtime HAL threads."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:309
+#, no-wrap
+msgid "link:../man/man9/charge_pump.9.html[charge_pump]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:313
+#, no-wrap
+msgid ""
+"Creates a square-wave for the 'charge pump' input of some controller "
+"boards.\n"
+"The 'Charge Pump' should be added to the base thread function.\n"
+"When enabled, the output is on for one period and off for one period.\n"
+"To calculate the frequency [Hz] of the output: 1/(period time in seconds x "
+"2).\n"
+"For example, if you have a base period of 100,000&#8239;ns that is 0.0001 "
+"seconds and the formula would be 1/(0.0001 x 2) = 5,000&#8239;Hz or "
+"5&#8239;kHz."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:314
+#, no-wrap
+msgid "link:../man/man9/encoder_ratio.9.html[encoder_ratio]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:314
+#, no-wrap
+msgid "Electronic gear to synchronize two axes."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:315
+#, no-wrap
+msgid "link:../man/man9/feedcomp.9.html[feedcomp]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:315
+#, no-wrap
+msgid "Multiply the input by the ratio of current velocity to the feed rate."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:316
+#, no-wrap
+msgid "link:../man/man9/gladevcp.9.html[gladevcp (Realtime)]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:316
+#, no-wrap
+msgid "displays Virtual control Panels built with GTK / GLADE"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:317
+#, no-wrap
+msgid "link:../man/man9/gearchange.9.html[gearchange]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:317
+#, no-wrap
+msgid "Select from one of two speed ranges."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:318
+#, no-wrap
+msgid "link:../man/man9/joyhandle.9.html[joyhandle]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:318
+#, no-wrap
+msgid "Sets nonlinear joypad movements, deadbands and scales."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:319
+#, no-wrap
+msgid "link:../man/man9/sampler.9.html[sampler]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:319
+#, no-wrap
+msgid "Sample data from HAL in real time."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:320
+#, no-wrap
+msgid "link:../man/man9/siggen.9.html[siggen]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:320
+#, no-wrap
+msgid "Signal generator, see <<sec:siggen,Description>>."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:321
+#, no-wrap
+msgid "link:../man/man9/sim_encoder.9.html[sim_encoder]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:321
+#, no-wrap
+msgid "Simulated quadrature encoder, see <<sec:simulated-encoder,Description>>."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:322
+#, no-wrap
+msgid "link:../man/man9/sphereprobe.9.html[sphereprobe]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:322
+#, no-wrap
+msgid "Probe a pretend hemisphere."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:323
+#, no-wrap
+msgid "link:../man/man9/steptest.9.html[steptest]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:323
+#, no-wrap
+msgid ""
+"Used by StepConf to allow testing of acceleration and velocity values for an "
+"axis."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:324
+#, no-wrap
+msgid "link:../man/man9/streamer.9.html[streamer]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:324
+#, no-wrap
+msgid "Stream file data into HAL in real time."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:325
+#, no-wrap
+msgid "link:../man/man9/supply.9.html[supply]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:325
+#, no-wrap
+msgid "Set output pins with values from parameters (deprecated)."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:326
+#, no-wrap
+msgid "link:../man/man9/threadtest.9.html[threadtest]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:326
+#, no-wrap
+msgid "Component for testing thread behavior."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:327
+#, no-wrap
+msgid "link:../man/man9/time.9.html[time]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:327
+#, no-wrap
+msgid "Accumulated run-time timer counts HH:MM:SS of 'active' input."
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:328
+#, no-wrap
+msgid "link:../man/man9/watchdog.9.html[watchdog]"
+msgstr ""
+
+#. type: Table
+#: src/hal/components.adoc:328
+#, no-wrap
+msgid "Monitor one to thirty-two inputs for a 'heartbeat'."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/components.adoc:334
+#, no-wrap
+msgid "HAL API calls"
+msgstr ""
+
+#. type: delimited block .
+#: src/hal/components.adoc:379
+#, no-wrap
+msgid ""
+"hal_add_funct_to_thread.3hal\n"
+"hal_bit_t.3hal\n"
+"hal_create_thread.3hal\n"
+"hal_del_funct_from_thread.3hal\n"
+"hal_exit.3hal\n"
+"hal_export_funct.3hal\n"
+"hal_export_functf.3hal\n"
+"hal_float_t.3hal\n"
+"hal_get_lock.3hal\n"
+"hal_init.3hal\n"
+"hal_link.3hal\n"
+"hal_malloc.3hal\n"
+"hal_param_bit_new.3hal\n"
+"hal_param_bit_newf.3hal\n"
+"hal_param_float_new.3hal\n"
+"hal_param_float_newf.3hal\n"
+"hal_param_new.3hal\n"
+"hal_param_s32_new.3hal\n"
+"hal_param_s32_newf.3hal\n"
+"hal_param_u32_new.3hal\n"
+"hal_param_u32_newf.3hal\n"
+"hal_parport.3hal\n"
+"hal_pin_bit_new.3hal\n"
+"hal_pin_bit_newf.3hal\n"
+"hal_pin_float_new.3hal\n"
+"hal_pin_float_newf.3hal\n"
+"hal_pin_new.3hal\n"
+"hal_pin_s32_new.3hal\n"
+"hal_pin_s32_newf.3hal\n"
+"hal_pin_u32_new.3hal\n"
+"hal_pin_u32_newf.3hal\n"
+"hal_ready.3hal\n"
+"hal_s32_t.3hal\n"
+"hal_set_constructor.3hal\n"
+"hal_set_lock.3hal\n"
+"hal_signal_delete.3hal\n"
+"hal_signal_new.3hal\n"
+"hal_start_threads.3hal\n"
+"hal_type_t.3hal\n"
+"hal_u32_t.3hal\n"
+"hal_unlink.3hal\n"
+"hal.3\n"
+"undocumented.3hal\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/components.adoc:381
+#, no-wrap
+msgid "RTAPI calls"
+msgstr ""
+
+#. type: delimited block .
+#: src/hal/components.adoc:435
+#, no-wrap
+msgid ""
+"EXPORT_FUNCTION.3rtapi\n"
+"MODULE_AUTHOR.3rtapi\n"
+"MODULE_DESCRIPTION.3rtapi\n"
+"MODULE_LICENSE.3rtapi\n"
+"RTAPI_MP_ARRAY_INT.3rtapi\n"
+"RTAPI_MP_ARRAY_LONG.3rtapi\n"
+"RTAPI_MP_ARRAY_STRING.3rtapi\n"
+"RTAPI_MP_INT.3rtapi\n"
+"RTAPI_MP_LONG.3rtapi\n"
+"RTAPI_MP_STRING.3rtapi\n"
+"rtapi.3\n"
+"rtapi_app_exit.3rtapi\n"
+"rtapi_app_main.3rtapi\n"
+"rtapi_clock_set_period.3rtapi\n"
+"rtapi_delay.3rtapi\n"
+"rtapi_delay_max.3rtapi\n"
+"rtapi_exit.3rtapi\n"
+"rtapi_get_clocks.3rtapi\n"
+"rtapi_get_msg_level.3rtapi\n"
+"rtapi_get_time.3rtapi\n"
+"rtapi_inb.3rtapi\n"
+"rtapi_init.3rtapi\n"
+"rtapi_module_param.3rtapi\n"
+"RTAPI_MP_ARRAY_INT.3rtapi\n"
+"RTAPI_MP_ARRAY_LONG.3rtapi\n"
+"RTAPI_MP_ARRAY_STRING.3rtapi\n"
+"RTAPI_MP_INT.3rtapi\n"
+"RTAPI_MP_LONG.3rtapi\n"
+"RTAPI_MP_STRING.3rtapi\n"
+"rtapi_mutex.3rtapi\n"
+"rtapi_outb.3rtapi\n"
+"rtapi_print.3rtap\n"
+"rtapi_prio.3rtapi\n"
+"rtapi_prio_highest.3rtapi\n"
+"rtapi_prio_lowest.3rtapi\n"
+"rtapi_prio_next_higher.3rtapi\n"
+"rtapi_prio_next_lower.3rtapi\n"
+"rtapi_region.3rtapi\n"
+"rtapi_release_region.3rtapi\n"
+"rtapi_request_region.3rtapi\n"
+"rtapi_set_msg_level.3rtapi\n"
+"rtapi_shmem.3rtapi\n"
+"rtapi_shmem_delete.3rtapi\n"
+"rtapi_shmem_getptr.3rtapi\n"
+"rtapi_shmem_new.3rtapi\n"
+"rtapi_snprintf.3rtapi\n"
+"rtapi_task_delete.3rtpi\n"
+"rtapi_task_new.3rtapi\n"
+"rtapi_task_pause.3rtapi\n"
+"rtapi_task_resume.3rtapi\n"
+"rtapi_task_start.3rtapi\n"
+"rtapi_task_wait.3rtapi\n"
+msgstr ""
+
+#. type: Title =
+#: src/hal/general-ref.adoc:5
+#, no-wrap
+msgid "HAL General Reference(((HAL General Reference)))"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/general-ref.adoc:8
+#, no-wrap
+msgid "HAL Entity Names(((HAL Entity Names)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:13
+msgid ""
+"All HAL entities are accessible and manipulable by their names, so "
+"documenting the names of pins, signals, parameters, etc., is very "
+"important.  Names in HAL have a maximum length of 41 characters (as defined "
+"by HAL_NAME_LEN in hal.h).  Many names will be presented in the general "
+"form, with formatted text _<like-this>_ representing fields of various "
+"values."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:16
+msgid ""
+"When pins, signals, or parameters are described for the first time, their "
+"name will be preceded by their type in parentheses (_float_) and followed by "
+"a brief description.  Typical pins definitions look like these examples:"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:17
+#, no-wrap
+msgid "(bit) parport.<portnum>.pin-<pinnum>-in"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:18
+msgid ""
+"The HAL pin associated with the physical input pin _<pinnum>_ of the db25 "
+"connector."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:19
+#, no-wrap
+msgid "(float) pid.<loopnum>.output"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:20
+msgid "The PID loop output"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:22
+msgid ""
+"Occasionally, an abbreviated version of the name may be used, for example "
+"the second pin above could be simply called with _.output_ when it can be "
+"done without causing confusion."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/general-ref.adoc:24
+#, no-wrap
+msgid "HAL General Naming Conventions(((HAL General Naming Conventions)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:31
+msgid ""
+"Consistent naming conventions would make HAL much easier to use.  For "
+"example, if every encoder driver provided the same set of pins and named "
+"them the same way, then it would be easy to change from one type of encoder "
+"driver to another.  Unfortunately, like many open-source projects, HAL is a "
+"combination of things that were designed, and things that simply evolved.  "
+"As a result, there are many inconsistencies.  This section attempts to "
+"address that problem by defining some conventions, but it will probably be a "
+"while before all the modules are converted to follow them."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:39
+msgid ""
+"Halcmd and other low-level HAL utilities treat HAL names as single entities, "
+"with no internal structure.  However, most modules do have some implicit "
+"structure.  For example, a board provides several functional blocks, each "
+"block might have several channels, and each channel has one or more pins.  "
+"This results in a structure that resembles a directory tree.  Even though "
+"halcmd doesn't recognize the tree structure, proper choice of naming "
+"conventions will let it group related items together (since it sorts the "
+"names).  In addition, higher level tools can be designed to recognize such "
+"structure, if the names provide the necessary information.  To do that, all "
+"HAL components should follow these rules:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:41
+msgid ""
+"Dots (“.”) separate levels of the hierarchy.  This is analogous to the slash "
+"(“/”) in a filename."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:42
+msgid "Hyphens (“-”) separate words or fields in the same level of the hierarchy."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:44
+msgid ""
+"HAL components should not use underscores or “MixedCase”.  "
+"footnote:[Underlined characters have been removed, but there are still a few "
+"cases of broken mixture, for example _pid.0.Pgain_ in place of "
+"_pid.0.p-gain_.]"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:45
+msgid "Use only lowercase letters and numbers in names."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/general-ref.adoc:47
+#, no-wrap
+msgid ""
+"Hardware Driver Naming Conventions(((HAL Hardware Driver Naming "
+"Conventions)))"
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/general-ref.adoc:53
+msgid ""
+"Most drivers do not follow these conventions in version 2.0.  This chapter "
+"is really a guide for future developments."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/general-ref.adoc:56
+#, no-wrap
+msgid "Pins/Parameters names(((HAL Hardware Driver Pins/Parameters Names)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:59
+msgid ""
+"Hardware drivers should use five fields (on three levels) to make up a pin "
+"or parameter name, as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/general-ref.adoc:62
+#, no-wrap
+msgid "<device-name>.<device-num>.<io-type>.<chan-num>.<specific-name>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:65
+msgid "The individual fields are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:66
+#, no-wrap
+msgid "_<device-name>_"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:69
+msgid ""
+"The device that the driver is intended to work with.  This is most often an "
+"interface board of some type, but there are other possibilities."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:70
+#, no-wrap
+msgid "_<device-num>_"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:74
+msgid ""
+"It is possible to install more than one servo board, parallel port, or other "
+"hardware device in a computer.  The device number identifies a specific "
+"device.  Device numbers start at 0 and increment."
+msgstr ""
+
+#. footnote:[Some hardwares use jumpers or other devices to define a specific identification for each.
+#.   Ideally, the driver provides a way for the user to say, the _device-num 0 is specific to the device that has ID XXX_, its subsets will all carry a number starting with 0.
+#.   But at present, some drivers use the ID directly as the peripheral number.
+#.   Which means it is possible to have a device number 2, without having any in number 0.
+#.   This is a bug that should disappear in version 2.1.]
+#. //FIXME Has this indeed been fixed and footnote should be removed
+#. type: Labeled list
+#: src/hal/general-ref.adoc:83
+#, no-wrap
+msgid "_<io-type>_"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:91
+msgid ""
+"Most devices provide more than one type of I/O.  Even the simple parallel "
+"port has both digital inputs and digital outputs.  More complex boards can "
+"have digital inputs and outputs, encoder counters, pwm or step pulse "
+"generators, analog-to-digital converters, digital-to-analog converters, or "
+"other unique capabilities.  The I/O type is used to identify the kind of I/O "
+"that a pin or parameter is associated with.  Ideally, drivers that implement "
+"the same I/O type, even if for very different devices, should provide a "
+"consistent set of pins and parameters and identical behavior.  For example, "
+"all digital inputs should behave the same when seen from inside the HAL, "
+"regardless of the device."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:92
+#, no-wrap
+msgid "_<chan-num>_"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:104
+msgid ""
+"Virtually every I/O device has multiple channels, and the channel number "
+"identifies one of them.  Like device numbers, channel numbers start at zero "
+"and increment.footnote:[One exception to the \"channel numbers start at "
+"zero\" rule is the parallel port.  Its HAL pins are numbered with the "
+"corresponding pin number on the DB-25 connector.  This is convenient for "
+"wiring, but inconsistent with other drivers.  There is some debate over "
+"whether this is a bug or a feature.] If more than one device is installed, "
+"the channel numbers on additional devices start over at zero.  If it is "
+"possible to have a channel number greater than 9, then channel numbers "
+"should be two digits, with a leading zero on numbers less than 10 to "
+"preserve sort ordering.  Some modules have pins and/or parameters that "
+"affect more than one channel.  For example a PWM generator might have four "
+"channels with four independent \"duty-cycle\" inputs, but one \"frequency\" "
+"parameter that controls all four channels (due to hardware limitations).  "
+"The frequency parameter should use \"0-3\" as the channel number."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:105
+#, no-wrap
+msgid "_<specific-name>_"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:111
+msgid ""
+"An individual I/O channel might have just a single HAL pin associated with "
+"it, but most have more than one.  For example, a digital input has two pins, "
+"one is the state of the physical pin, the other is the same thing inverted.  "
+"That allows the configurator to choose between active high and active low "
+"inputs.  For most io-types, there is a standard set of pins and parameters, "
+"(referred to as the \"canonical interface\") that the driver should "
+"implement.  The canonical interfaces are described in the "
+"<<cha:hal-canonical-device-interfaces,Canonical Device Interfaces>> chapter."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:114
+#, no-wrap
+msgid "motenc.0.encoder.2.position"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:115
+msgid "The position output of the third encoder channel on the first Motenc board."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:116
+#, no-wrap
+msgid "stg.0.din.03.in"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:117
+msgid "The state of the fourth digital input on the first Servo-to-Go board."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:118
+#, no-wrap
+msgid "ppmc.0.pwm.00-03.frequency"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:119
+msgid ""
+"The carrier frequency used for PWM channels 0 through 3 on the first Pico "
+"Systems ppmc board."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/general-ref.adoc:121
+#, no-wrap
+msgid "Function Names(((HAL Hardware Driver Function Names)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:125
+msgid ""
+"Hardware drivers usually only have two kinds of HAL functions, ones that "
+"read the hardware and update HAL pins, and ones that write to the hardware "
+"using data from HAL pins.  They should be named as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/general-ref.adoc:128
+#, no-wrap
+msgid "<device-name>-<device-num>.<io-type>-<chan-num-range>.read|write\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:130
+#, no-wrap
+msgid "<device-name>"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:131
+msgid "The same as used for pins and parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:132
+#, no-wrap
+msgid "<device-num>"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:133
+msgid "The specific device that the function will access."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:134
+#, no-wrap
+msgid "<io-type>"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:140
+msgid ""
+"Optional. A function may access all of the I/O on a board, or it may access "
+"only a certain type.  For example, there may be independent functions for "
+"reading encoder counters and reading digital I/O.  If such independent "
+"functions exist, the <io-type> field identifies the type of I/O they "
+"access.  If a single function reads all I/O provided by the board, <io-type> "
+"is not used. footnote:[Note to driver programmers: Do NOT implement separate "
+"functions for different I/O types unless they are interruptible and can work "
+"in independent threads.  If interrupting an encoder read, reading digital "
+"inputs, and then resuming the encoder read will cause problems, then "
+"implement a single function that does everything.]"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:141
+#, no-wrap
+msgid "<chan-num-range>"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:142
+msgid ""
+"Optional. Used only if the <io-type> I/O is broken into groups and accessed "
+"by different functions."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:143
+#, no-wrap
+msgid "read|write"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:144
+msgid "Indicates whether the function reads the hardware or writes to it."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:147
+#, no-wrap
+msgid "motenc.0.encoder.read"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:148
+msgid "Reads all encoders on the first motenc board."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:149
+#, no-wrap
+msgid "generic8255.0.din.09-15.read"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:150
+msgid ""
+"Reads the second 8 bit port on the first generic 8255 based digital I/O "
+"board."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/general-ref.adoc:151
+#, no-wrap
+msgid "ppmc.0.write"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/general-ref.adoc:152
+msgid ""
+"Writes all outputs (step generators, pwm, DACs, and digital) on the first "
+"Pico Systems ppmc board."
+msgstr ""
+
+#. type: Title =
+#: src/hal/hal-examples.adoc:5
+#, no-wrap
+msgid "HAL Examples(((HAL Examples)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:16
+msgid ""
+"All of these examples assume you are starting with a StepConf-based "
+"configuration and have two threads 'base-thread' and 'servo-thread'.  The "
+"StepConf wizard will create an empty custom.hal and a custom_postgui.hal "
+"file.  The custom.hal file will be loaded after the configuration HAL file "
+"and the custom_postgui.hal file is loaded after the GUI has been loaded."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/hal-examples.adoc:17
+#, no-wrap
+msgid "Connecting Two Outputs"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:22
+msgid ""
+"To connect two outputs to an input you can use the or2 component.  The or2 "
+"works like this, if either input to or2 is on then the or2 output is on.  If "
+"neither input to or2 is on the or2 output is off."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:24
+msgid "For example to have two PyVCP buttons both connected to one LED."
+msgstr ""
+
+#. type: Block title
+#: src/hal/hal-examples.adoc:25
+#, no-wrap
+msgid ""
+"The .xml file to instruct PyVCP to prepare a GUI that features two buttons "
+"(named \"button-1\" and \"button-2\") and an LED (named \"led-1\")."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:32
+#, no-wrap
+msgid ""
+"<pyvcp>\n"
+"  <button>\n"
+"    <halpin>\"button-1\"</halpin>\n"
+"    <text>\"Button 1\"</text>\n"
+"  </button>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:37
+#, no-wrap
+msgid ""
+"  <button>\n"
+"    <halpin>\"button-2\"</halpin>\n"
+"    <text>\"Button 2\"</text>\n"
+"  </button>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:45
+#, no-wrap
+msgid ""
+"  <led>\n"
+"    <halpin>\"led-1\"</halpin>\n"
+"    <size>50</size>\n"
+"    <on_color>\"green\"</on_color>\n"
+"    <off_color>\"red\"</off_color>\n"
+"  </led>\n"
+"</pyvcp>\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/hal-examples.adoc:47
+#, no-wrap
+msgid ""
+"The postgui.hal file, read after the GUI is set up and ports ready to accept "
+"the logic described in HAL."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:54
+#, no-wrap
+msgid ""
+"loadrt or2\n"
+"addf or2.0 servo-thread\n"
+"net button-1 or2.0.in0 <= pyvcp.button-1\n"
+"net button-2 or2.0.in1 <= pyvcp.button-2\n"
+"net led-1 pyvcp.led-1 <= or2.0.out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:58
+msgid ""
+"When you run this example in an axis simulator created with the StepConf "
+"Wizard, you can open a terminal and see the pins created with 'loadrt or2' "
+"by typing in `halcmd show pin or2` in the terminal."
+msgstr ""
+
+#. type: Block title
+#: src/hal/hal-examples.adoc:59
+#, no-wrap
+msgid ""
+"Running `halcmd` on the UNIX command line to show the pins crafted with "
+"module 'or2'."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:67
+#, no-wrap
+msgid ""
+"$ halcmd show pin or2\n"
+"Component Pins:\n"
+"Owner   Type  Dir         Value  Name\n"
+"    22  bit   IN          FALSE  or2.0.in0 <== button-1\n"
+"    22  bit   IN          FALSE  or2.0.in1 <== button-2\n"
+"    22  bit   OUT         FALSE  or2.0.out ==> led-1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:72
+msgid ""
+"You can see from the HAL command `show pin or2` that the `button-1` pin is "
+"connected to the `or2.0.in0` pin.  From the direction arrow you can see that "
+"the button is and output and the `or2.0.in0` is an input.  The output from "
+"or2 goes to the input of the LED."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/hal-examples.adoc:73
+#, no-wrap
+msgid "Manual Toolchange"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:79
+msgid ""
+"In this example it is assumed that you're 'rolling your own' configuration "
+"and wish to add the HAL Manual Toolchange window.  The HAL Manual Toolchange "
+"is primarily useful if you have presettable tools and you store the offsets "
+"in the tool table.  If you need to touch off for each tool change then it is "
+"best just to split up your G-code.  To use the HAL Manual Toolchange window "
+"you basically have to"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:81
+msgid "load the hal_manualtoolchange component,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:82
+msgid ""
+"then send the iocontrol 'tool change' to the hal_manualtoolchange 'change' "
+"and"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:83
+msgid ""
+"send the hal_manualtoolchange 'changed' back to the iocontrol 'tool "
+"changed'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:85
+msgid ""
+"A pin is provided for an external input to indicate the tool change is "
+"complete."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:87
+msgid ""
+"This is an example of manual toolchange 'with' the HAL Manual Toolchange "
+"component:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:96
+#, no-wrap
+msgid ""
+"loadusr -W hal_manualtoolchange\n"
+"net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change\n"
+"net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed\n"
+"net external-tool-changed hal_manualtoolchange.change_button <= "
+"parport.0.pin-12-in\n"
+"net tool-number iocontrol.0.tool-prep-number => "
+"hal_manualtoolchange.number\n"
+"net tool-prepare-loopback iocontrol.0.tool-prepare => "
+"iocontrol.0.tool-prepared\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:99
+msgid ""
+"This is an example of manual toolchange 'without' the HAL Manual Toolchange "
+"component:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:105
+#, no-wrap
+msgid ""
+"net tool-number <= iocontrol.0.tool-prep-number\n"
+"net tool-change-loopback iocontrol.0.tool-change => "
+"iocontrol.0.tool-changed\n"
+"net tool-prepare-loopback iocontrol.0.tool-prepare => "
+"iocontrol.0.tool-prepared\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/hal-examples.adoc:107
+#, no-wrap
+msgid "Compute Velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:111
+msgid ""
+"This example uses 'ddt', 'mult2' and 'abs' to compute the velocity of a "
+"single axis.  For more information on the real time components see the man "
+"pages or the HAL Components List (<<sec:hal-components>>)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:116
+msgid ""
+"The first thing is to check your configuration to make sure you are not "
+"using any of the real time components all ready.  You can do this by opening "
+"up the HAL Configuration window and look for the components in the pin "
+"section.  If you are then find the HAL file that they are being loaded in "
+"and increase the counts and adjust the instance to the correct value.  Add "
+"the following to your custom.hal file."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:118
+msgid "Load the realtime components."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:124
+#, no-wrap
+msgid ""
+"loadrt ddt count=1\n"
+"loadrt mult2 count=1\n"
+"loadrt abs count=1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:127
+msgid "Add the functions to a thread so it will get updated."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:133
+#, no-wrap
+msgid ""
+"addf ddt.0 servo-thread\n"
+"addf mult2.0 servo-thread\n"
+"addf abs.0 servo-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:136
+msgid "Make the connections."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:144
+#, no-wrap
+msgid ""
+"setp mult2.in1 60\n"
+"net xpos-cmd ddt.0.in\n"
+"net X-IPS mult2.0.in0 <= ddt.0.out\n"
+"net X-ABS abs.0.in <= mult2.0.out\n"
+"net X-IPM abs.0.out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:147
+msgid ""
+"In this last section we are setting the `mult2.0.in1` to 60 to convert the "
+"inch per second to inch per minute (IPM) that we get from the `ddt.0.out`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:150
+msgid ""
+"The `xpos-cmd` sends the commanded position to the `ddt.0.in`.  The ddt "
+"computes the derivative of the change of the input."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:152
+msgid "The `ddt2.0.out` is multiplied by 60 to give IPM."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:154
+msgid "The `mult2.0.out` is sent to the `abs` to get the absolute value."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:157
+msgid ""
+"The following figure shows the result when the X axis is moving at 15 IPM in "
+"the minus direction.  Notice that we can get the absolute value from either "
+"the `abs.0.out` pin or the `X-IPM` signal."
+msgstr ""
+
+#. type: Block title
+#: src/hal/hal-examples.adoc:159
+#, no-wrap
+msgid "HAL: Velocity Example(((HAL:Velocity example)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/hal-examples.adoc:160
+#, no-wrap
+msgid "HAL: Velocity Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/hal-examples.adoc:160
+#, no-wrap
+msgid "images/velocity-01.png"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/hal-examples.adoc:162
+#, no-wrap
+msgid "Soft Start Details"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:165
+msgid ""
+"This example shows how the HAL components 'lowpass', 'limit2' or 'limit3' "
+"can be used to limit how fast a signal changes."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:170
+msgid ""
+"In this example we have a servo motor driving a lathe spindle.  If we just "
+"used the commanded spindle speeds on the servo it will try to go from "
+"present speed to commanded speed as fast as it can.  This could cause a "
+"problem or damage the drive.  To slow the rate of change we can send the "
+"`spindle.N.speed-out` through a limiter before the PID, so that the PID "
+"command value changes to new settings more slowly."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:172
+msgid "Three built-in components that limit a signal are:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:174
+msgid "'limit2' limits the range and first derivative of a signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:175
+msgid "'limit3' limits the range, first and second derivatives of a signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:176
+msgid ""
+"'lowpass' uses an exponentially-weighted moving average to track an input "
+"signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:178
+msgid "To find more information on these HAL components check the man pages."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:181
+msgid ""
+"Place the following in a text file called softstart.hal.  If you're not "
+"familiar with Linux place the file in your home directory."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:204
+#, no-wrap
+msgid ""
+"loadrt threads period1=1000000 name1=thread\n"
+"loadrt siggen\n"
+"loadrt lowpass\n"
+"loadrt limit2\n"
+"loadrt limit3\n"
+"net square siggen.0.square => lowpass.0.in limit2.0.in limit3.0.in\n"
+"net lowpass <= lowpass.0.out\n"
+"net limit2 <= limit2.0.out\n"
+"net limit3 <= limit3.0.out\n"
+"setp siggen.0.frequency .1\n"
+"setp lowpass.0.gain .01\n"
+"setp limit2.0.maxv 2\n"
+"setp limit3.0.maxv 2\n"
+"setp limit3.0.maxa 10\n"
+"addf siggen.0.update thread\n"
+"addf lowpass.0 thread\n"
+"addf limit2.0 thread\n"
+"addf limit3.0 thread\n"
+"start\n"
+"loadusr halscope\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:207
+msgid "Open a terminal window and run the file with the following command."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:210
+#, no-wrap
+msgid "halrun -I softstart.hal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:213
+msgid ""
+"When the HAL Oscilloscope first starts up click 'OK' to accept the default "
+"thread."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:217
+msgid ""
+"Next you have to add the signals to the channels.  Click on channel 1 then "
+"select 'square' from the Signals tab.  Repeat for channels 2-4 and add "
+"lowpass, limit2, and limit3."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:220
+msgid ""
+"Next to set up a trigger signal click on the Source None button and select "
+"square.  The button will change to Source Chan 1."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:223
+msgid ""
+"Next click on Single in the Run Mode radio buttons box.  This will start a "
+"run and when it finishes you will see your traces."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:225
+msgid ""
+"To separate the signals so you can see them better click on a channel then "
+"use the Pos slider in the Vertical box to set the positions."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/hal-examples.adoc:227
+#, no-wrap
+msgid "Softstart screenshot"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/hal-examples.adoc:227
+#, no-wrap
+msgid "images/softstart-scope.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:231
+msgid ""
+"To see the effect of changing the set point values of any of the components "
+"you can change them in the terminal window.  To see what different gain "
+"settings do for lowpass just type the following in the terminal window and "
+"try different settings."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:235
+#, no-wrap
+msgid "setp lowpass.0.gain *.01\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:238
+msgid "After changing a setting run the oscilloscope again to see the change."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:241
+msgid ""
+"When you're finished type 'exit' in the terminal window to shut down halrun "
+"and close the halscope.  Don't close the terminal window with halrun running "
+"as it might leave some things in memory that could prevent LinuxCNC from "
+"loading."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:243
+msgid "For more information on Halscope see the HAL manual and the tutorial."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/hal-examples.adoc:244
+#, no-wrap
+msgid "Stand Alone HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:249
+msgid ""
+"In some cases you might want to run a GladeVCP screen with just HAL.  For "
+"example say you had a stepper driven device that all you need is to run a "
+"stepper motor.  A simple 'Start/Stop' interface is all you need for your "
+"application so no need to load up and configure a full blown CNC "
+"application."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/hal-examples.adoc:251
+msgid ""
+"In the following example we have created a simple GladeVCP panel with one "
+"stepper."
+msgstr ""
+
+#. type: Block title
+#: src/hal/hal-examples.adoc:252
+#, no-wrap
+msgid "Basic Syntax"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:256
+#, no-wrap
+msgid ""
+"# load the winder.glade GUI and name it winder\n"
+"loadusr -Wn winder gladevcp -c winder -u handler.py winder.glade\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:261
+#, no-wrap
+msgid ""
+"# load realtime components\n"
+"loadrt threads name1=fast period1=50000 fp1=0 name2=slow period2=1000000\n"
+"loadrt stepgen step_type=0 ctrl_type=v\n"
+"loadrt hal_parport cfg=\"0x378 out\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:268
+#, no-wrap
+msgid ""
+"# add functions to threads\n"
+"addf stepgen.make-pulses fast\n"
+"addf stepgen.update-freq slow\n"
+"addf stepgen.capture-position slow\n"
+"addf parport.0.read fast\n"
+"addf parport.0.write fast\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:273
+#, no-wrap
+msgid ""
+"# make HAL connections\n"
+"net winder-step parport.0.pin-02-out <= stepgen.0.step\n"
+"net winder-dir parport.0.pin-03-out <= stepgen.0.dir\n"
+"net run-stepgen stepgen.0.enable <= winder.start_button\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:276
+#, no-wrap
+msgid ""
+"# start the threads\n"
+"start\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:279
+#, no-wrap
+msgid ""
+"# comment out the following lines while testing and use the interactive\n"
+"# option halrun -I -f start.hal to be able to show pins etc.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:282
+#, no-wrap
+msgid ""
+"# wait until the GladeVCP GUI named winder terminates\n"
+"waitusr winder\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:285
+#, no-wrap
+msgid ""
+"# stop HAL threads\n"
+"stop\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/hal-examples.adoc:288
+#, no-wrap
+msgid ""
+"# unload HAL all components before exiting\n"
+"unloadrt all\n"
+msgstr ""
+
+#. type: Title =
+#: src/hal/halmodule.adoc:5
+#, no-wrap
+msgid ""
+"Creating Non-realtime Python Components(((Creating Non-realtime Python "
+"Components)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:8
+msgid ""
+"This section explains principles behind the implementation of HAL components "
+"with the Python programming language."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halmodule.adoc:9
+#, no-wrap
+msgid "Basic usage example"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:13
+msgid ""
+"A non-realtime component begins by creating its pins and parameters, then "
+"enters a loop which will periodically drive all the outputs from the "
+"inputs.  The following component copies the value seen on its input pin "
+"('passthrough.in') to its output pin ('passthrough.out') approximately once "
+"per second."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:28
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"import hal, time\n"
+"h = hal.component(\"passthrough\")\n"
+"h.newpin(\"in\", hal.HAL_FLOAT, hal.HAL_IN)\n"
+"h.newpin(\"out\", hal.HAL_FLOAT, hal.HAL_OUT)\n"
+"h.ready()\n"
+"try:\n"
+"    while 1:\n"
+"        time.sleep(1)\n"
+"        h['out'] = h['in']\n"
+"except KeyboardInterrupt:\n"
+"    raise SystemExit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:32
+msgid ""
+"Copy the above listing into a file named \"passthrough\", make it executable "
+"('chmod +x'), and place it on your '$PATH'.  Then try it out:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/halmodule.adoc:33
+#, no-wrap
+msgid ""
+"Screen copy with details on the execution of the newly created passthrough "
+"HAL module."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:36
+#, no-wrap
+msgid "$ halrun\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:38
+#, no-wrap
+msgid "halcmd: loadusr passthrough\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:40 src/hal/halmodule.adoc:49
+#: src/hal/tutorial.adoc:154 src/hal/tutorial.adoc:276
+#: src/hal/tutorial.adoc:294 src/hal/tutorial.adoc:333
+#: src/hal/tutorial.adoc:568
+#, no-wrap
+msgid "halcmd: show pin\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:45
+#, no-wrap
+msgid ""
+"    Component Pins:\n"
+"    Owner Type  Dir     Value  Name\n"
+"     03   float IN          0  passthrough.in\n"
+"     03   float OUT         0  passthrough.out\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:47
+#, no-wrap
+msgid "halcmd: setp passthrough.in 3.14\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:54
+#, no-wrap
+msgid ""
+"    Component Pins:\n"
+"    Owner Type  Dir     Value  Name\n"
+"     03   float IN       3.14  passthrough.in\n"
+"     03   float OUT      3.14  passthrough.out\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halmodule.adoc:56
+#, no-wrap
+msgid "Non-realtime components and delays"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:62
+msgid ""
+"If you typed \"show pin\" quickly, you may see that 'passthrough.out' still "
+"had its old value of 0.  This is because of the call to 'time.sleep(1)', "
+"which makes the assignment to the output pin occur at most once per second.  "
+"Because this is a non-realtime component, the actual delay between "
+"assignments can be much longer if the memory used by the passthrough "
+"component is swapped to disk, as the assignment could be delayed until that "
+"memory is swapped back in."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:65
+msgid ""
+"Thus, non-realtime components are suitable for user-interactive elements "
+"such as control panels (delays in the range of milliseconds are not noticed, "
+"and longer delays are acceptable), but not for sending step pulses to a "
+"stepper driver board (delays must always be in the range of microseconds, no "
+"matter what)."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halmodule.adoc:66
+#, no-wrap
+msgid "Create pins and parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:76
+msgid ""
+"The component itself is created by a call to the constructor "
+"'hal.component'.  The arguments are the HAL component name and (optionally) "
+"the prefix used for pin and parameter names.  If the prefix is not "
+"specified, the component name is used."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:85
+msgid ""
+"Then pins are created by calls to methods on the component object.  The "
+"arguments are: pin name suffix, pin type, and pin direction.  For "
+"parameters, the arguments are: parameter name suffix, parameter type, and "
+"parameter direction."
+msgstr ""
+
+#. type: Block title
+#: src/hal/halmodule.adoc:86
+#, no-wrap
+msgid "HAL Option Names"
+msgstr ""
+
+#. type: Table
+#: src/hal/halmodule.adoc:89
+#, no-wrap
+msgid "Pin and Parameter Types:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:89 src/hal/halmodule.adoc:173
+#, no-wrap
+msgid "HAL_BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:89 src/hal/halmodule.adoc:174
+#, no-wrap
+msgid "HAL_FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:89 src/hal/halmodule.adoc:175
+#, no-wrap
+msgid "HAL_S32"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:89 src/hal/halmodule.adoc:176
+#, no-wrap
+msgid "HAL_U32"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:89 src/hal/halmodule.adoc:177
+#, no-wrap
+msgid "HAL_S64"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:90 src/hal/halmodule.adoc:178
+#, no-wrap
+msgid "HAL_U64"
+msgstr ""
+
+#. type: Table
+#: src/hal/halmodule.adoc:90
+#, no-wrap
+msgid "Pin Directions:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:90 src/hal/halmodule.adoc:179
+#, no-wrap
+msgid "HAL_IN"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:90 src/hal/halmodule.adoc:180
+#, no-wrap
+msgid "HAL_OUT"
+msgstr ""
+
+#. type: Table
+#: src/hal/halmodule.adoc:90
+#, no-wrap
+msgid "HAL_IO"
+msgstr ""
+
+#. type: Table
+#: src/hal/halmodule.adoc:91
+#, no-wrap
+msgid "Parameter Directions:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:91 src/hal/halmodule.adoc:181
+#, no-wrap
+msgid "HAL_RO"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:91 src/hal/halmodule.adoc:182
+#, no-wrap
+msgid "HAL_RW"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:97
+msgid ""
+"The full pin or parameter name is formed by joining the prefix and the "
+"suffix with a \".\", so in the example the pin created is called "
+"'passthrough.in'."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:100
+#, no-wrap
+msgid "h.ready()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:104
+msgid ""
+"Once all the pins and parameters have been created, call the '.ready()' "
+"method."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/halmodule.adoc:105
+#, no-wrap
+msgid "Changing the prefix"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:109
+msgid ""
+"The prefix can be changed by calling the '.setprefix()' method. The current "
+"prefix can be retrieved by calling the '.getprefix()' method."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halmodule.adoc:110
+#, no-wrap
+msgid "Reading and writing pins and parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:114
+msgid ""
+"For pins and parameters which are also proper Python identifiers, the value "
+"may be accessed or set using the attribute syntax:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:117
+#, no-wrap
+msgid "h.out = h.in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:121
+msgid ""
+"For all pins, whether or not they are also proper Python identifiers, the "
+"value may be accessed or set using the subscript syntax:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:124
+#, no-wrap
+msgid "h['out'] = h['in']\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:128
+msgid ""
+"To see all pins with their values, getpins returns all values in a "
+"dictionary of that component."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halmodule.adoc:132
+#, no-wrap
+msgid ""
+"h.getpins()\n"
+">>>{'in': 0.0, 'out': 0.0}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/halmodule.adoc:134
+#, no-wrap
+msgid "Driving output (HAL_OUT) pins"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:142
+msgid ""
+"Periodically, usually in response to a timer, all HAL_OUT pins should be "
+"\"driven\" by assigning them a new value. This should be done whether or not "
+"the value is different than the last one assigned. When a pin is connected "
+"to a signal, its old output value is not copied into the signal, so the "
+"proper value will only appear on the signal once the component assigns a new "
+"value."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/halmodule.adoc:143
+#, no-wrap
+msgid "Driving bidirectional (HAL_IO) pins"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:153
+msgid ""
+"The above rule does not apply to bidirectional pins. Instead, a "
+"bidirectional pin should only be driven by the component when the component "
+"wishes to change the value. For instance, in the canonical encoder "
+"interface, the encoder component only sets the 'index-enable' pin to *FALSE* "
+"(when an index pulse is seen and the old value is *TRUE*), but never sets it "
+"to *TRUE*. Repeatedly driving the pin *FALSE* might cause the other "
+"connected component to act as though another index pulse had been seen."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halmodule.adoc:154
+#, no-wrap
+msgid "Exiting"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:162
+msgid ""
+"A 'halcmd unload' request for the component is delivered as a "
+"'KeyboardInterrupt' exception. When an unload request arrives, the process "
+"should either exit in a short time, or call the '.exit()' method on the "
+"component if substantial work (such as reading or writing files) must be "
+"done to complete the shutdown process."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halmodule.adoc:163
+#, no-wrap
+msgid "Helpful Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:166
+msgid ""
+"See <<cha:python-hal-interface, Python HAL Interface>> for an overview of "
+"available functions."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:171
+msgid "Use these to specify details rather then the value they hold."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:183
+msgid "MSG_NONE"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:184
+msgid "MSG_ALL"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:185
+msgid "MSG_DBG"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:186
+msgid "MSG_ERR"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:187
+msgid "MSG_INFO"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:188
+msgid "MSG_WARN"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halmodule.adoc:189
+#, no-wrap
+msgid "System Information"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:192
+msgid "Read these to acquire information about the realtime system."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:194
+msgid "is_kernelspace"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:195
+msgid "is_rt"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:196
+msgid "is_sim"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halmodule.adoc:197
+msgid "is_userspace"
+msgstr ""
+
+#. type: Title =
+#: src/hal/halshow.adoc:5
+#, no-wrap
+msgid "Halshow(((Halshow)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:15
+msgid ""
+"The script `halshow` can help you find your way around a running HAL.  It "
+"displays chosen HAL values and updates them continuously."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:19
+msgid ""
+"This is a very specialized system and it must connect to a working HAL.  It "
+"cannot run standalone because it relies on the ability of HAL to "
+"\"introspect\" and report what it knows of itself through the halcmd "
+"interface library.  When the configuration of LinuxCNC changes, so will the "
+"output of halshow be different, too."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:21
+msgid ""
+"As we will soon see, this ability of HAL to document itself is one key to "
+"establish an effective CNC system."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halshow.adoc:22
+#, no-wrap
+msgid "Starting Halshow"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:25
+msgid "Halshow is available"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:27
+msgid "in the AXIS menu under Machine/Show HAL Configuration,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:28
+msgid "in the TkLinuxCNC menu under Scripts/HAL Show,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:29
+msgid "in GMOCCAPY on the settings page."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:31
+msgid ""
+"`halshow` can also be started from a terminal command line and specify "
+"formats for integer and float items (pins or signals) and identify a saved "
+"watchlist file to use:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:41
+#, no-wrap
+msgid ""
+"$ halshow --help\n"
+"Usage:\n"
+"  halshow [Options] [watchfile]\n"
+"  Options:\n"
+"           --help    (this help)\n"
+"           --fformat format_string_for_float\n"
+"           --iformat format_string_for_int\n"
+"           --noprefs don't use preference file to save settings\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:45
+#, no-wrap
+msgid ""
+"Notes:\n"
+"       Create watchfile in halshow using: 'File/Save Watch List'.\n"
+"       LinuxCNC must be running for standalone usage.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:48
+msgid ""
+"Example to limit number of decimal points for floats and use a file named "
+"my.halshow in the current directory:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:51
+#, no-wrap
+msgid "$ halshow  --fformat \"%.5f\" ./my.halshow\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:54
+msgid ""
+"For more information regarding the format, please refer to "
+"https://www.tcl.tk/man/tcl/TclCmd/format.html[the Tcl format man page]."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/halshow.adoc:57 src/hal/halshow.adoc:58
+#, no-wrap
+msgid "Halshow Layout"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/halshow.adoc:58
+#, no-wrap
+msgid "images/halshow-layout.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:62
+msgid ""
+"At the left of its display as shown in above figure is a tree view, "
+"resembling what you may have seen as file browsers.  At the right is a "
+"tabbed notebook with tabs for show, watch and settings."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halshow.adoc:63
+#, no-wrap
+msgid "HAL Tree Area"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/halshow.adoc:65
+#, no-wrap
+msgid "Filter Tree"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:69
+msgid ""
+"Per default this entry filters the tree by pin names or tree-nodes by a "
+"regular expression.  For example, entering \"lim-sw\" would filter the tree "
+"to the following:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/halshow.adoc:70
+#, no-wrap
+msgid "Filtering tree for pin names with the substring \"lim-sw\"."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:78
+#, no-wrap
+msgid ""
+"joint.0.neg-lim-sw-in\n"
+"joint.0.pos-lim-sw-in\n"
+"joint.1.neg-lim-sw-in\n"
+"joint.1.pos-lim-sw-in\n"
+"joint.2.neg-lim-sw-in\n"
+"joint.3.pos-lim-sw-in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:82
+msgid ""
+"If you would like to display all `joint.0`-related, you have to click the "
+"settings icon and select \"Full path\".  Pay attention to escape the regex "
+"special characters, so you have to enter \"joint\\.1\\.\" to explicitly "
+"request the dot and not also find joint 10."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/halshow.adoc:83
+#, no-wrap
+msgid "Tree"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:87
+msgid ""
+"The tree shows all of the major parts of a HAL.  In front of each is a small "
+"plus (+) or minus (-) sign in a box to expand or collapse the corresponding "
+"section of the tree."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:89
+msgid ""
+"You can also expand or collapse the tree display using the Tree View menu at "
+"the upper left edge of the display."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:93
+msgid ""
+"Under _Tree View_ you will find: _Expand All_, _Collapse All_; _Expand "
+"Pins_, _Expand Parameters_, _Expand Signals_; and _Reload tree view_.  "
+"_Reload tree view_ is useful when new components are loaded during runtime "
+"and should be displayed."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halshow.adoc:95
+#, no-wrap
+msgid "HAL Show Area"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/halshow.adoc:98 src/hal/halshow.adoc:99
+#, no-wrap
+msgid "Halshow: Show Tab"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/halshow.adoc:99
+#, no-wrap
+msgid "images/halshow-show-tab.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:105
+msgid ""
+"Clicking on the node name, \"Components\" in the tree for example, will show "
+"you (under the \"Show\" tab) all that HAL knows about the contents of that "
+"node.  Figure <<fig:halshow-show-tab,Halshow Show Tab>> shows a list exactly "
+"like you will see if you click the \"Components\" name.  The information "
+"display is exactly like those shown in traditional text based HAL analysis "
+"tools.  The advantage here is that we have mouse click access, access that "
+"can be as broad or as focused as you need."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:111
+msgid ""
+"If we take a closer look at the tree display we can see that the six major "
+"parts of a HAL can all be expanded at least one level.  As these levels are "
+"expanded you can get more focused with the reply when you click on the "
+"rightmost tree node.  You will find that there are some HAL pins and "
+"parameters that show more than one reply.  This is due to the nature of the "
+"search routines in halcmd itself.  If you search one pin you may get two, "
+"like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:117
+#, no-wrap
+msgid ""
+"Component Pins:\n"
+"Owner  Type  Dir  Value  Name\n"
+"06     bit    -W   TRUE  parport.0.pin-10-in\n"
+"06     bit    -W  FALSE  parport.0.pin-10-in-not\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:120
+msgid "The second pin's name contains the complete name of the first."
+msgstr ""
+
+#. type: Block title
+#: src/hal/halshow.adoc:121 src/hal/halshow.adoc:134 src/hal/halshow.adoc:153
+#: src/hal/halshow.adoc:166 src/hal/halshow.adoc:188 src/hal/halshow.adoc:208
+#, no-wrap
+msgid "New in 2.9"
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:126
+#, no-wrap
+msgid ""
+"Selected text inside the Show tab can be copied by right-click or CTRL-C.\n"
+"The Show area allows to add pins from selected text by using the right-click "
+"menu. All valid pins that are enclosed in the selection are added to the "
+"Watch tab."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halshow.adoc:128
+#, no-wrap
+msgid "Watch Tab Area"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:133
+msgid ""
+"Clicking the watch tab produces a blank canvas.  You can add signals and "
+"pins to this canvas and watch their values.  You can add signals or pins "
+"when the watch tab is displayed by clicking on the name of it in the tree "
+"view."
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:137
+msgid ""
+"You can also add all sub-items of this node by selecting that in the right "
+"click menu (see figure <<fig:halshow-watch-tab-1,Halshow Watch Tab>>)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:140
+msgid "The following figure shows this canvas with several pins."
+msgstr ""
+
+#. type: Block title
+#: src/hal/halshow.adoc:142
+#, no-wrap
+msgid "Halshow: Watch Tab(((Halshow: Watch Tab)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/halshow.adoc:143 src/hal/tools.adoc:109 src/hal/tools.adoc:110
+#, no-wrap
+msgid "Halshow Watch Tab"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/halshow.adoc:143
+#, no-wrap
+msgid "images/halshow-watch-tab-1.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:149
+msgid ""
+"_Watch_ displays bit type (binary) values using colored circles representing "
+"LEDs.  They show as dark red when a bit signal or pin is false, and as light "
+"yellow whenever that signal is true.  If you select a pin or signal that is "
+"not a bit type (binary) signal, _watch_ will show it as a numerical value.  "
+"Pins are displayed in black, signals in blue and parameters in brown."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:152
+msgid ""
+"_Watch_ will quickly allow you to test switches or see the effect of changes "
+"that you make to LinuxCNC while using the graphical interface.  _Watch's_ "
+"refresh rate is a bit slow to see stepper pulses, but you can use it for "
+"these if you move an axis very slowly or in very small increments of "
+"distance."
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:159
+msgid ""
+"The pins and signals that are writable have buttons for manipulation on the "
+"right side.  Pins that are linked to a signal have disabled buttons.  To set "
+"these values, the corresponding pin has to be unlinked from the signal.  "
+"That can be done by right-click on the signal name and select \"Unlink "
+"pin\", see <<cap:watch-tab-context-menu,Watch Tach Context Menu>>."
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:162
+msgid ""
+"The watch list will be saved automatically on exit.  If you don't want "
+"Halshow to save your watchlist, it can be disabled in the "
+"<<sec:halshow-settings,Settings>>."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:165
+#, no-wrap
+msgid "*Context Menu*\n"
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:169
+msgid "The context menu allows further:"
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:171
+msgid "Copy the pin name to clipboard"
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:172
+msgid "Set a value"
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:173
+msgid "Unlink a pin (if linked to a signal)"
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:174
+msgid ""
+"Show apin in the Tree view (highlights the pin, doesn't scroll to the "
+"position)"
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:175
+msgid "Remove a pin from the list"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/halshow.adoc:178 src/hal/halshow.adoc:179
+#, no-wrap
+msgid "Halshow: Watch Tab Context Menu"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/halshow.adoc:179
+#, no-wrap
+msgid "images/halshow-5.png"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halshow.adoc:182
+#, no-wrap
+msgid "Command Entry"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:187
+msgid ""
+"In the lower part is an entry box to test HAL commands.  The commands you "
+"enter here and the effect that they have on the running HAL are not saved.  "
+"They will persist as long as LinuxCNC remains up but are gone as soon as "
+"LinuxCNC is."
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:191
+msgid ""
+"The command entry has a BASH-like history (during the session), so you can "
+"restore inserted commands with the arrow up key."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:194
+msgid ""
+"The entry box labeled \"HAL Command:\" will accept any of the commands "
+"listed for halcmd. These include:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:196
+msgid "`loadrt`, `unloadrt` (load/unload real-time module)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:197
+msgid "`loadusr`, `unloadusr` (load/unload non-realtime component)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:198
+msgid "`addf`, `delf` (add/delete a function to/from a real-time thread)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:199
+msgid "`net` (create a connection between two or more items)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:200
+msgid "`setp` (set parameter (or pin) to a value)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:204
+msgid ""
+"This little editor will enter a command any time you press _enter_ or push "
+"the execute button.  An error message from halcmd will be shown when these "
+"commands are not properly formed.  If you are not certain how to set up a "
+"proper command, you'll need to read again the documentation on halcmd and "
+"the specific modules that you are working with."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halshow.adoc:206
+#, no-wrap
+msgid "Settings"
+msgstr ""
+
+#. type: delimited block *
+#: src/hal/halshow.adoc:215
+#, no-wrap
+msgid ""
+"The geometry of the window and the settings are saved in a file in the "
+"configuration directory on exit. If that path cannot be determined, they are "
+"stored in the home directory. The path will be displayed in the settings "
+"page. You can omit using the preferences file by calling halshow with the "
+"command line argument `--no-prefs`.\n"
+"The further settings should be self-explaining."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/halshow.adoc:218 src/hal/halshow.adoc:219
+#, no-wrap
+msgid "Halshow Settings"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/halshow.adoc:219
+#, no-wrap
+msgid "images/halshow-settings.png"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halshow.adoc:222
+#, no-wrap
+msgid "Example/Tutorial"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:227
+msgid ""
+"Let's use this editor to add a differential module to a HAL and connect it "
+"to axis position so that we could see the rate of change in position, i.e., "
+"acceleration.  We first need to load a HAL component named ddt, add it to "
+"the servo thread, then connect it to the position pin of a joint.  Once that "
+"is done we can find the output of the differentiator in halscope. So let's "
+"go."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:231
+#, no-wrap
+msgid "loadrt ddt\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:234
+msgid "Now look at the components node and you should see ddt in there someplace."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:247
+#, no-wrap
+msgid ""
+"Loaded HAL Components:\n"
+"ID Type        Name\n"
+"10 User halcmd29800\n"
+"09 User halcmd29374\n"
+"08   RT         ddt\n"
+"06   RT hal_parport\n"
+"05   RT    scope_rt\n"
+"04   RT     stepgen\n"
+"03   RT      motmod\n"
+"02 User   iocontrol\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:251
+msgid ""
+"Sure enough, there it is. Notice that its ID is 08.  Next we need to find "
+"out what functions are available with it so we look at functions:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:266
+#, no-wrap
+msgid ""
+"Exported Functions:\n"
+"Owner  CodeAddr      Arg  FP Users Name\n"
+"  08   E0B97630 E0DC7674 YES     0 ddt.0\n"
+"  03   E0DEF83C 00000000 YES     1 motion-command-handler\n"
+"  03   E0DF0BF3 00000000 YES     1 motion-controller\n"
+"  06   E0B541FE E0DC75B8  NO     1 parport.0.read\n"
+"  06   E0B54270 E0DC75B8  NO     1 parport.0.write\n"
+"  06   E0B54309 E0DC75B8  NO     0 parport.read-all\n"
+"  06   E0B5433A E0DC75B8  NO     0 parport.write-all\n"
+"  05   E0AD712D 00000000  NO     0 scope.sample\n"
+"  04   E0B618C1 E0DC7448 YES     1 stepgen.capture-position\n"
+"  04   E0B612F5 E0DC7448  NO     1 stepgen.make-pulses\n"
+"  04   E0B614AD E0DC7448 YES     1 stepgen.update-freq\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:271
+msgid ""
+"Here we look for owner #08 and see a function named `ddt.0`.  We should be "
+"able to add `ddt.0` to the servo thread and it will do its math each time "
+"the servo thread is updated.  Once again we look up the addf command and "
+"find that it uses three arguments like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:275
+#, no-wrap
+msgid "addf <functname> <threadname> [<position>]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:281
+msgid ""
+"We already know the functname=ddt.0 so let's get the thread name right by "
+"expanding the thread node in the tree.  Here we see two threads, "
+"servo-thread and base-thread.  The position of `ddt.0` in the thread is not "
+"critical.  So we add the function `ddt.0` to the servo-thread:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:285
+#, no-wrap
+msgid "addf ddt.0 servo-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:289
+msgid ""
+"This is just for viewing, so we leave position blank and get the last "
+"position in the thread.  The following figure shows the state of halshow "
+"after this command has been issued."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/halshow.adoc:291 src/hal/halshow.adoc:292
+#, no-wrap
+msgid "Addf command"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/halshow.adoc:292
+#, no-wrap
+msgid "images/halshow-2.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:298
+msgid ""
+"Next we need to connect ddt to something.  But how do we know what pins are "
+"available? The answer is to look under pins.  There we find `ddt` and see "
+"this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:304
+#, no-wrap
+msgid ""
+"Component Pins:\n"
+"Owner Type  Dir Value       Name\n"
+"08    float R-  0.00000e+00 ddt.0.in\n"
+"08    float -W  0.00000e+00 ddt.0.out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:309
+msgid ""
+"That looks easy enough to understand, but what signal or pin do we want to "
+"to connect to it? It could be an axis pin, a stepgen pin, or a signal.  We "
+"see this when we look at `joint.0`:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:314
+#, no-wrap
+msgid ""
+"Component Pins:\n"
+"Owner Type  Dir Value       Name\n"
+"03    float -W  0.00000e+00 joint.0.motor-pos-cmd ==> Xpos-cmd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:318
+msgid ""
+"So it looks like Xpos-cmd should be a good signal to use.  Back to the "
+"editor where we enter the following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:322
+#, no-wrap
+msgid "linksp Xpos-cmd ddt.0.in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:325
+msgid ""
+"Now if we look at the `Xpos-cmd` signal using the tree node we'll see what "
+"we've done:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halshow.adoc:333
+#, no-wrap
+msgid ""
+"Signals:\n"
+"Type Value Name\n"
+"float 0.00000e+00 Xpos-cmd\n"
+"<== joint.0.motor-pos-cmd\n"
+"==> ddt.0.in\n"
+"==> stepgen.0.position-cmd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:337
+msgid ""
+"We see that this signal comes from `joint.o.motor-pos-cmd` and goes to both "
+"`ddt.0.in` and `stepgen.0.position-cmd`.  By connecting our block to the "
+"signal we have avoided any complications with the normal flow of this motion "
+"command."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halshow.adoc:343
+msgid ""
+"The HAL Show Area uses `halcmd` to discover what is happening in a running "
+"HAL.  It gives you complete information about what it has discovered.  It "
+"also updates as you issue commands from the little editor panel to modify "
+"that HAL.  There are times when you want a different set of things displayed "
+"without all of the information available in this area.  That is where the "
+"HAL Watch Area is of value."
+msgstr ""
+
+#. type: Title =
+#: src/hal/haltcl.adoc:5
+#, no-wrap
+msgid "HALTCL Files"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:15
+msgid ""
+"halcmd excels in specifying components and connections but these scripts "
+"offer no computational capabilities.  As a result, INI files are limited in "
+"the clarity and brevity that is possible with higher level languages."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:18
+msgid ""
+"The haltcl facility provides a means to use Tcl scripting and its features "
+"for computation, looping, branching, procedures, etc. in INI files.  To use "
+"this functionality, you use the Tcl language and the extension .tcl for HAL "
+"files."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:21
+msgid ""
+"The .tcl extension is understood by the main script (`linuxcnc`) that "
+"processes INI files.  Haltcl files are identified in the the HAL section of "
+"INI files (just like HAL files)."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:28
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"HALFILE = conventional_file.hal\n"
+"HALFILE = tcl_based_file.tcl\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:31
+msgid "With appropriate care, HAL and Tcl files can be intermixed."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/haltcl.adoc:32
+#, no-wrap
+msgid "Compatibility"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:35
+msgid ""
+"The halcmd language used in HAL files has a simple syntax that is actually a "
+"subset of the more powerful general-purpose Tcl scripting language."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/haltcl.adoc:36
+#, no-wrap
+msgid "Haltcl Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:40
+msgid ""
+"Haltcl files use the Tcl scripting language augmented with the specific "
+"commands of the LinuxCNC hardware abstraction layer (HAL).  The HAL-specific "
+"commands are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:54
+#, no-wrap
+msgid ""
+"addf, alias,\n"
+"delf, delsig,\n"
+"getp, gets\n"
+"ptype,\n"
+"stype,\n"
+"help,\n"
+"linkpp, linkps, linksp, list, loadrt, loadusr, lock,\n"
+"net, newsig,\n"
+"save, setp, sets, show, source, start, status, stop,\n"
+"unalias, unlinkp, unload, unloadrt, unloadusr, unlock,\n"
+"waitusr\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:58
+msgid ""
+"Two special cases occur for the 'gets' and 'list' commands due to conflicts "
+"with Tcl builtin commands.  For haltcl, these commands must be preceded with "
+"the keyword 'hal':"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:64
+#, no-wrap
+msgid ""
+"halcmd   haltcl\n"
+"------   ------\n"
+"gets     hal gets\n"
+"list     hal list\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/haltcl.adoc:66
+#, no-wrap
+msgid "Haltcl INI-file variables"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:70
+msgid ""
+"INI file variables are accessible by both `halcmd` and `haltcl` but with "
+"differing syntax.  LinuxCNC INI files use SECTION and ITEM specifiers to "
+"identify configuration items:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:79
+#, no-wrap
+msgid ""
+"[SECTION_A]\n"
+"ITEM1 = value_1\n"
+"ITEM2 = value_2\n"
+"...\n"
+"[SECTION_B]\n"
+"...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:82
+msgid ""
+"The INI file values are accessible by text substitution in HAL files using "
+"the form:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:86
+#, no-wrap
+msgid "[SECTION]ITEM\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:89
+msgid ""
+"The same INI file values are accessible in Tcl files using the form of a Tcl "
+"global array variable:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:93
+#, no-wrap
+msgid "$::SECTION(ITEM)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:96
+msgid "For example, an INI file item like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:101
+#, no-wrap
+msgid ""
+"[JOINT_0]\n"
+"MAX_VELOCITY = 4\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:105
+#, no-wrap
+msgid ""
+"is expressed as   `[JOINT_0]MAX_VELOCITY`  in HAL files for halcmd +\n"
+"and as            `$::JOINT_0(MAX_VELOCITY)` in Tcl files for haltcl.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:107
+msgid ""
+"Because INI files can repeat the same ITEM in the same SECTION multiple "
+"times, `$::SECTION(ITEM)` is actually a Tcl list of each individual value."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:110
+msgid ""
+"When there is just one value and it is a simple value (all values that are "
+"just letters and numbers without whitespace are in this group), then it is "
+"possible to treat `$::SECTION(ITEM)` as though it is not a list."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:113
+msgid ""
+"When the value could contain special characters (quote characters, "
+"curly-brace characters, embedded whitespace, and other characters that have "
+"special meaning in Tcl)  then it is necessary to distinguish between the "
+"list of values and the initial (and possibly only) value in the list."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:115
+msgid "In Tcl, this is written `[lindex $::SECTION(ITEM) 0]`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:117
+msgid "For example: given the following INI values"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:125
+#, no-wrap
+msgid ""
+"[HOSTMOT2]\n"
+"DRIVER=hm2_eth\n"
+"IPADDR=\"10.10.10.10\"\n"
+"BOARD=7i92\n"
+"CONFIG=\"num_encoders=0 num_pwmgens=0 num_stepgens=6\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:128
+msgid "And this loadrt command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:132
+#, no-wrap
+msgid ""
+"loadrt $::HOSTMOT2(DRIVER) board_ip=$::HOSTMOT2(IPADDR) "
+"config=$::HOSTMOT2(CONFIG)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:135
+msgid "Here is the actual command that is run:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:139
+#, no-wrap
+msgid ""
+"loadrt hm2_eth board_ip={\"10.10.10.10\"} config={\"num_encoders=0 "
+"num_pwmgens=0 num_stepgens=6\"}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:142
+msgid "This fails because loadrt does not recognize the braces."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:144
+msgid ""
+"So to get the values just as entered in the INI file, re-write the loadrt "
+"line like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:148
+#, no-wrap
+msgid ""
+"loadrt $::HOSTMOT2(DRIVER) board_ip=[lindex $::HOSTMOT2(IPADDR) 0] "
+"config=[lindex $::HOSTMOT2(CONFIG) 0]\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/haltcl.adoc:150
+#, no-wrap
+msgid "Converting HAL files to Tcl files"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:154
+msgid ""
+"Existing HAL files can be converted to Tcl files by hand editing to adapt to "
+"the differences mentioned above.  The process can be automated with scripts "
+"that convert using these substitutions."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:159
+#, no-wrap
+msgid ""
+"[SECTION]ITEM ---> $::SECTION(ITEM)\n"
+"gets          ---> hal gets\n"
+"list          ---> hal list\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/haltcl.adoc:161
+#, no-wrap
+msgid "Haltcl Notes"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:164
+msgid ""
+"In haltcl, the value argument for the 'sets' and 'setp' commands is "
+"implicitly treated as an expression in the Tcl language."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:170
+#, no-wrap
+msgid ""
+"# set gain to convert deg/sec to units/min for JOINT_0 radius\n"
+"setp scale.0.gain 6.28/360.0*$::JOINT_0(radius)*60.0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:173
+msgid "Whitespace in the bare expression is not allowed, use quotes for that:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:177
+#, no-wrap
+msgid "setp scale.0.gain \"6.28 / 360.0 * $::JOINT_0(radius) * 60.0\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:180
+msgid ""
+"In other contexts, such as 'loadrt', you must explicitly use the Tcl expr "
+"command ([expr {}]) for computational expressions."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:185
+#, no-wrap
+msgid "loadrt motion base_period=[expr {500000000/$::TRAJ(MAX_PULSE_RATE)}]\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/haltcl.adoc:187
+#, no-wrap
+msgid "Haltcl Examples"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:192
+msgid ""
+"Consider the topic of 'stepgen headroom'.  Software `stepgen` runs best with "
+"an acceleration constraint that is \"a bit higher\" than the one used by the "
+"motion planner.  So, when using `halcmd` files, we force INI files to have a "
+"manually calculated value."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:198
+#, no-wrap
+msgid ""
+"[JOINT_0]\n"
+"MAXACCEL = 10.0\n"
+"STEPGEN_MAXACCEL = 10.5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:201
+msgid ""
+"With `haltcl`, you can use Tcl commands to do the computation and eliminate "
+"the `STEPGEN_MAXACCEL` INI file item altogether:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:205
+#, no-wrap
+msgid "setp stepgen.0.maxaccel $::JOINT_0(MAXACCEL)*1.05\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:211
+msgid ""
+"Another `haltcl` feature is looping and testing.  For example, many "
+"simulator configurations use \"core_sim.hal\" or \"core_sim9.hal\" HAL "
+"files.  These differ because of the requirement to connect more or fewer "
+"axes.  The following haltcl code would work for any combination of axes in a "
+"trivkins machine."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:231
+#, no-wrap
+msgid ""
+"# Create position, velocity and acceleration signals for each axis\n"
+"set ddt 0\n"
+"for {set jnum 0} {$jnum < $::KINS(JOINTS)} {incr jnum} {\n"
+"  # 'list pin' returns an empty list if the pin doesn't exist\n"
+"  if {[hal list pin joint.${jnum}.motor-pos-cmd] == {}} {\n"
+"    continue\n"
+"  }\n"
+"  net ${jnum}pos joint.${jnum}.motor-pos-cmd => joint.$axno.motor-pos-fb "
+"\\\n"
+"                                             => ddt.$ddt.in\n"
+"  net ${axis}vel <= ddt.$ddt.out\n"
+"  incr ddt\n"
+"  net ${axis}vel => ddt.$ddt.in\n"
+"  net ${axis}acc <= ddt.$ddt.out\n"
+"  incr ddt\n"
+"}\n"
+"puts [show sig *vel]\n"
+"puts [show sig *acc]\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/haltcl.adoc:233
+#, no-wrap
+msgid "Haltcl Interactive"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:238
+msgid ""
+"The `halrun` command recognizes haltcl files.  With the -T option, haltcl "
+"can be run interaactively as a Tcl interpreter.  This capability is useful "
+"for testing and for standalone HAL applications."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/haltcl.adoc:242
+#, no-wrap
+msgid "$ halrun -T haltclfile.tcl\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/haltcl.adoc:244
+#, no-wrap
+msgid "Haltcl Distribution Examples (sim)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/haltcl.adoc:248
+msgid ""
+"The configs/sim/axis/simtcl directory includes an INI file that uses a .tcl "
+"file to demonstrate a haltcl configuration in conjunction with the usage of "
+"twopass processing.  The example shows the use of Tcl procedures, looping, "
+"the use of comments and output to the terminal."
+msgstr ""
+
+#. type: Title =
+#: src/hal/halui-examples.adoc:5
+#, no-wrap
+msgid "Halui Examples(((Halui Examples)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:15
+msgid ""
+"For any Halui examples to work you need to add the following line to the "
+"[HAL] section of the ini file."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halui-examples.adoc:19 src/source-highlight/ini-demo.adoc:134
+#, no-wrap
+msgid "HALUI = halui\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halui-examples.adoc:22
+#, no-wrap
+msgid "Remote Start"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:34
+msgid ""
+"To connect a remote program start button to LinuxCNC you use the "
+"`halui.program.run` pin and the `halui.mode.auto` pin.  You have to insure "
+"that it is OK to run first by using the `halui.mode.is-auto` pin. You do "
+"this with an `and2` component. The following figure shows how this is done.  "
+"When the Remote Run Button is pressed it is connected to both "
+"`halui.mode.auto` and `and2.0.in0`. If it is OK for auto mode the pin "
+"`halui.mode.is-auto` will be on.  If both the inputs to the `and2.0` "
+"component are on the `and2.0.out` will be on and this will start the "
+"program."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/halui-examples.adoc:35 src/hal/halui-examples.adoc:36
+#, no-wrap
+msgid "Remote Start Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/halui-examples.adoc:36 src/hal/intro.adoc:244
+#, no-wrap
+msgid "images/remote-start.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:39
+msgid "The hal commands needed to accomplish the above are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halui-examples.adoc:45
+#, no-wrap
+msgid ""
+"net program-start-btn halui.mode.auto and2.0.in0 <= <your input pin>\n"
+"net program-run-ok and2.0.in1 <= halui.mode.is-auto\n"
+"net remote-program-run halui.program.run <= and2.0.out\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:49
+msgid ""
+"Notice on line one that there are two reader pins, this can also be split up "
+"to two lines like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halui-examples.adoc:54
+#, no-wrap
+msgid ""
+"net program-start-btn halui.mode.auto <= <your input pin>\n"
+"net program-start-btn and2.0.in0\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/halui-examples.adoc:56
+#, no-wrap
+msgid "Pause & Resume"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:62
+msgid ""
+"This example was developed to allow LinuxCNC to move a rotary axis on a "
+"signal from an external machine.  The coordination between the two systems "
+"will be provided by two Halui components:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:64
+msgid "`halui.program.is-paused`"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:65
+msgid "`halui.program.resume`"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:70
+msgid ""
+"In your customized HAL file, add the following two lines that will be "
+"connected to your I/O to turn on the program pause or to resume when the "
+"external system wants LinuxCNC to continue."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/halui-examples.adoc:75
+#, no-wrap
+msgid ""
+"net ispaused halui.program.is paused => \"your output pin\"\n"
+"net resume halui.program.resume <= \"your input pin\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:80
+msgid ""
+"Your input and output pins are connected to the pins wired to the other "
+"controller. They may be parallel port pins or any other I/O pins that you "
+"have access to."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:85
+msgid ""
+"This system works in the following way. When an M0 is encountered in your "
+"G-code, the `halui.program.is-paused` signal goes true. This turns on your "
+"output pin so that the external controller knows that LinuxCNC is paused."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:89
+msgid ""
+"To resume the LinuxCNC G-code program, when the external controller is ready "
+"it will make its output true. This will signal LinuxCNC that it should "
+"resume executing G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:91
+msgid "Difficulties in timing"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:95
+msgid ""
+"The \"resume\" input return signal should not be longer than the time "
+"required to get the G-code running again."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:97
+msgid ""
+"The \"is-paused\" output should no longer be active by the time the "
+"\"resume\" signal ends."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/halui-examples.adoc:102
+msgid ""
+"These timing problems could be avoided by using ClassicLadder to activate "
+"the \"is-paused\" output via a monostable timer to deliver one narrow output "
+"pulse.  The \"resume\" pulse could also be received via a monostable timer."
+msgstr ""
+
+#. type: Title =
+#: src/hal/intro.adoc:6
+#, no-wrap
+msgid "HAL Introduction(((HAL Introduction)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:18
+msgid ""
+"LinuxCNC is about interacting with hardware. But few users have the same "
+"exact hardware specifications - similar, but not the same.  And even for the "
+"exact same hardware, there may be different ways to use it, say for "
+"different materials or with different mills, which would require adaptations "
+"to the control of an already running system.  An abstraction was needed to "
+"make it easier to configure LinuxCNC for a wide variety of hardware "
+"devices.  At the highest level, it could simply be a way to allow a number "
+"of 'building blocks' to be loaded and interconnected to assemble a complex "
+"system."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:22
+msgid ""
+"This chapter introduces to that Hardware Abstraction Layer.  You will see "
+"that many of the building blocks are indeed, drivers for hardware devices.  "
+"However, HAL can do more than just configure hardware drivers."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/intro.adoc:23
+#, no-wrap
+msgid "HAL Overview(((HAL)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:26
+msgid ""
+"The Hardware Abstraction Layer (or with a reference to the "
+"link:https://en.wikipedia.org/wiki/2001:_A_Space_Odyssey_(film)[2001 Space "
+"Odyssey movie] just \"HAL\") is a software to"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:28
+msgid ""
+"provide the infrastructure for the communication with and between the many "
+"software and hardware components of the system."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:29
+msgid ""
+"optionally process and/or override that information as it flows from "
+"component to component."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:34
+msgid ""
+"In itself, this link:https://en.wikipedia.org/wiki/Middleware[Middleware] is "
+"agnostic about its application on CNC.  An Internet search, for example, "
+"found an astronomical application to control telescopes using LinuxCNC.  "
+"Motors move the telescope into the right position, and it needs to know how "
+"to map motor activity with the effect of that positioning with the real "
+"world.  Such a synchronisation of motor positions with real-world positions "
+"is reminiscent of what CNC machines need to do, or space craft."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:37
+msgid "Any machine controller needs to know:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:39
+msgid ""
+"about its internal state and how this maps to the environment (machine "
+"coordinates, state of switches/regulators),"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:40
+msgid "how actuators are expected to change that state,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:41
+msgid "how allow for updates of the internal state by sensors (encoders, probes)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:43
+msgid "The HAL layer consists of parts (referred to as \"components\") that"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:45
+msgid ""
+"are connected with each other, e.g., to update position data or have the "
+"planning algorithm tell the motors about the next step."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:46
+msgid "may know how to communicate with hardware,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:47
+msgid ""
+"may simply process incoming data and provide data outputs to other "
+"components,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:48
+msgid "are always periodically executed either"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:49
+msgid ""
+"with a very high frequency of a few microseconds (µs) execution time, called "
+"base thread, e.g., to"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:50
+msgid "give a stepper motor a trigger to step ahead, or to"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:51
+msgid "read out the position presented by an encoder."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:52
+msgid "with a lower frequency every millisecond (ms), e.g. to"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:53
+msgid "adjust the planning for the next moves to complete a G-code instruction."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:54
+msgid ""
+"as non-realtime \"user-space\" components that run a \"main loop\" just like "
+"any other software, and may be interrupted or delayed when the rest of the "
+"system is busy or overloaded."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:57
+msgid "Taken together, HAL allows"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:61
+msgid ""
+"to program for a machine that the programmer does not know directly, but may "
+"rely on a programming interface with well-specified effect on the machine.  "
+"That interface may be used to"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:62
+msgid "tell the machine what to do"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:63
+msgid "listen to what the machine wants to tell about the state it is in."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:64
+msgid "Vertical Abstractions: The human system integrator of such machine uses HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:65
+msgid ""
+"to describe what the machine is looking like and how what cable controls "
+"which motor that drives which axis."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:66
+msgid ""
+"The description of the machine, the programmer's interfaces and the user's "
+"interface somehow \"meet\" in that abstract layer."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:67
+msgid "Horizontal Abstractions:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:68
+msgid "Not all machines have all kinds of features"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:69
+msgid "Mills, Lathes and Robots share many"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:70
+msgid "features (motors, joints, ...),"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:71
+msgid "planning algorithms for their movements."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:74
+msgid ""
+"HAL has no direct interaction with the user.  But multiple interfaces have "
+"been provided that allow HAL to be manipulated"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:76
+msgid "from the command line using the \"halcmd\" command."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:77
+msgid "from Python scripts and"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:78
+msgid "from within C/C++ programs,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:80
+msgid "but none of these interfaces are 'HAL itself'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:83
+msgid ""
+"HAL itself is not a program, it consists of one or more lists of loaded "
+"programs (the components) that are periodically executed (in strict "
+"sequence), and an area of shared-memory that these components use to "
+"interchange data.  The main HAL script runs only once at machine startup, "
+"setting up the realtime threads and the shared-memory locations, loading the "
+"components and setting up the data links between them (the \"signals\" and "
+"\"pins\")."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:88
+msgid ""
+"In principle multiple machines could share a common HAL to allow them to "
+"inter-operate, however the current implementation of LinuxCNC is limited to "
+"a single interpreter and a single Task module.  Currently this is almost "
+"always a G-code interpreter and \"milltask\" (which was found to also work "
+"well for lathes and adequately for robots) but these modules are selectable "
+"at load-time.  With an increasing interest in the control of multiple "
+"cooperating machines, to overcome this limitation is likely one of the prime "
+"steps for the future development of LinuxCNC to address.  It is a bit tricky "
+"though and the community is still organizing its thoughts on this."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:93
+msgid ""
+"HAL lies at the core of LinuxCNC and is used and/or extended by all the "
+"parts of LinuxCNC, which includes the GUIs.  The G-code (or alternative "
+"language) interpreter knows how to interpret the G-code and translates it "
+"into machine operations by triggering signals in HAL.  The user may query "
+"HAL in various ways to gain information about its state, which then also "
+"represents the state of the machine.  Whilst writing during the development "
+"of version 2.9, the GUIs still make bit of an exception to that rule and may "
+"know something that HAL does not (need to) know."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/intro.adoc:95
+#, no-wrap
+msgid "Communication"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:98
+msgid "HAL is special in that it can communicate really fast"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:100
+msgid "with other programs, but in particular"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:101
+msgid "with its components that typically run in one of the realtime threads."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:104
+msgid ""
+"And while communicating, the part of LinuxCNC that is talked to does not "
+"need to prepare for the communication: All these actions are performed "
+"asynchronously, i.e. no component is interrupting its regular execution to "
+"receive a signal and signals can be sent rightaway, i.e., an application may "
+"wait until a particular message has arrived - like an enable-signal, but it "
+"does not need to prepare for receiving that message."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:106
+msgid "The communication system"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:108
+msgid "represents and controls all the hardware attached to the system,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:109
+msgid "starts and stops other communicating programs."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:111
+msgid ""
+"The communication with the hardware of the machine itself is performed by "
+"respective dedicated HAL components."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:116
+msgid ""
+"The HAL layer is a shared space in which all the many parts that constitute "
+"LinuxCNC are exchanging information.  That space features pins that are "
+"identified by a name, though a LinuxCNC engineer may prefer the association "
+"with a pin of an electronic circuit.  These pins can carry numerical and "
+"logical values, boolean, float and signed and unsigned integers. There is "
+"also a (relatively new) pin type named hal_port intended for byte streams, "
+"and a framework for exchanging more complex data called hal_stream (which "
+"uses a private shared memory area, rather than a HAL pin).  These latter two "
+"types are used relatively infrequently."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:122
+msgid ""
+"With HAL you can send a signal to that named pin.  Every part of HAL can "
+"read that pin that holds that value of the signal.  That is until a new "
+"signal is sent to the same named pin to substitute the previous value.  The "
+"core message exchange system of HAL is agnostic about CNC, but HAL ships "
+"with a large number of components that know a lot about CNC and present that "
+"information via pins.  There are pins representing"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:124
+msgid "static information about the machine"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:125
+msgid "the current state of the machine"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:126
+msgid "end switches"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:127
+msgid "positions counted by steppers or as measured by encoders"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:128
+msgid "recipients for instructions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:129
+msgid "manual control of machine position (\"jogging\")"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:130
+msgid "positions that stepper motors should take next"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:133
+msgid ""
+"In a analogy to electronic cables, pins can be wired, so the value changing "
+"in one pin serves as input to another pin.  HAL components prepare such "
+"input and output pins and are thus automatically triggered to perform."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:139
+msgid ""
+"The many \"expert\" software parts of LinuxCNC are typically implemented as "
+"_components_ of HAL, conceptually also referred to as _modules_.  These "
+"computer-implemented experts perpetually read from HAL about a state that "
+"the machine should strive to achieve and compare that desired state with the "
+"state the machine is in at the current moment.  When there is a difference "
+"between what should be and what the current state is then some action is "
+"performed to reduce that difference, while perpetually writing updates of "
+"the current states back to the HAL data space."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:144
+msgid ""
+"There are components specializing on how to talk to stepper motors, and "
+"other components know how to control servos.  On a higher level, some "
+"components know how the machine's axes are arranged in 3D and yet others "
+"know how to perform a smooth movement from one point in space to another.  "
+"Lathes, mills and robots will differ in the LinuxCNC component that are "
+"active, i.e. that are loaded by a HAL configuration file for that machine.  "
+"Still, two machines may be looking very different since built for very "
+"different purposes, but when they both use servo motors then they can still "
+"both use the same HAL servo component."
+msgstr ""
+
+#. type: Block title
+#: src/hal/intro.adoc:145
+#, no-wrap
+msgid "Origin of the Incentive to Move"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:151
+msgid ""
+"On the lowest (closest to hardware) level, e.g. for stepper motors, the "
+"description of a state of that motor is very intuitive: It is the number of "
+"steps in a particular direction.  A difference between the desired position "
+"and the actual position translates into a movement.  Speeds, acceleration "
+"and other parameters may be internally limited in the component itself, or "
+"may optionally be limited by upstream components.  (For example, in most "
+"cases the moment-by-moment axis position values sent to the step-generator "
+"components have already been limited and shaped to suit the configured "
+"machine limits or the current feed rate.)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:153
+msgid ""
+"Any G-code line is interpreted and triggers a set of routines that in turn "
+"know how to communicate with components that are on a middle layer, e.g., to "
+"create a circle."
+msgstr ""
+
+#. type: Block title
+#: src/hal/intro.adoc:154
+#, no-wrap
+msgid "Pins and Signals"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:159
+msgid ""
+"HAL has a special place in the heart of its programmers for the way that the "
+"data flow between modules is represented.  When traditional programmers "
+"think of variables, addresses or I/O ports, HAL refers to \"pins\".  And "
+"those pins are connected or assigned values to via signals.  Much like an "
+"electrical engineer would connect wires between pins of components of a "
+"mill, a HAL engineer establishes the data flow between pins of module "
+"instances."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:161
+msgid ""
+"The LinuxCNC GUIS (AXIS, GMOCCAPY, Touchy, etc.) will represent the states "
+"of some pins (such as limit switches) but other graphical tools also exist "
+"for troubleshooting and configuration: Halshow, Halmeter, Halscope and "
+"Halreport."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:163
+msgid "The remainder of this introduction presents"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:165
+msgid ""
+"the syntax of how pins of different components are connected in the HAL "
+"configuration files, and"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:166
+msgid "software to inspect the values of pins"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:167
+msgid "at any given moment,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:168
+msgid "developing over time."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/intro.adoc:170
+#, no-wrap
+msgid "HAL System Design(((HAL System Design)))"
+msgstr ""
+
+#. type: Block title
+#: src/hal/intro.adoc:172
+#, no-wrap
+msgid "HAL is based on traditional system design techniques."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:178
+msgid ""
+"HAL is based on the same principles that are used to design hardware "
+"circuits and systems, so it is useful to examine those principles first.  "
+"Any system, including a CNC(((CNC))) machine, consists of interconnected "
+"components.  For the CNC machine, those components might be the main "
+"controller, servo amps or stepper drives, motors, encoders, limit switches, "
+"pushbutton pendants, perhaps a VFD for the spindle drive, a PLC to run a "
+"toolchanger, etc.  The machine builder must aselect, mount and wire these "
+"pieces together to make a complete system."
+msgstr ""
+
+#. type: Block title
+#: src/hal/intro.adoc:179
+#, no-wrap
+msgid "HAL Concept - Connecting like electrical circuits."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/intro.adoc:180
+#, no-wrap
+msgid "HAL Circuit Concept"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/intro.adoc:180
+#, no-wrap
+msgid "images/hal_circuit_concept.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:183
+msgid "Figure one would be written in HAL code like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/intro.adoc:188
+#, no-wrap
+msgid ""
+"net signal-blue    component.0.pin1-in      component.1.pin1-out\n"
+"net signal-red     component.0.pin3-out     component.1.pin3-in     "
+"component.1.pin4-in\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/intro.adoc:191
+#, no-wrap
+msgid "Part Selection(((HAL Part selection)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:199
+msgid ""
+"The machine builder does not need to worry about how each individual part "
+"works.  He treats them as black boxes. During the design stage, he decides "
+"which parts he is going to use - steppers or servos, which brand of servo "
+"amp, what kind of limit switches and how many, etc.  The integrator's "
+"decisions about which specific components to use is based on what that "
+"component does and the specifications supplied by the manufacturer of the "
+"device.  The size of a motor and the load it must drive will affect the "
+"choice of amplifier needed to run it.  The choice of amplifier may affect "
+"the kinds of feedback needed by the amp and the velocity or position signals "
+"that must be sent to the amp from a control."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:203
+msgid ""
+"In the HAL world, the integrator must decide what HAL components are "
+"needed.  Usually every interface card will require a driver.  Additional "
+"components may be needed for software generation of step pulses, PLC "
+"functionality, and a wide variety of other tasks."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/intro.adoc:205
+#, no-wrap
+msgid "Interconnection Design(((HAL: Interconnections Design)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:211
+msgid ""
+"The designer of a hardware system not only selects the parts, he also "
+"decides how those parts will be interconnected.  Each black box has "
+"terminals, perhaps only two for a simple switch, or dozens for a servo drive "
+"or PLC.  They need to be wired together.  The motors connect to the servo "
+"amps, the limit switches connect to the controller, and so on.  As the "
+"machine builder works on the design, he creates a large wiring diagram that "
+"shows how all the parts should be interconnected."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:214
+msgid ""
+"When using HAL, components are interconnected by signals.  The designer must "
+"decide which signals are needed, and what they should connect."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/intro.adoc:216
+#, no-wrap
+msgid "Implementation(((HAL: Implementation)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:221
+msgid ""
+"Once the wiring diagram is complete it is time to build the machine.  The "
+"pieces need to be acquired and mounted, and then they are interconnected "
+"according to the wiring diagram.  In a physical system, each interconnection "
+"is a piece of wire that needs to be cut and connected to the appropriate "
+"terminals."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:225
+msgid ""
+"HAL provides a number of tools to help 'build' a HAL system.  Some of the "
+"tools allow you to 'connect' (or disconnect) a single 'wire'.  Other tools "
+"allow you to save a complete list of all the parts, wires, and other "
+"information about the system, so that it can be 'rebuilt' with a single "
+"command."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/intro.adoc:227
+#, no-wrap
+msgid "Testing(((HAL: Testing)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:233
+msgid ""
+"Very few machines work right the first time.  While testing, the builder may "
+"use a meter to see whether a limit switch is working or to measure the DC "
+"voltage going to a servo motor.  He may hook up an oscilloscope to check the "
+"tuning of a drive, or to look for electrical noise.  He may find a problem "
+"that requires the wiring diagram to be changed; perhaps a part needs to be "
+"connected differently or replaced with something completely different."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:236
+msgid ""
+"HAL provides the software equivalents of a voltmeter, oscilloscope, signal "
+"generator, and other tools needed for testing and tuning a system.  The same "
+"commands used to build the system can be used to make changes as needed."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/intro.adoc:238
+#, no-wrap
+msgid "Summary(((HAL Basics Summary)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:242
+msgid ""
+"This document is aimed at people who already know how to do this kind of "
+"hardware system integration, but who do not know how to connect the hardware "
+"to LinuxCNC.  See the <<sec:halui-remote-start,Remote Start Example>> "
+"section in the HAL UI Examples documentation."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/intro.adoc:243 src/hal/intro.adoc:244
+#, no-wrap
+msgid "Remote Start Example (Schema)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:249
+msgid ""
+"The traditional hardware design as described above ends at the edge of the "
+"main control.  Outside the control are a bunch of relatively simple boxes, "
+"connected together to do whatever is needed.  Inside, the control is a big "
+"mystery -- one huge black box that we hope works."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:254
+msgid ""
+"HAL extends this traditional hardware design method to the inside of the big "
+"black box.  It makes device drivers and even some internal part of the "
+"controller into smaller black boxes that can be interconnected and even "
+"replaced just like the external hardware.  It allows the 'system wiring "
+"diagram' to show part of the internal controller, rather than just a big "
+"black box.  And most importantly, it allows the integrator to test and "
+"modify the controller using the same methods he would use on the rest of the "
+"hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:260
+msgid ""
+"Terms like motors, amps, and encoders are familiar to most machine "
+"integrators.  When we talk about using extra flexible eight conductor "
+"shielded cable to connect an encoder to the servo input board in the "
+"computer, the reader immediately understands what it is and is led to the "
+"question, 'what kinds of connectors will I need to make up each end.' The "
+"same sort of thinking is essential for the HAL but the specific train of "
+"thought may take a bit to get on track.  Using HAL words may seem a bit "
+"strange at first, but the concept of working from one connection to the next "
+"is the same."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:263
+msgid ""
+"This idea of extending the wiring diagram to the inside of the controller is "
+"what HAL is all about.  If you are comfortable with the idea of "
+"interconnecting hardware black boxes, you will probably have little trouble "
+"using HAL to interconnect software black boxes."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/intro.adoc:265
+#, no-wrap
+msgid "HAL Concepts(((HAL Concepts)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:269
+msgid ""
+"This section is a glossary that defines key HAL terms but it is a bit "
+"different than a traditional glossary because these terms are not arranged "
+"in alphabetical order.  They are arranged by their relationship or flow in "
+"the HAL way of things."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/intro.adoc:270
+#, no-wrap
+msgid "Component"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:285
+msgid ""
+"(((HAL Component)))  When we talked about hardware design, we referred to "
+"the individual pieces as 'parts', 'building blocks', 'black boxes', etc.  "
+"The HAL equivalent is a 'component' or 'HAL component'.  This document uses "
+"'HAL component' when there is likely to be confusion with other kinds of "
+"components, but normally just uses 'component'.  A HAL component is a piece "
+"of software with well-defined inputs, outputs, and behavior, that can be "
+"installed and interconnected as needed.  + + Many HAL Components model the "
+"behaviour of a tangible part of a machine, and a *pin* may indeed be meant "
+"to be connected to a *physical pin* on the device to communicate with it, "
+"hence the names.  But most often this is not the case.  Imagine a retrofit "
+"of a manual lathe/mill.  What LinuxCNC implements is how the machine "
+"presents itself to the outside world, and it is secondary if the "
+"implementation how to draw a circle is implemented on the machine already or "
+"provided from LinuxCNC.  And it is common to add buttons to the imaginary "
+"retrofit that *signal* an action, like an emergency stop.  LinuxCNC and the "
+"machine become one. And that is through the HAL."
+msgstr ""
+
+#. type: Table
+#: src/hal/intro.adoc:286 src/motion/pid-theory.adoc:154
+#: src/plasma/qtplasmac.adoc:3042
+#, no-wrap
+msgid "Parameter"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:293
+msgid ""
+"(((HAL Parameter)))  Many hardware components have adjustments that are not "
+"connected to any other components but still need to be accessed.  For "
+"example, servo amps often have trim pots to allow for tuning adjustments, "
+"and test points where a meter or scope can be attached to view the tuning "
+"results.  HAL components also can have such items, which are referred to as "
+"'parameters'.  There are two types of parameters: Input parameters are "
+"equivalent to trim pots - they are values that can be adjusted by the user, "
+"and remain fixed once they are set.  Output parameters cannot be adjusted by "
+"the user - they are equivalent to test points that allow internal signals to "
+"be monitored."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:300
+msgid ""
+"(((HAL Pin)))  Hardware components have terminals which are used to "
+"interconnect them.  The HAL equivalent is a 'pin' or 'HAL pin'.  'HAL pin' "
+"is used when needed to avoid confusion.  All HAL pins are named, and the pin "
+"names are used when interconnecting them.  HAL pins are software entities "
+"that exist only inside the computer."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/intro.adoc:301
+#, no-wrap
+msgid "Physical_Pin"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:305
+msgid ""
+"(((HAL Physical Pin)))  Many I/O devices have real physical pins or "
+"terminals that connect to external hardware, for example the pins of a "
+"parallel port connector.  To avoid confusion, these are referred to as "
+"'physical pins'.  These are the things that 'stick out' into the real world."
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/intro.adoc:309
+msgid ""
+"You may be wondering what relationship there is between the HAL_pins, "
+"physical_pins and external elements like encoders or a STG card: we are "
+"dealing here with interfaces of data translation/conversion type."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/intro.adoc:311
+#, no-wrap
+msgid "Signal"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:316
+msgid ""
+"(((HAL Signal)))  In a physical machine, the terminals of real hardware "
+"components are interconnected by wires.  The HAL equivalent of a wire is a "
+"'signal' or 'HAL signal'.  HAL signals connect HAL pins together as required "
+"by the machine builder.  HAL signals can be disconnected and reconnected at "
+"will (even while the machine is running)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:322
+msgid ""
+"(((HAL Type)))  When using real hardware, you would not connect a 24 Volt "
+"relay output to the +/-10&#8239;V analog input of a servo amp.  HAL pins "
+"have the same restrictions, which are based upon their type.  Both pins and "
+"signals have types, and signals can only be connected to pins of ffvthe same "
+"type.  Currently there are 4 types, as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:324
+msgid "bit - a single TRUE/FALSE or ON/OFF value"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:326
+msgid ""
+"float - a 64 bit floating point value, with approximately 53 bits of "
+"resolution and over 1000 bits of dynamic range."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:327
+msgid "u32 - a 32 bit unsigned integer, legal values are 0 to 4,294,967,295"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:329
+msgid ""
+"s32 - a 32 bit signed integer, legal values are -2,147,483,648 to "
+"+2,147,483,647"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:330
+msgid ""
+"u64 - a 64 bit unsigned integer, legal values are 0 to "
+"18,446,744,073,709,551,615"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:332
+msgid ""
+"s64 - a 64 bit signed integer, legal values are -9,223,372,036,854,775,808 "
+"to +9,223,372,036,854,775,807"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:345
+msgid ""
+"(((HAL:Function)))  Real hardware components tend to act immediately on "
+"their inputs.  For example, if the input voltage to a servo amp changes, the "
+"output also changes automatically.  However software components cannot act "
+"'automatically'.  Each component has specific code that must be executed to "
+"do whatever that component is supposed to do.  In some cases, that code "
+"simply runs as part of the component.  However in most cases, especially in "
+"realtime components, the code must run in a specific sequence and at "
+"specific intervals.  For example, inputs should be read before calculations "
+"are performed on the input data, and outputs should not be written until the "
+"calculations are done.  In these cases, the code is made available to the "
+"system in the form of one or more 'functions'.  Each function is a block of "
+"code that performs a specific action.  The system integrator can use "
+"'threads' to schedule a series of functions to be executed in a particular "
+"order and at specific time intervals."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/intro.adoc:346
+#, no-wrap
+msgid "Thread"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:350
+msgid ""
+"(((HAL:Thread)))  A 'thread' is a list of functions that runs at specific "
+"intervals as part of a realtime task.  When a thread is first created, it "
+"has a specific time interval (period), but no functions.  Functions can be "
+"added to the thread, and will be executed in order every time the thread "
+"runs."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:360
+msgid ""
+"As an example, suppose we have a parport component named hal_parport.  That "
+"component defines one or more HAL pins for each physical pin.  The pins are "
+"described in that component's doc section: Their names, how each pin relates "
+"to the physical pin, are they inverted, can you change polarity, etc.  But "
+"that alone doesn't get the data from the HAL pins to the physical pins.  It "
+"takes code to do that, and that is where functions come into the picture.  "
+"The parport component needs at least two functions: One to read the physical "
+"input pins and update the HAL pins, the other to take data from the HAL pins "
+"and write it to the physical output pins.  Both of these functions are part "
+"of the parport driver."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/intro.adoc:362
+#, no-wrap
+msgid "HAL components(((HAL Components)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:366
+msgid ""
+"Each HAL component is a piece of software with well-defined inputs, outputs, "
+"and behavior, that can be installed and interconnected as needed.  The "
+"section <<sec:hal-components,HAL Components List>> lists all available "
+"components and a brief description of what each does."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/intro.adoc:368
+#, no-wrap
+msgid "Timing Issues In HAL(((HAL Timing Issues)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:372
+msgid ""
+"Unlike the physical wiring models between black boxes that we have said that "
+"HAL is based upon, simply connecting two pins with a HAL-signal falls far "
+"short of the action of the physical case."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:379
+msgid ""
+"True relay logic consists of relays connected together, and when a contact "
+"opens or closes, current flows (or stops) immediately.  Other coils may "
+"change state, etc., and it all just 'happens'.  But in PLC style ladder "
+"logic, it doesn't work that way.  Usually in a single pass through the "
+"ladder, each rung is evaluated in the order in which it appears, and only "
+"once per pass.  A perfect example is a single rung ladder, with a NC contact "
+"in series with a coil.  The contact and coil belong to the same relay."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:383
+msgid ""
+"If this were a conventional relay, as soon as the coil is energized, the "
+"contacts begin to open and de-energize it.  That means the contacts close "
+"again, etc., etc.  The relay becomes a buzzer."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:388
+msgid ""
+"With a PLC, if the coil is OFF and the contact is closed when the PLC begins "
+"to evaluate the rung, then when it finishes that pass, the coil is ON.  The "
+"fact that turning on the coil opens the contact feeding it is ignored until "
+"the next pass.  On the next pass, the PLC sees that the contact is open, and "
+"de-energizes the coil.  So the relay still switches rapidly between on and "
+"off, but at a rate determined by how often the PLC evaluates the rung."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:393
+msgid ""
+"In HAL, the function is the code that evaluates the rung(s).  In fact, the "
+"HAL-aware realtime version of ClassicLadder exports a function to do exactly "
+"that.  Meanwhile, a thread is the thing that runs the function at specific "
+"time intervals.  Just like you can choose to have a PLC evaluate all its "
+"rungs every 10&#8239;ms, or every second, you can define HAL threads with "
+"different periods."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:396
+msgid ""
+"What distinguishes one thread from another is 'not' what the thread does - "
+"that is determined by which functions are connected to it.  The real "
+"distinction is simply how often a thread runs."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:399
+msgid ""
+"In LinuxCNC you might have a 50 µs thread and a 1 ms thread.  These would be "
+"created based on BASE_PERIOD and SERVO_PERIOD, the actual times depend on "
+"the values in your INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:403
+msgid ""
+"The next step is to decide what each thread needs to do.  Some of those "
+"decisions are the same in (nearly) any LinuxCNC system.  For instance, "
+"motion-command-handler is always added to servo-thread."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/intro.adoc:406
+msgid ""
+"Other connections would be made by the integrator.  These might include "
+"hooking the STG driver's encoder read and DAC write functions to the servo "
+"thread, or hooking StepGen's function to the base-thread, along with the "
+"parport function(s) to write the steps to the port."
+msgstr ""
+
+#. type: Title =
+#: src/hal/parallel-port.adoc:5
+#, no-wrap
+msgid "Parallel Port Driver"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:16
+msgid ""
+"The hal_parport component is a driver for the traditional PC parallel port.  "
+"The port has a total of 17 physical pins. The original parallel port divided "
+"those pins into three groups: data, control, and status.  The data group "
+"consists of 8 output pins, the control group consists of 4 pins, and the "
+"status group consists of 5 input pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:20
+msgid ""
+"In the early 1990s, the bidirectional parallel port was introduced, which "
+"allows the data group to be used for output or input.  The HAL driver "
+"supports the bidirectional port, and allows the user to set the data group "
+"as either input or output.  If configured as 'out', a port provides a total "
+"of 12 outputs and 5 inputs. If configured as 'in', it provides 4 outputs and "
+"13 inputs."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:23
+msgid ""
+"In some parallel ports, the control group pins are open collectors, which "
+"may also be driven low by an external gate.  On a board with open collector "
+"control pins. If configured as 'x', it provides 8 outputs, and 9 inputs."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:25 src/man/man9/hal_parport.9.adoc:136
+msgid ""
+"In some parallel ports, the control group has push-pull drivers and cannot "
+"be used as an input."
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:26
+#, no-wrap
+msgid "HAL and Open Collectors"
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/parallel-port.adoc:32
+msgid ""
+"HAL cannot automatically determine if the 'x' mode bidirectional pins are "
+"actually open collectors (OC).  If they are not, they cannot be used as "
+"inputs, and attempting to drive them LOW from an external source can damage "
+"the hardware."
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/parallel-port.adoc:38
+msgid ""
+"To determine whether your port has 'open collector' pins, load hal_parport "
+"in 'x' mode.  With no device attached, HAL should read the pin as TRUE.  "
+"Next, insert a 470&#8239;Ω resistor from one of the control pins to GND.  If "
+"the resulting voltage on the control pin is close to 0&#8239;V, and HAL now "
+"reads the pin as FALSE, then you have an OC port.  If the resulting voltage "
+"is far from 0&#8239;V, or HAL does not read the pin as FALSE, then your port "
+"cannot be used in 'x' mode."
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/parallel-port.adoc:40
+msgid ""
+"The external hardware that drives the control pins should also use open "
+"collector gates, e.g. 74LS05."
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/parallel-port.adoc:42
+msgid ""
+"On some computers, BIOS settings may affect whether 'x' mode can be "
+"used. 'SPP' mode is most likely to work."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:45 src/man/man9/hal_parport.9.adoc:159
+msgid ""
+"No other combinations are supported, and a port cannot be changed from input "
+"to output once the driver is installed."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:48
+msgid ""
+"The parport driver can control up to 8 ports (defined by MAX_PORTS in "
+"hal_parport.c).  The ports are numbered starting at zero."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/parallel-port.adoc:49
+#, no-wrap
+msgid "Loading"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:54
+msgid ""
+"The hal_parport driver is a real time component so it must be loaded into "
+"the real time thread with 'loadrt'.  The configuration string describes the "
+"parallel ports to be used, and (optionally) their types.  If the "
+"configuration string does not describe at least one port, it is an error."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:58
+#, no-wrap
+msgid "loadrt hal_parport cfg=\"port [type] [port [type] ...]\"\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:60
+#, no-wrap
+msgid "Specifying the Port"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:65
+msgid ""
+"Numbers below 16 refer to parallel ports detected by the system.  This is "
+"the simplest way to configure the `hal_parport` driver and cooperates with "
+"the Linux parport_pc driver if it is loaded.  A port of 0 is the first "
+"parallel port detected on the system, 1 is the next and so on."
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:66
+#, no-wrap
+msgid "Basic configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:69
+msgid "This will use the first parallel port Linux detects:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:73
+#, no-wrap
+msgid "loadrt hal_parport cfg=\"0\"\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:75
+#, no-wrap
+msgid "Using the Port Address"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:78
+msgid ""
+"Instead, the port address may be specified using the hex notation with the "
+"'0x' prefix."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:82
+msgid ""
+"The config string represents the hexadecimal address of the port, optionally "
+"followed by a direction, all repeated for each port.  The directions are "
+"_in_, _out_, or _x_, and determine the direction of the physical pins 2 to 9 "
+"of the D-Sub 25 connector.  If the direction is not specified, the data "
+"group will by default be configured as outputs. For example:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:83
+#, no-wrap
+msgid ""
+"Command to load the real-time module 'hal_partport' with the additional "
+"_<config-string>_ to specify the port at which the parallel-port card is "
+"expected."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:87
+#, no-wrap
+msgid "loadrt hal_parport cfg=\"0x278 0x378 in 0x20A0 out\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:95
+msgid ""
+"This example installs the drivers for a port 0x0278, with pins 2 to 9 as "
+"outputs (by default, since neither _in_ nor _out_ is specified), a port "
+"0x0378, with pins 2 to 9 as inputs and a 0x20A0 port, with pins 2 to 9 "
+"explicitly specified as outputs.  Note that you must know the base address "
+"of the parallel ports to configure the drivers correctly.  For ISA bus "
+"ports, this is usually not a problem, since the ports are almost always at a "
+"well-known address, such as 0x278 or 0x378 which are typically configured in "
+"the BIOS.  The addresses of PCI bus cards are usually found with `lspci -v` "
+"in an _I/O ports_ line, or in a kernel message after running `sudo modprobe "
+"-a parport_pc`.  There is no default address, so if `<config-string>` does "
+"not contain at least one address, it is an error."
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:97
+#, no-wrap
+msgid "Parport block diagram(((Parport block diag)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/parallel-port.adoc:98
+#, no-wrap
+msgid "Parport block diagram"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/parallel-port.adoc:98
+#, no-wrap
+msgid "images/parport-block-diag.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:104
+msgid ""
+"For each parallel port handled by the hal_parport driver, a 'type' can "
+"optionally be specified.  The type is one of 'in', 'out', 'epp', or 'x'."
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:105
+#, no-wrap
+msgid "Parallel Port Direction"
+msgstr ""
+
+#. type: Table
+#: src/hal/parallel-port.adoc:108
+#, no-wrap
+msgid "out/epp"
+msgstr ""
+
+#. type: Table
+#: src/hal/parallel-port.adoc:109
+#, no-wrap
+msgid "x"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:129
+msgid "If the type is not specified, the default is 'out'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:134
+msgid ""
+"A type of 'epp' is the same as 'out', but the hal_parport driver requests "
+"that the port switch into EPP mode.  The hal_parport driver does *not* use "
+"the EPP bus protocol, but on some systems EPP mode changes the electrical "
+"characteristics of the port in a way that may make some marginal hardware "
+"work better.  The Gecko G540's charge pump is known to require this on some "
+"parallel ports."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:136
+msgid "See the Note above about mode 'x'."
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:137
+#, no-wrap
+msgid "Example with two parallel ports"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:140
+msgid ""
+"This will enable two system-detected parallel ports, the first in output "
+"mode and the second in input mode:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:144
+#, no-wrap
+msgid "loadrt hal_parport cfg=\"0 out 1 in\"\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/parallel-port.adoc:146
+#, no-wrap
+msgid "Parport R/W Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:149
+msgid "You must also direct LinuxCNC to run the 'read' and 'write' functions."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:154
+#, no-wrap
+msgid ""
+"addf parport.0.read base-thread\n"
+"addf parport.0.write base-thread\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/parallel-port.adoc:156
+#, no-wrap
+msgid "PCI Port Address"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:160
+msgid ""
+"One good PCI parport card is made with the Netmos 9815 chipset.  It has good "
+"+5&#8239;V signals, and can come in a single or dual ports."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:162
+msgid ""
+"To find the I/O addresses for PCI cards open a terminal window and use the "
+"list pci command:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:168
+msgid "Look for the entry with \"Netmos\" in it. Example of a 2-port card:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:180
+#, no-wrap
+msgid ""
+"0000:01:0a.0 Communication controller: \\\n"
+"      Netmos Technology PCI 9815 Multi-I/O Controller (rev 01)\n"
+"Subsystem: LSI Logic / Symbios Logic 2POS (2 port parallel adapter)\n"
+"Flags: medium devsel, IRQ 5\n"
+"I/O ports at b800 [size=8]\n"
+"I/O ports at bc00 [size=8]\n"
+"I/O ports at c000 [size=8]\n"
+"I/O ports at c400 [size=8]\n"
+"I/O ports at c800 [size=8]\n"
+"I/O ports at cc00 [size=16]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:185
+msgid ""
+"From experimentation, I've found the first port (the on-card port) uses the "
+"third address listed (c000), and the second port (the one that attaches with "
+"a ribbon cable) uses the first address listed (b800).  The following example "
+"shows the onboard parallel port and a PCI parallel port using the default "
+"out direction."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:189
+#, no-wrap
+msgid "loadrt hal_parport cfg=\"0x378 0xc000\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:194
+msgid ""
+"Please note that your values will differ.  The Netmos cards are Plug-N-Play, "
+"and might change their settings depending on which slot you put them into, "
+"so if you like to 'get under the hood' and re-arrange things, be sure to "
+"check these values before you start LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:198
+msgid "`parport.<p>.pin-`__<n>__`-out` (bit) Drives a physical output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:199
+msgid "`parport.<p>.pin-`__<n>__`-in` (bit) Tracks a physical input pin."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:200
+msgid ""
+"`parport.<p>.pin-`__<n>__`-in-not` (bit) Tracks a physical input pin, but "
+"inverted."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:202
+msgid ""
+"For each pin, _<p>_ is the port number, and _<n>_ is the physical pin number "
+"in the 25 pin D-shell connector."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:204
+msgid ""
+"For each physical output pin, the driver creates a single HAL pin, for "
+"example: `parport.0.pin-14-out`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:206
+msgid ""
+"For each physical input pin, the driver creates two HAL pins, for example: "
+"`parport.0.pin-12-in` and `parport.0.pin-12-in-not`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:209
+msgid ""
+"The `-in` HAL pin is TRUE if the physical pin is high, and FALSE if the "
+"physical pin is low.  The `-in-not` HAL pin is inverted and is FALSE if the "
+"physical pin is high."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:213
+msgid "`parport.`__<p>__`.pin-`__<n>__`-out-invert` (bit) Inverts an output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:214
+msgid ""
+"`parport.`__<p>__`.pin-`__<n>__`-out-reset` (bit) (only for `-out` pins) "
+"TRUE if this pin should be reset when the `-reset` function is executed."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:215
+msgid ""
+"`parport.`__<p>__`.reset-time` (U32) The time (in nanoseconds) between a pin "
+"is set by `-write` and reset by the `-reset` function if it is enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:219
+msgid ""
+"The `-invert` parameter determines whether an output pin is active high or "
+"active low.  If `-invert` is FALSE, setting the HAL `-out` pin TRUE drives "
+"the physical pin high, and FALSE drives it low.  If `-invert` is TRUE, then "
+"setting the HAL `-out` pin TRUE will drive the physical pin low."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:224
+msgid ""
+"`parport.`__<p>__`.read` (funct) Reads physical input pins of port number "
+"_<p>_ and updates HAL `-in` and `-in-not` pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:225
+msgid ""
+"`parport.read-all` (funct) Reads physical input pins of all ports and "
+"updates HAL `-in` and `-in-not` pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:226
+msgid ""
+"`parport.`__<p>__`.write` (funct) Reads HAL `-out` pins of port number _<p>_ "
+"and updates that port's physical output pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:227
+msgid ""
+"`parport.write-all` (funct) Reads HAL `-out` pins of all ports and updates "
+"all physical output pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:232
+msgid ""
+"`parport.`__<p>__`.reset` (funct) Waits until `reset-time` has elapsed since "
+"the associated `write`, then resets pins to values indicated by "
+"`-out-invert` and `-out-invert` settings.  `reset` must be later in the same "
+"thread as `write`.  If `-reset` is TRUE, then the `reset` function will set "
+"the pin to the value of `-out-invert`.  This can be used in conjunction with "
+"stepgen's 'doublefreq' to produce one step per period.  The "
+"<<sec:stepgen,stepgen stepspace>> for that pin must be set to 0 to enable "
+"doublefreq."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:235
+msgid ""
+"The individual functions are provided for situations where one port needs to "
+"be updated in a very fast thread, but other ports can be updated in a slower "
+"thread to save CPU time.  It is probably not a good idea to use both an "
+"`-all` function and an individual function at the same time."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/parallel-port.adoc:236
+#, no-wrap
+msgid "Common problems"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:239
+msgid "If loading the module reports"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:243
+#, no-wrap
+msgid ""
+"insmod: error inserting '/home/jepler/emc2/rtlib/hal_parport.ko':\n"
+"-1 Device or resource busy\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:247
+msgid ""
+"then ensure that the standard kernel module 'parport_pc' is not loaded "
+"footnote:[In the LinuxCNC packages for Ubuntu, the file /etc/modprobe.d/emc2 "
+"generally prevents 'parport_pc' from being automatically loaded.] and that "
+"no other device in the system has claimed the I/O ports."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:249
+msgid ""
+"If the module loads but does not appear to function, then the port address "
+"is incorrect."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/parallel-port.adoc:250
+#, no-wrap
+msgid "Using DoubleStep"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:254
+msgid ""
+"To setup DoubleStep on the parallel port you must add the function "
+"parport.n.reset after parport.n.write and configure stepspace to 0 and the "
+"reset time wanted.  So that step can be asserted on every period in HAL and "
+"then toggled off by parport after being asserted for time specified by "
+"`parport.`__n__`.reset-time`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:256 src/hal/rtcomps.adoc:39
+#: src/plasma/qtplasmac.adoc:369 src/plasma/qtplasmac.adoc:4084
+msgid "For example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:270
+#, no-wrap
+msgid ""
+"loadrt hal_parport cfg=\"0x378 out\"\n"
+"setp parport.0.reset-time 5000\n"
+"loadrt stepgen step_type=0,0,0\n"
+"addf parport.0.read base-thread\n"
+"addf stepgen.make-pulses base-thread\n"
+"addf parport.0.write base-thread\n"
+"addf parport.0.reset base-thread\n"
+"addf stepgen.capture-position servo-thread\n"
+"...\n"
+"setp stepgen.0.steplen 1\n"
+"setp stepgen.0.stepspace 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:274
+msgid ""
+"More information on DoubleStep can be found on the "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?TweakingSoftwareStepGeneration[wiki]."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/parallel-port.adoc:276
+#, no-wrap
+msgid "probe_parport"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:281
+msgid ""
+"In today's PCs, parallel ports may require a plug and play (PNP) "
+"configuration before they can be used.  The kernel module _probe_parport_ "
+"configures all PNP ports present.  It must be loaded before "
+"_hal_parport_. On machines without a PNP port, it can be loaded but will "
+"have no effect."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/parallel-port.adoc:282
+#, no-wrap
+msgid "Installing probe_parport"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:285
+msgid "If, when `parport_pc` kernel module is loaded with command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:288
+#, no-wrap
+msgid "sudo modprobe -a parport_pc; sudo rmmod parport_pc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:291
+msgid "Linux kernel outputs a message similar to:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:294
+#, no-wrap
+msgid "parport: PnPBIOS parport detected.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:297
+msgid "Then use of this module will probably be necessary."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/parallel-port.adoc:299
+msgid "Finally, HAL parport components should be loaded:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/parallel-port.adoc:304
+#, no-wrap
+msgid ""
+"loadrt probe_parport\n"
+"loadrt hal_parport ...\n"
+msgstr ""
+
+#. type: Title =
+#: src/hal/rtcomps.adoc:5
+#, no-wrap
+msgid "HAL Component Descriptions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:8
+msgid ""
+"This chapter provides details on core functionalities of LinuxCNC that "
+"demand exact timing for"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:10
+msgid "the generation of signals that is interpreted by hardware (like motors) or"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:11
+msgid "for the interpretation of signals sent by the hardware (like encoders)."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/rtcomps.adoc:13
+#, no-wrap
+msgid "StepGen(((stepgen)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:24
+msgid ""
+"This component provides software based generation of step pulses in response "
+"to position or velocity commands.  In position mode, it has a built in "
+"pre-tuned position loop, so PID tuning is not required.  In velocity mode, "
+"it drives a motor at the commanded speed, while obeying velocity and "
+"acceleration limits.  It is a realtime component only, and depending on CPU "
+"speed, etc., is capable of maximum step rates of 10&#8239;kHz to perhaps "
+"50&#8239;kHz.  The step pulse generator block diagram shows three block "
+"diagrams, each is a single step pulse generator.  The first diagram is for "
+"step type '0', (step and direction).  The second is for step type '1' "
+"(up/down, or pseudo-PWM), and the third is for step types 2 through 14 "
+"(various stepping patterns).  The first two diagrams show position mode "
+"control, and the third one shows velocity mode.  Control mode and step type "
+"are set independently, and any combination can be selected."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:26
+#, no-wrap
+msgid "Step Pulse Generator Block Diagram position mode(((Stepgen Block Diagram)))"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/rtcomps.adoc:27
+#, no-wrap
+msgid "images/stepgen-block-diag.png"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:29
+#, no-wrap
+msgid "Loading `stepgen` component"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:32
+#, no-wrap
+msgid "halcmd: loadrt stepgen step_type=<type-array> [ctrl_type=<ctrl_array>]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:34
+#, no-wrap
+msgid "<type-array>"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:35
+msgid ""
+"is a series of comma separated decimal integers. Each number causes a single "
+"step pulse generator to be loaded, the value of the number determines the "
+"stepping type."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:35
+#, no-wrap
+msgid "<ctrl_array>"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:36
+msgid ""
+"is a comma separated series of 'p' or 'v' characters, to specify position or "
+"velocity mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:36
+#, no-wrap
+msgid "ctrl_type"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:37
+msgid "is optional, if omitted, all of the step generators will be position mode."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:42
+#, no-wrap
+msgid "halcmd: loadrt stepgen step_type=0,0,2 ctrl_type=p,p,v\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:51
+msgid ""
+"Will install three step generators.  The first two use step type '0' (step "
+"and direction) and run in position mode.  The last one uses step type '2' "
+"(quadrature) and runs in velocity mode.  The default value for "
+"'<config-array>' is '0,0,0' which will install three type '0' (step/dir) "
+"generators.  The maximum number of step generators is 8 (as defined by "
+"MAX_CHAN in stepgen.c).  Each generator is independent, but all are updated "
+"by the same function(s) at the same time.  In the following descriptions, "
+"_<chan>_ is the number of a specific generator. The first generator is "
+"number 0."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:52
+#, no-wrap
+msgid "Unloading `stepgen` component"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:55
+#, no-wrap
+msgid "halcmd: unloadrt stepgen\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/rtcomps.adoc:58
+#, no-wrap
+msgid "Pins(((HAL stepgen pins)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:61
+msgid "On the step type and control type selected."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:63
+msgid ""
+"(float) `stepgen.`__<chan>__`.position-cmd` - Desired motor position, in "
+"position units (position mode only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:64
+msgid ""
+"(float) `stepgen.`__<chan>__`.velocity-cmd` - Desired motor velocity, in "
+"position units per second (velocity mode only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:65
+msgid ""
+"s32) `stepgen.`__<chan>__`.counts` - Feedback position in counts, updated by "
+"'capture_position()'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:66
+msgid ""
+"(float) `stepgen.`__<chan>__`.position-fb` - Feedback position in position "
+"units, updated by 'capture_position()'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:67
+msgid ""
+"(bit) `stepgen.`__<chan>__`.enable` - Enables output steps - when false, no "
+"steps are generated."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:68
+msgid "(bit) `stepgen.`__<chan>__`.step` - Step pulse output (step type 0 only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:69
+msgid "(bit) `stepgen.`__<chan>__`.dir` - Direction output (step type 0 only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:70
+msgid "(bit) `stepgen.`__<chan>__`.up` - UP pseudo-PWM output (step type 1 only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:71
+msgid ""
+"(bit) `stepgen.`__<chan>__`.down` - DOWN pseudo-PWM output (step type 1 "
+"only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:72
+msgid ""
+"(bit) `stepgen.`__<chan>__`.phase-A` - Phase A output (step types 2-14 "
+"only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:73
+msgid ""
+"(bit) `stepgen.`__<chan>__`.phase-B` - Phase B output (step types 2-14 "
+"only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:74
+msgid ""
+"(bit) `stepgen.`__<chan>__`.phase-C` - Phase C output (step types 3-14 "
+"only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:75
+msgid ""
+"(bit) `stepgen.`__<chan>__`.phase-D` - Phase D output (step types 5-14 "
+"only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:76
+msgid ""
+"(bit) `stepgen.`__<chan>__`.phase-E` - Phase E output (step types 11-14 "
+"only)."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/rtcomps.adoc:78
+#, no-wrap
+msgid "Parameters(((HAL stepgen parameters)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:81
+msgid ""
+"(float) `stepgen.`__<chan>__`.position-scale` - Steps per position "
+"unit. This parameter is used for both output and feedback."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:82
+msgid ""
+"(float) `stepgen.`__<chan>__`.maxvel` - Maximum velocity, in position units "
+"per second. If 0.0, has no effect."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:84
+msgid ""
+"(float) `stepgen.`__<chan>__`.maxaccel` - Maximum accel/decel rate, in "
+"positions units per second squared.  If 0.0, has no effect."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:85
+msgid ""
+"(float) `stepgen.`__<chan>__`.frequency` - The current step rate, in steps "
+"per second."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:86
+msgid ""
+"(float) `stepgen.`__<chan>__`.steplen` - Length of a step pulse (step type 0 "
+"and 1) or minimum time in a given state (step types 2-14), in nano-seconds."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:88
+msgid ""
+"(float) `stepgen.`__<chan>__`.stepspace` - Minimum spacing between two step "
+"pulses (step types 0 and 1 only), in nano-seconds.  Set to 0 to enable the "
+"stepgen 'doublefreq' function. To use 'doublefreq' the "
+"<<sub:parport-functions,parport reset function>> must be enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:89
+msgid ""
+"(float) `stepgen.`__<chan>__`.dirsetup` - Minimum time from a direction "
+"change to the beginning of the next step pulse (step type 0 only), in "
+"nanoseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:90
+msgid ""
+"(float) `stepgen.`__<chan>__`.dirhold` - Minimum time from the end of a step "
+"pulse to a direction change (step type 0 only), in nanoseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:91
+msgid ""
+"(float) `stepgen.`__<chan>__`.dirdelay` - Minimum time any step to a step in "
+"the opposite direction (step types 1-14 only), in nano-seconds."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:92
+msgid ""
+"(s32) `stepgen.`__<chan>__`.rawcounts` - The raw feedback count, updated by "
+"'make_pulses()'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:97
+msgid ""
+"In position mode, the values of maxvel and maxaccel are used by the internal "
+"position loop to avoid generating step pulse trains that the motor cannot "
+"follow.  When set to values that are appropriate for the motor, even a large "
+"instantaneous change in commanded position will result in a smooth "
+"trapezoidal move to the new location.  The algorithm works by measuring both "
+"position error and velocity error, and calculating an acceleration that "
+"attempts to reduce both to zero at the same time.  For more details, "
+"including the contents of the 'control equation' box, consult the code."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:100
+msgid ""
+"In velocity mode, maxvel is a simple limit that is applied to the commanded "
+"velocity, and maxaccel is used to ramp the actual frequency if the commanded "
+"velocity changes abruptly.  As in position mode, proper values for these "
+"parameters ensure that the motor can follow the generated pulse train."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/rtcomps.adoc:102
+#, no-wrap
+msgid "Step Types(((HAL stepgen Step Types)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:105
+msgid "Step generator supports 15 different _step sequences_:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:106
+#, no-wrap
+msgid "Step Type 0"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:116
+msgid ""
+"Step type 0 is the standard step and direction type.  When configured for "
+"step type 0, there are four extra parameters that determine the exact timing "
+"of the step and direction signals.  In the following figure the meaning of "
+"these parameters is shown.  The parameters are in nanoseconds, but will be "
+"rounded up to an integer multiple of the thread period for the threaed that "
+"calls 'make_pulses()'.  For example, if 'make_pulses()' is called every "
+"16&#8239;µs, and steplen is 20000, then the step pulses will be 2 x 16 = "
+"32&#8239;µs long.  The default value for all four of the parameters is "
+"1&#8239;ns, but the automatic rounding takes effect the first time the code "
+"runs.  Since one step requires _steplen_ ns high and _stepspace_ ns low, the "
+"maximum frequency is 1,000,000,000 divided by (_steplen_ + _stepspace_)'.  "
+"If _maxfreq_ is set higher than that limit, it will be lowered "
+"automatically.  If _maxfreq_ is zero, it will remain zero, but the output "
+"frequency will still be limited."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:118
+msgid ""
+"When using the parallel port driver the step frequency can be doubled using "
+"the <<sub:parport-functions,parport reset>> function together with StepGen's "
+"_doublefreq_ setting."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:120
+#, no-wrap
+msgid "Step and Direction Timing"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/rtcomps.adoc:121
+#, no-wrap
+msgid "images/stepgen-type0.png"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:123
+#, no-wrap
+msgid "Step Type 1"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:130
+msgid ""
+"Step type 1 has two outputs, up and down.  Pulses appear on one or the "
+"other, depending on the direction of travel.  Each pulse is _steplen_ ns "
+"long, and the pulses are separated by at least _stepspace_ ns.  The maximum "
+"frequency is the same as for step type 0.  If _maxfreq_ is set higher than "
+"the limit it will be lowered.  If _maxfreq_ is zero, it will remain zero but "
+"the output frequency will still be limited."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:134
+msgid ""
+"Do not use the parport reset function with step types 2 - 14.  Unexpected "
+"results can happen."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:135
+#, no-wrap
+msgid "Step Type 2 - 14"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:140
+msgid ""
+"Step types 2 through 14 are state based, and have from two to five outputs.  "
+"On each step, a state counter is incremented or decremented.  The "
+"Two-and-Three-Phase, Four-Phase, and Five-Phase show the output patterns as "
+"a function of the state counter.  The maximum frequency is 1,000,000,000 "
+"divided by _steplen_, and as in the other modes, _maxfreq_ will be lowered "
+"if it is above the limit."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:141
+#, no-wrap
+msgid "Two-and-Three-Phase Step Types(((Two and Three Phase)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/rtcomps.adoc:142
+#, no-wrap
+msgid "Step Types: Two-and-Three-Phase"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/rtcomps.adoc:142
+#, no-wrap
+msgid "images/stepgen-type2-4.png"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:144
+#, no-wrap
+msgid "Four-Phase Step Types(((Four Phase)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/rtcomps.adoc:145
+#, no-wrap
+msgid "Step Types: Four-Phase"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/rtcomps.adoc:145
+#, no-wrap
+msgid "images/stepgen-type5-10.png"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:147
+#, no-wrap
+msgid "Five-Phase Step Types(((Five Phase)))"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/rtcomps.adoc:148
+#, no-wrap
+msgid "Step Types: Five-Phase"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/rtcomps.adoc:148
+#, no-wrap
+msgid "images/stepgen-type11-14.png"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/rtcomps.adoc:151
+#, no-wrap
+msgid "Functions(((Hal stepgen Functions)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:155
+msgid ""
+"The component exports three functions.  Each function acts on all of the "
+"step pulse generators - running different generators in different threads is "
+"not supported."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:157
+msgid ""
+"(funct) `stepgen.make-pulses` - High speed function to generate and count "
+"pulses (no floating point)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:158
+msgid ""
+"(funct) `stepgen.update-freq` - Low speed function does position to velocity "
+"conversion, scaling and limiting."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:159
+msgid ""
+"(funct) `stepgen.capture-position` - Low speed function for feedback, "
+"updates latches and scales position."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:163
+msgid ""
+"The high speed function 'stepgen.make-pulses' should be run in a very fast "
+"thread, from 10 to 50&#8239;µs depending on the capabilities of the "
+"computer.  That thread's period determines the maximum step frequency, since "
+"'steplen', 'stepspace', 'dirsetup', 'dirhold', and 'dirdelay' are all "
+"rounded up to a integer multiple of the thread periond in nanoseconds.  The "
+"other two functions can be called at a much lower rate."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/rtcomps.adoc:165
+#, no-wrap
+msgid "PWMgen(((PWMgen)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:170
+msgid ""
+"This component provides software based generation of PWM (Pulse Width "
+"Modulation) and PDM (Pulse Density Modulation) waveforms.  It is a realtime "
+"component only, and depending on CPU speed, etc., is capable of PWM "
+"frequencies from a few hundred Hertz at pretty good resolution, to perhaps "
+"10 kHz with limited resolution."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:171
+#, no-wrap
+msgid "Loading PWMgen"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:174
+#, no-wrap
+msgid "loadrt pwmgen output_type=<config-array>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:184
+msgid ""
+"The '<config-array>' is a series of comma separated decimal integers.  Each "
+"number causes a single PWM generator to be loaded, the value of the number "
+"determines the output type.  The following example will install three PWM "
+"generators.  There is no default value, if '<config-array>' is not "
+"specified, no PWM generators will be installed.  The maximum number of "
+"frequency generators is 8 (as defined by MAX_CHAN in pwmgen.c).  Each "
+"generator is independent, but all are updated by the same function(s) at the "
+"same time.  In the following descriptions, '_<chan>_' is the number of a "
+"specific generator.  The first generator is number 0."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:185
+#, no-wrap
+msgid "Loading PWMgen Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:188
+#, no-wrap
+msgid "loadrt pwmgen output_type=0,1,2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:197
+msgid ""
+"Will install three PWM generators.  The first will use an output of type _0_ "
+"(PWM only), the next one will use a type 1 output (PWM and direction) and "
+"the third will use a type 2 output (UP and DOWN).  There is no default "
+"value, if _<config-array>_ is not not specified, no PWM generator will be "
+"installed.  The maximum number of frequency generators is 8 (as defined by "
+"MAX_CHAN in pwmgen.c).  Each generator is independent, but all are updated "
+"by the same function(s), at the same time.  In the descriptions that follow, "
+"_<chan>_ is the number of specific generators.  The numbering of PWM "
+"generators starts at 0."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:198
+#, no-wrap
+msgid "Unloading PWMgen"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:201
+#, no-wrap
+msgid "unloadrt pwmgen\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/rtcomps.adoc:203
+#, no-wrap
+msgid "Output Types"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:206
+msgid "The PWM generator supports three different 'output types'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:209
+msgid ""
+"'Output type 0' - PWM output pin only.  Only positive commands are accepted, "
+"negative values are treated as zero (and will be affected by the parameter "
+"'min-dc' if it is non-zero)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:213
+msgid ""
+"'Output type 1' - PWM/PDM and direction pins.  Positive and negative inputs "
+"will be output as positive and negative PWM.  The direction pin is false for "
+"positive commands, and true for negative commands.  If your control needs "
+"positive PWM for both CW and CCW use the link:../man/man9/abs.9.html[abs] "
+"component to convert your PWM signal to positive value, when a negative "
+"input is input."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:217
+msgid ""
+"'Output type 2' - UP and DOWN pins.  For positive commands, the PWM signal "
+"appears on the up output, and the down output remains false.  For negative "
+"commands, the PWM signal appears on the down output, and the up output "
+"remains false.  Output type 2 is suitable for driving most H-bridges."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:221
+msgid "Each PWM generator will have the following pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:224
+msgid ""
+"(float) `pwmgen.`__<chan>__`.value` - Command value, in arbitrary units.  "
+"Will be scaled by the 'scale' parameter (see below)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:225
+msgid ""
+"(bit) `pwmgen.`__<chan>__`.enable` - Enables or disables the PWM generator "
+"outputs."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:227
+msgid ""
+"Each PWM generator will also have some of these pins, depending on the "
+"output type selected:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:229
+msgid ""
+"(bit) `pwmgen.`__<chan>__`.pwm` - PWM (or PDM) output, (output types 0 and 1 "
+"only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:230
+msgid "(bit) `pwmgen.`__<chan>__`.dir` - Direction output (output type 1 only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:231
+msgid ""
+"(bit) `pwmgen.`__<chan>__`.up` - PWM/PDM output for positive input value "
+"(output type 2 only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:232
+msgid ""
+"(bit) `pwmgen.`__<chan>__`.down` - PWM/PDM output for negative input value "
+"(output type 2 only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:238
+msgid ""
+"(float) `pwmgen.`__<chan>__`.scale` - Scaling factor to convert `value` from "
+"arbitrary units to duty cycle.  For example if scale is set to 4000 and the "
+"input value passed to the `pwmgen.`__<chan>__`.value` is 4000 then it will "
+"be 100% duty-cycle (always on).  If the value is 2000 then it will be a 50% "
+"25&#8239;Hz square wave."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:241
+msgid ""
+"(float) `pwmgen.`__<chan>__`.pwm-freq` - Desired PWM frequency, in Hz.  If "
+"0.0, generates PDM instead of PWM. If set higher than internal limits, next "
+"call of 'update_freq()' will set it to the internal limit.  If non-zero, and "
+"'dither' is false, next call of 'update_freq()' will set it to the nearest "
+"integer multiple of the 'make_pulses()' function period."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:243
+msgid ""
+"(bit) `pwmgen.`__<chan>__`.dither-pwm` - If true, enables dithering to "
+"achieve average PWM frequencies or duty cycles that are unobtainable with "
+"pure PWM.  If false, both the PWM frequency and the duty cycle will be "
+"rounded to values that can be achieved exactly."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:244
+msgid ""
+"(float) `pwmgen.`__<chan>__`.min-dc` - Minimum duty cycle, between 0.0 and "
+"1.0 (duty cycle will go to zero when disabled, regardless of this setting)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:245
+msgid ""
+"(float) `pwmgen.`__<chan>__`.max-dc` - Maximum duty cycle, between 0.0 and "
+"1.0."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:246
+msgid ""
+"(float) `pwmgen.`__<chan>__`.curr-dc` - Current duty cycle - after all "
+"limiting and rounding (read only)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:250
+msgid ""
+"The component exports two functions. Each function acts on all of the PWM "
+"generators - running different generators in different threads is not "
+"supported."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:257
+msgid ""
+"(funct) `pwmgen.make-pulses` - High speed function to generate PWM waveforms "
+"(no floating point).  The high speed function `pwmgen.make-pulses` should be "
+"run in the base (fastest) thread, from 10 to 50&#8239;µs depending on the "
+"capabilities of the computer.  That thread's period determines the maximum "
+"PWM carrier frequency, as well as the resolution of the PWM or PDM signals.  "
+"If the base thread is 50,000&#8239;ns then every 50&#8239;µs the module "
+"decides if it is time to change the state of the output.  At 50% duty cycle "
+"and 25&#8239;Hz PWM frequency this means that the output changes state every "
+"(1/25)&#8239;s / 50&#8239;µs * 50% = 400 iterations.  This also means that "
+"you have a 800 possible duty cycle values (without dithering)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:259
+msgid ""
+"(funct) `pwmgen.update` - Low speed function to scale and limit value and "
+"handle other parameters.  This is the function of the module that does the "
+"more complicated mathematics to work out how many base-periods the output "
+"should be high for, and how many it should be low for."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/rtcomps.adoc:261
+#, no-wrap
+msgid "Encoder(((encoder)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:265
+msgid ""
+"This component provides software based counting of signals from quadrature "
+"(or single-pulse) encoders.  It is a realtime component only, and depending "
+"on CPU speed, latency, etc., is capable of maximum count rates of "
+"10&#8239;kHz to perhaps up to 50&#8239;kHz."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:270
+msgid ""
+"The base thread should be 1/2 count speed to allow for noise and timing "
+"variation.  For example if you have a 100 pulse per revolution encoder on "
+"the spindle and your maximum RPM is 3000 the maximum base thread should be "
+"25&#8239;µs.  A 100 pulse per revolution encoder will have 400 counts.  The "
+"spindle speed of 3000&#8239;RPM = 50&#8239;RPS (revolutions per second). 400 "
+"* 50 = 20,000 counts per second or 50&#8239;µs between counts."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:272
+msgid ""
+"The Encoder Counter Block Diagram is a block diagram of one channel of an "
+"encoder counter."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:274
+#, no-wrap
+msgid "Encoder Counter Block Diagram(((Encoder Block Diagram)))"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/rtcomps.adoc:275
+#, no-wrap
+msgid "images/encoder-block-diag.png"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:277
+#, no-wrap
+msgid "Loading Encoder"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:280
+#, no-wrap
+msgid "halcmd: loadrt encoder [num_chan=<counters>]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:287
+msgid ""
+"_<counters>_ is the number of encoder counters that you want to install.  If "
+"'num_chan' is not specified, three counters will be installed.  The maximum "
+"number of counters is 8 (as defined by MAX_CHAN in encoder.c).  Each counter "
+"is independent, but all are updated by the same function(s) at the same "
+"time.  In the following descriptions, _<chan>_ is the number of a specific "
+"counter. The first counter is number 0."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:288
+#, no-wrap
+msgid "Unloading Encoder"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:291
+#, no-wrap
+msgid "halcmd: unloadrt encoder\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:298
+msgid ""
+"`encoder._<chan>_.counter-mode` (bit, I/O) (default: FALSE) - Enables "
+"counter mode.  When true, the counter counts each rising edge of the phase-A "
+"input, ignoring the value on phase-B.  This is useful for counting the "
+"output of a single channel (non-quadrature) sensor. When false, it counts in "
+"quadrature mode."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:302
+msgid ""
+"`encoder._<chan>_.missing-teeth` (s32, In) (default: 0) - Enables the use of "
+"missing-tooth index.  This allows a single IO pin to provide both position "
+"and index information.  If the encoder wheel has 58 teeth with two missing, "
+"spaced as if there were 60(common for automotive crank sensors) then the "
+"position-scale should be set to 60 and missing-teeth to 2.  To use this mode "
+"counter-mode should be set true. This mode will work for lathe threading but "
+"not for rigid tapping."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:303
+msgid "`encoder._<chan>_.counts` (s32, Out) - Position in encoder counts."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:304
+msgid "`encoder._<chan>_.counts-latched` (s32, Out) - Not used at this time."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:310
+#, no-wrap
+msgid ""
+"`encoder._<chan>_.index-enable` (bit, I/O) - When True, `counts` and "
+"`position` are reset to zero on next rising edge of Phase Z.\n"
+"At the same time, `index-enable` is reset to zero to indicate that the "
+"rising edge has occurred. The `index-enable` pin is bi-directional. If "
+"`index-enable` is False, the Phase Z channel of the encoder will be ignored, "
+"and the counter will count normally. The encoder driver will never set "
+"`index-enable` True. However, some other component may do so."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:311
+msgid ""
+"`encoder._<chan>_.latch-falling` (bit, In) (default: TRUE) - Not used at "
+"this time."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:312
+msgid ""
+"`encoder._<chan>_.latch-input` (bit, In) (default: TRUE) - Not used at this "
+"time."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:313
+msgid "`encoder._<chan>_.latch-rising` (bit, In) - Not used at this time."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:316
+msgid ""
+"`encoder._<chan>_.min-speed-estimate` (float, in) - Determine the minimum "
+"true velocity magnitude, at which velocity will be estimated as nonzero and "
+"position-interpolated will be interpolated.  The units of "
+"`min-speed-estimate` are the same as the units of `velocity`. Scale factor, "
+"in counts per length unit.  Setting this parameter too low will cause it to "
+"take a long time for velocity to go to 0 after encoder pulses have stopped "
+"arriving."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:317
+msgid ""
+"`encoder._<chan>_.phase-A` (bit, In) - Phase A of the quadrature encoder "
+"signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:318
+msgid ""
+"`encoder._<chan>_.phase-B` (bit, In) - Phase B of the quadrature encoder "
+"signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:319
+msgid ""
+"`encoder._<chan>_.phase-Z` (bit, In) - Phase Z (index pulse) of the "
+"quadrature encoder signal."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:320
+msgid ""
+"`encoder._<chan>_.position` (float, Out) - Position in scaled units (see "
+"`position-scale`)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:325
+#, no-wrap
+msgid ""
+"`encoder._<chan>_.position-interpolated` (float, Out) - Position in scaled "
+"units, interpolated between encoder counts.\n"
+"The `position-interpolated` attempts to interpolate between encoder counts, "
+"based on the most recently measured velocity. Only valid when velocity is "
+"approximately constant and above `min-speed-estimate`. Do not use for "
+"position control, since its value is incorrect at low speeds, during "
+"direction reversals, and during speed changes.\n"
+"However, it allows a low ppr encoder (including a one pulse per revolution "
+"'encoder') to be used for lathe threading, and may have other uses as well."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:326
+msgid "`encoder._<chan>_.position-latched` (float, Out) - Not used at this time."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:328
+msgid ""
+"`encoder._<chan>_.position-scale` (float, I/O) - Scale factor, in counts per "
+"length unit. For example, if position-scale is 500, then 1000 counts of the "
+"encoder will be reported as a position of 2.0 units."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:331
+msgid ""
+"`encoder._<chan>_.rawcounts` (s32, In) - The raw count, as determined by "
+"update-counters.  This value is updated more frequently than counts and "
+"position.  It is also unaffected by reset or the index pulse."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:332
+msgid ""
+"`encoder._<chan>_.reset` (bit, In) - When True, force 'counts' and "
+"'position' to zero immediately."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:335
+msgid ""
+"`encoder._<chan>_.velocity` (float, Out) - Velocity in scaled units per "
+"second.  `encoder` uses an algorithm that greatly reduces quantization noise "
+"as compared to simply differentiating the 'position' output.  When the "
+"magnitude of the true velocity is below min-speed-estimate, the velocity "
+"output is 0."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:339
+msgid ""
+"`encoder._<chan>_.x4-mode` (bit, I/O) (default: TRUE) - Enables times-4 "
+"mode.  When true, the counter counts each edge of the quadrature waveform "
+"(four counts per full cycle).  When false, it only counts once per full "
+"cycle.  In counter-mode, this parameter is ignored. The 1x mode is useful "
+"for some jogwheels."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:343
+msgid "`encoder._<chan>_.capture-position.time` (s32, RO)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:344
+msgid "`encoder._<chan>_.capture-position.tmax` (s32, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:345
+msgid "`encoder._<chan>_.update-counters.time` (s32, RO)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:346
+msgid "`encoder._<chan>_.update-counter.tmax` (s32, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:351
+msgid ""
+"The component exports two functions.  Each function acts on all of the "
+"encoder counters - running different counters in different threads is not "
+"supported."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:353
+msgid ""
+"(funct) `encoder.update-counters` - High speed function to count pulses (no "
+"floating point)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:354
+msgid ""
+"(funct) `encoder.capture-position` - Low speed function to update latches "
+"and scale position."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/rtcomps.adoc:356
+#, no-wrap
+msgid "PID(((PID)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:362
+msgid ""
+"This component provides Proportional/Integral/Derivative control loops.  It "
+"is a realtime component only. For simplicity, this discussion assumes that "
+"we are talking about position loops, however this component can be used to "
+"implement other feedback loops such as speed, torch height, temperature, "
+"etc.  The PID Loop Block Diagram is a block diagram of a single PID loop."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:364
+#, no-wrap
+msgid "PID Loop Block Diagram(((PID Block Diagram)))"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/rtcomps.adoc:365
+#, no-wrap
+msgid "images/pid-block-diag.png"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:367
+#, no-wrap
+msgid "Loading PID"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:370
+#, no-wrap
+msgid "halcmd: loadrt pid [num_chan=<loops>] [debug=1]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:377
+msgid ""
+"_<loops>_ is the number of PID loops that you want to install.  If "
+"_num_chan_ is not specified, one loop will be installed.  The maximum number "
+"of loops is 16 (as defined by MAX_CHAN in pid.c).  Each loop is completely "
+"independent. In the following descriptions, _<loopnum>_ is the loop number "
+"of a specific loop.  The first loop is number 0."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:380
+msgid ""
+"If `debug=1` is specified, the component will export a few extra pins that "
+"may be useful during debugging and tuning.  By default, the extra pins are "
+"not exported, to save shared memory space and avoid cluttering the pin list."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:381
+#, no-wrap
+msgid "Unloading PID"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:384
+#, no-wrap
+msgid "halcmd: unloadrt pid\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:389
+msgid "The three most important pins are"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:391
+msgid ""
+"(float) `pid.`__<loopnum>__`.command` - The desired position, as commanded "
+"by another system component."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:392
+msgid ""
+"(float) `pid.`__<loopnum>__`.feedback` - The present position, as measured "
+"by a feedback device such as an encoder."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:393
+msgid ""
+"(float) `pid.`__<loopnum>__`.output` - A velocity command that attempts to "
+"move from the present position to the desired position."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:401
+msgid ""
+"For a position loop, `.command` and `.feedback` are in position units.  For "
+"a linear axis, this could be inches, mm, meters, or whatever is relevant.  "
+"Likewise, for an angular axis, it could be degrees, radians, etc.  The units "
+"of the `.output` pin represent the change needed to make the feedback match "
+"the command.  As such, for a position loop `.output` is a velocity, in "
+"inches/s, mm/s, degrees/s, etc.  Time units are always seconds, and the "
+"velocity units match the position units.  If command and feedback are in "
+"meters, then output is in meters per second."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:403
+msgid ""
+"Each loop has two pins which are used to monitor or control the general "
+"operation of the component."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:405
+msgid "'(float) pid._<loopnum>_.error' - Equals '.command' minus '.feedback'."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:408
+msgid ""
+"'(bit) pid._<loopnum>_.enable' - A bit that enables the loop.  If '.enable' "
+"is false, all integrators are reset, and the output is forced to zero.  If "
+"'.enable' is true, the loop operates normally."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:410
+msgid ""
+"Pins used to report saturation. Saturation occurs when the output of the PID "
+"block is at its maximum or minimum limit."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:412
+msgid "'(bit) pid._<loopnum>_.saturated' - True when output is saturated."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:413
+msgid ""
+"'(float) pid._<loopnum>_.saturated_s' - The time the output has been "
+"saturated."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:414
+msgid ""
+"'(s32) pid._<loopnum>_.saturated_count' - The time the output has been "
+"saturated."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:416
+msgid ""
+"The PID gains, limits, and other 'tunable' features of the loop are "
+"available as pins so that they can be adjusted dynamically for more advanced "
+"tuning possibilities."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:418
+msgid "'(float) pid._<loopnum>_.Pgain' - Proportional gain"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:419
+msgid "'(float) pid._<loopnum>_.Igain' - Integral gain"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:420
+msgid "'(float) pid._<loopnum>_.Dgain' - Derivative gain"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:421
+msgid "'(float) pid._<loopnum>_.bias' - Constant offset on output"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:422
+msgid ""
+"'(float) pid._<loopnum>_.FF0' - Zeroth order feedforward - output "
+"proportional to command (position)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:423
+msgid ""
+"'(float) pid._<loopnum>_.FF1' - First order feedforward - output "
+"proportional to derivative of command (velocity)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:424
+msgid ""
+"'(float) pid._<loopnum>_.FF2' - Second order feedforward - output "
+"proportional to 2^nd^ derivative of command (acceleration)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:425
+msgid "'(float) pid._<loopnum>_.deadband' - Amount of error that will be ignored"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:426
+msgid "'(float) pid._<loopnum>_.maxerror' - Limit on error"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:427
+msgid "'(float) pid._<loopnum>_.maxerrorI' - Limit on error integrator"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:428
+msgid "'(float) pid._<loopnum>_.maxerrorD' - Limit on error derivative"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:429
+msgid "'(float) pid._<loopnum>_.maxcmdD' - Limit on command derivative"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:430
+msgid "'(float) pid._<loopnum>_.maxcmdDD' - Limit on command 2^nd^ derivative"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:431
+msgid "'(float) pid._<loopnum>_.maxoutput' - Limit on output value"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:433
+msgid ""
+"All _max*_ limits are implemented so that if the value of this parameter is "
+"zero, there is no limit."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:435
+msgid ""
+"If 'debug=1' was specified when the component was installed, four additional "
+"pins will be exported:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:437
+msgid "'(float) pid._<loopnum>_.errorI' - Integral of error."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:438
+msgid "'(float) pid._<loopnum>_.errorD' - Derivative of error."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:439
+msgid "'(float) pid._<loopnum>_.commandD' - Derivative of the command."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:440
+msgid "'(float) pid._<loopnum>_.commandDD' - 2^nd^ derivative of the command."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:446
+msgid ""
+"The component exports one function for each PID loop.  This function "
+"performs all the calculations needed for the loop.  Since each loop has its "
+"own function, individual loops can be included in different threads and "
+"execute at different rates."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:449
+msgid ""
+"'(funct) pid._<loopnum>_.do_pid_calcs' - Performs all calculations for a "
+"single PID loop."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:451
+msgid ""
+"If you want to understand the exact algorithm used to compute the output of "
+"the PID loop, refer to"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:453
+msgid "figure <<fig:pid-block-diag,PID Loop Block Diagram>>,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:454
+msgid ""
+"the comments at the beginning of 'emc2/src/hal/components/pid.c', and of "
+"course to"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:455
+msgid "the code itself."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:457
+msgid "The loop calculations are in the C function 'calc_pid()'."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/rtcomps.adoc:459
+#, no-wrap
+msgid "Simulated Encoder(((Simulated Encoder)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:464
+msgid ""
+"The simulated encoder is exactly that.  It produces quadrature pulses with "
+"an index pulse, at a speed controlled by a HAL pin.  Mostly useful for "
+"testing."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:465
+#, no-wrap
+msgid "Loading sim-encoder"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:468
+#, no-wrap
+msgid "halcmd: loadrt sim-encoder num_chan=<number>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:473
+msgid ""
+"_<number>_ is the number of encoders that you want to simulate If not "
+"specified, one encoder will be installed.  The maximum number is 8 (as "
+"defined by MAX_CHAN in sim_encoder.c)."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:474
+#, no-wrap
+msgid "Unloading sim-encoder"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:477
+#, no-wrap
+msgid "halcmd: unloadrt sim-encoder\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:482
+msgid ""
+"(float) `sim-encoder.`__<chan-num>__`.speed` - The speed command for the "
+"simulated shaft."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:483
+msgid "(bit) `sim-encoder.`__<chan-num>__`.phase-A` - Quadrature output."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:484
+msgid "(bit) `sim-encoder.`__<chan-num>__`.phase-B` - Quadrature output."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:485
+msgid "(bit) `sim-encoder.`__<chan-num>__`.phase-Z` - Index pulse output."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:487
+msgid "When `.speed` is positive, `.phase-A` leads `.phase-B`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:491
+msgid "(u32) `sim-encoder.`__<chan-num>__`.ppr` - Pulses Per Revolution."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:494
+msgid ""
+"(float) `sim-encoder.`__<chan-num>__`.scale` - Scale Factor for `.speed`.  "
+"The default is 1.0, which means that `.speed` is in revolutions per second.  "
+"Change to 60 for RPM, to 360 for degrees per second, 6.283185 (= 2*&pi;) for "
+"radians per second, etc."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:498
+msgid ""
+"Note that pulses per revolution is not the same as counts per revolution.  A "
+"pulse is a complete quadrature cycle.  Most encoder counters will count four "
+"times during one complete cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:502
+msgid ""
+"The component exports two functions. Each function affects all simulated "
+"encoders."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:504
+msgid ""
+"(funct) `sim-encoder.make-pulses` - High speed function to generate "
+"quadrature pulses (no floating point)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:505
+msgid ""
+"(funct) `sim-encoder.update-speed` - Low speed function to read `.speed`, do "
+"scaling, and set up `.make-pulses`."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/rtcomps.adoc:507
+#, no-wrap
+msgid "Debounce(((debounce)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:511
+msgid ""
+"Debounce is a realtime component that can filter the glitches created by "
+"mechanical switch contacts.  It may also be useful in other applications "
+"where short pulses are to be rejected."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:512
+#, no-wrap
+msgid "Loading debounce"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:515
+#, no-wrap
+msgid "halcmd: loadrt debounce cfg=<config-string>\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:517
+#, no-wrap
+msgid "_<config-string>_"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:519
+msgid ""
+"Is a series of comma separated decimal integers.  Each number install a "
+"group of identical debounce filters, the number determines how many filters "
+"are in the group."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:520
+#, no-wrap
+msgid "Loading debounce Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:523
+#, no-wrap
+msgid "halcmd: loadrt debounce cfg=1,4,2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:533
+msgid ""
+"will install three groups of filters. Group 0 contains one filter, group 1 "
+"contains four, and group 2 contains two filters.  The default value for "
+"_<config-string>_ is \"1\" which will install a single group containing a "
+"single filter.  The maximum number of groups 8 (as defined by MAX_GROUPS in "
+"debounce.c).  The maximum number of filters in a group is limited only by "
+"shared memory space.  Each group is completely independent.  All filters in "
+"a single group are identical, and they are all updated by the same function "
+"at the same time.  In the following descriptions, _<G>_ is the group number "
+"and _<F>_ is the filter number within the group.  The first filter is group "
+"0, filter 0."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:534
+#, no-wrap
+msgid "Unloading debounce"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:537
+#, no-wrap
+msgid "halcmd: unloadrt debounce\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:542
+msgid "Each individual filter has two pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:544
+msgid ""
+"(bit) `debounce.`__<G>__.__<F>__`.in` - Input of filter _<F>_ in group "
+"_<G>_."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:545
+msgid ""
+"(bit) `debounce.`__<G>__.__<F>__`.out` - Output of filter _<F>_ in group "
+"_<G>_."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:551
+msgid ""
+"Each group of filters has one parameterfootnote:[Each individual filter also "
+"has an internal state variable.  There is a compile time switch that can "
+"export that variable as a parameter.  This is intended for testing, and "
+"simply wastes shared memory under normal circumstances.]."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:553
+msgid ""
+"(s32) `debounce.`__<G>__`.delay` - Filter delay for all filters in group "
+"_<G>_."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:558
+msgid ""
+"The filter delay is in units of thread periods. The minimum delay is zero.  "
+"The output of a zero delay filter exactly follows its input - it doesn't "
+"filter anything.  As `.delay` increases, longer and longer glitches are "
+"rejected.  If `.delay` is 4, all glitches less than or equal to four thread "
+"periods will be rejected."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:563
+msgid ""
+"Each group of filters has one function, which updates all the filters in "
+"that group 'simultaneously'.  Different groups of filters can be updated "
+"from different threads at different periods."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:565
+msgid "(funct) `debounce.`__<G>__ - Updates all filters in group _<G>_."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/rtcomps.adoc:567
+#, no-wrap
+msgid "SigGen(((SigGen)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:570
+msgid ""
+"SigGen is a realtime component that generates square, triangle, and sine "
+"waves. It is primarily used for testing."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:571 src/hal/tutorial.adoc:114
+#, no-wrap
+msgid "Loading siggen"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:574
+#, no-wrap
+msgid "halcmd: loadrt siggen [num_chan=<chans>]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:576
+#, no-wrap
+msgid "<chans>"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:581
+msgid ""
+"is the number of signal generators that you want to install.  If 'numchan' "
+"is not specified, one signal generator will be installed.  The maximum "
+"number of generators is 16 (as defined by MAX_CHAN in siggen.c).  Each "
+"generator is completely independent.  In the following descriptions is"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:581
+#, no-wrap
+msgid "_<chan>_"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:582
+msgid "the number of a specific signal generator (the numbers start at 0)."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:583
+#, no-wrap
+msgid "Unloading siggen"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:586
+#, no-wrap
+msgid "halcmd: unloadrt siggen\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:591
+msgid "Each generator has five output pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:593
+msgid "(float) `siggen.`__<chan>__`.sine` - Sine wave output."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:594
+msgid "(float) `siggen.`__<chan>__`.cosine` - Cosine output."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:595
+msgid "(float) `siggen.`__<chan>__`.sawtooth` - Sawtooth output."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:596
+msgid "(float) `siggen.`__<chan>__`.triangle` - Triangle wave output."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:597
+msgid "(float) `siggen.`__<chan>__`.square` - Square wave output."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:599
+msgid "All five outputs have the same frequency, amplitude, and offset."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:601
+msgid "In addition to the output pins, there are three control pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:603
+msgid ""
+"(float) `siggen.`__<chan>__`.frequency` - Sets the frequency in Hertz, "
+"default value is 1 Hz."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:604
+msgid ""
+"(float) `siggen.`__<chan>__`.amplitude` - Sets the peak amplitude of the "
+"output waveforms, default is 1."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:605
+msgid ""
+"(float) `siggen.`__<chan>__`.offset` - Sets DC offset of the output "
+"waveforms, default is 0."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:608
+msgid ""
+"For example, if `siggen.0.amplitude` is 1.0 and `siggen.0.offset` is 0.0, "
+"the outputs will swing from -1.0 to +1.0. If `siggen.0.amplitude` is 2.5 and "
+"`siggen.0.offset` is 10.0, then the outputs will swing from 7.5 to 12.5."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:613
+msgid ""
+"None. footnote:[Prior to version 2.1, frequency, amplitude, and offset were "
+"parameters.  They were changed to pins to allow control by other "
+"components.]"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:617
+msgid ""
+"(funct) `siggen.`__<chan>__`.update` - Calculates new values for all five "
+"outputs."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/rtcomps.adoc:619
+#, no-wrap
+msgid "`lut5`(((lut5)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:622
+msgid "The `lut5` component is a 5 input logic component based on a look up table."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:624
+msgid "`lut5` does not require a floating point thread."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:625
+#, no-wrap
+msgid "Loading `lut5`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/rtcomps.adoc:630
+#, no-wrap
+msgid ""
+"loadrt lut5 [count=N|names=name1[,name2...]]\n"
+"addf lut5.N servo-thread | base-thread\n"
+"setp lut5.N.function 0xN\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:632
+#, no-wrap
+msgid "`lut5` Computing Function"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:637
+msgid ""
+"To compute the hexadecimal number for the function starting from the top put "
+"a 1 or 0 to indicate if that row would be true or false.  Next write down "
+"every number in the output column starting from the top and writing them "
+"from right to left.  This will be the binary number.  Using a calculator "
+"with a program view like the one in Ubuntu enter the binary number and then "
+"convert it to hexadecimal and that will be the value for function."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:638
+#, no-wrap
+msgid "`lut5` Look Up Table"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:641 src/hal/rtcomps.adoc:682
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:31
+#, no-wrap
+msgid "Bit 4"
+msgstr ""
+
+#. type: Table
+#: src/hal/rtcomps.adoc:641 src/hal/rtcomps.adoc:682
+#, no-wrap
+msgid "Bit 3"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:641 src/hal/rtcomps.adoc:682
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:38
+#, no-wrap
+msgid "Bit 2"
+msgstr ""
+
+#. type: Table
+#: src/hal/rtcomps.adoc:641 src/hal/rtcomps.adoc:682
+#, no-wrap
+msgid "Bit 1"
+msgstr ""
+
+#. type: Labeled list
+#: src/hal/rtcomps.adoc:641 src/hal/rtcomps.adoc:682
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:37
+#, no-wrap
+msgid "Bit 0"
+msgstr ""
+
+#. type: Table
+#: src/hal/rtcomps.adoc:642 src/hal/rtcomps.adoc:683
+#, no-wrap
+msgid "Output"
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:676
+#, no-wrap
+msgid "`lut5` Two Inputs Example"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:678
+msgid ""
+"In the following table we have selected the output state for each line that "
+"we wish to be true."
+msgstr ""
+
+#. type: Block title
+#: src/hal/rtcomps.adoc:679
+#, no-wrap
+msgid "`lut5` Two Inputs Example Look Up Table"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/rtcomps.adoc:693
+msgid ""
+"Looking at the output column of our example we want the output to be on when "
+"Bit 0 or Bit 0 and Bit1 is on and nothing else.  The binary number is "
+"'b1010' (rotate the output 90 degrees CW).  Enter this number into the "
+"calculator then change the display to hexadecimal and the number needed for "
+"function is '0xa'.  The hexadecimal prefix is '0x'."
+msgstr ""
+
+#. type: Title =
+#: src/hal/tools.adoc:5
+#, no-wrap
+msgid "HAL Tools(((HAL Tools)))"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tools.adoc:14
+#, no-wrap
+msgid "Halcmd"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:19
+msgid ""
+"`halcmd` is a command line tool for manipulating the HAL.  There is a rather "
+"complete man page for link:../man/man1/halcmd.1.html[`halcmd`], which will "
+"be installed if you have installed LinuxCNC from either source or a "
+"package.  The manpage provides usage info:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:22
+#, no-wrap
+msgid "man halcmd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:26
+msgid ""
+"If you have compiled LinuxCNC for \"run-in-place\", you must source the "
+"rip-environment script to make the man page available:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:31
+#, no-wrap
+msgid ""
+"cd toplevel_directory_for_rip_build\n"
+". scripts/rip-environment\n"
+"man halcmd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:35
+msgid ""
+"The <<cha:hal-tutorial,HAL Tutorial>> has a number of examples of halcmd "
+"usage, and is a good tutorial for `halcmd`."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tools.adoc:37
+#, no-wrap
+msgid "Halmeter(((Halmeter)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:56
+msgid ""
+"Halmeter is a 'voltmeter' for the HAL.  It lets you look at a pin, signal, "
+"or parameter, and displays the current value of that item.  It is pretty "
+"simple to use.  Start it by typing `halmeter` in an X windows shell.  "
+"Halmeter is a GUI application.  It will pop up a small window, with two "
+"buttons labeled \"Select\" and \"Exit\".  Exit is easy - it shuts down the "
+"program.  Select pops up a larger window, with three tabs. One tab lists all "
+"the pins currently defined in the HAL.  The next lists all the signals, and "
+"the last tab lists all the parameters.  Click on a tab, then click on a "
+"pin/signal/parameter.  Then click on \"OK\".  The lists will disappear, and "
+"the small window will display the name and value of the selected item.  The "
+"display is updated approximately 10 times per second.  If you click "
+"\"Accept\" instead of \"OK\", the small window will display the name and "
+"value of the selected item, but the large window will remain on the screen.  "
+"This is convenient if you want to look at a number of different items "
+"quickly."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:64
+msgid ""
+"You can have many halmeters running at the same time, if you want to monitor "
+"several items.  If you want to launch a halmeter without tying up a shell "
+"window, type `halmeter &` to run it in the background.  You can also make "
+"halmeter start displaying a specific item immediately, by adding "
+"`pin|sig|par[am] _<name>_` to the command line.  It will display the pin, "
+"signal, or parameter _<name>_ as soon as it starts - if there is no such "
+"item, it will simply start normally.  And finally, if you specify an item to "
+"display, you can add `-s` before the `pin|sig|param` to tell halmeter to use "
+"a small window.  The item name will be displayed in the title bar instead of "
+"under the value, and there will be no buttons.  Useful when you want a lot "
+"of meters in a small amount of screen space."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:66
+msgid ""
+"Refer to <<sec:tutorial-halmeter,Halmeter Tutorial>> section for more "
+"information."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:72
+msgid ""
+"`halmeter` can be loaded from a terminal or from AXIS. `halmeter` is faster "
+"than `halshow` at displaying values.  `halmeter` has two windows, one to "
+"pick the pin, signal, or parameter to monitor and one that displays the "
+"value.  Multiple ``halmeter``s can be open at the same time.  If you use a "
+"script to open multiple ``halmeter``s you can set the position of each one "
+"with `-g X Y` relative to the upper left corner of your screen.  For "
+"example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:76
+#, no-wrap
+msgid "loadusr halmeter pin hm2.0.stepgen.00.velocity-fb -g 0 500\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:79
+msgid "See the man page for more options and the section <<sec:halmeter,Halmeter>>."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tools.adoc:80 src/hal/tools.adoc:81
+#, no-wrap
+msgid "Halmeter selection window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tools.adoc:81
+#, no-wrap
+msgid "images/hal-meter01.png"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tools.adoc:83 src/hal/tools.adoc:84
+#, no-wrap
+msgid "Halmeter watch window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tools.adoc:84
+#, no-wrap
+msgid "images/hal-meter02.png"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tools.adoc:86
+#, no-wrap
+msgid "Halshow"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:94
+msgid ""
+"`halshow` (<<cha:halshow,complete usage description>>) can be started from "
+"the command line to show details for selected components, pins, parameters, "
+"signals, functions, and threads of a running HAL.  The WATCH tab provides a "
+"continuous display of selected pin, parameters, and signal items.  The File "
+"menu provides buttons to save the watch items to a watch list and to load an "
+"existing watch list.  The watch list items can also be loaded automatically "
+"on startup.  For command line usage:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:103
+#, no-wrap
+msgid ""
+"halshow --help\n"
+"Usage:\n"
+"  halshow [Options] [watchfile]\n"
+"  Options:\n"
+"           --help    (this help)\n"
+"           --fformat format_string_for_float\n"
+"           --iformat format_string_for_int\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:107
+#, no-wrap
+msgid ""
+"Notes:\n"
+"  Create watchfile in halshow using: 'File/Save Watch List'.\n"
+"  LinuxCNC must be running for standalone usage.\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tools.adoc:110
+#, no-wrap
+msgid "images/halshow-4.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:115
+msgid ""
+"A watchfile created using the 'File/Save Watch List' menu item is formatted "
+"as a single line with tokens \"pin+\", \"param+\", \"sig=+\", followed by "
+"the appropriate pin, param, or signal name.  The token-name pairs are "
+"separated by a space character."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:116
+#, no-wrap
+msgid "Single Line Watchfile Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:119
+#, no-wrap
+msgid "pin+joint.0.pos-hard-limit pin+joint.1.pos-hard-limit sig+estop-loop\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:122
+msgid ""
+"A watchfile created using the 'File/Save Watch List (multiline)' menu item "
+"is formatted with separate lines for each item identified with token-name "
+"pairs as described above."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:123
+#, no-wrap
+msgid "Separated Lines Watchfile Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:128
+#, no-wrap
+msgid ""
+"pin+joint.0.pos-hard-limit\n"
+"pin+joint.1.pos-hard-limit\n"
+"sig+estop-loop\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:132
+msgid ""
+"When loading a watchfile with the 'File/Load Watch List' menu item, the "
+"token-name pairs may appear as single or multiple lines.  Blank lines and "
+"lines beginning with a # character are ignored."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tools.adoc:134 src/hal/tutorial.adoc:908 src/hal/tutorial.adoc:909
+#, no-wrap
+msgid "Halscope"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:139
+msgid ""
+"`Halscope` is an 'oscilloscope' for the HAL. It lets you capture the value "
+"of pins, signals, and parameters as a function of time.  Complete operating "
+"instructions should be located here eventually.  For now, refer to section "
+"<<sec:tutorial-halscope>> in the tutorial chapter, which explains the "
+"basics."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:142
+msgid ""
+"The halscope \"File\" menu selector provides buttons to save a configuration "
+"or open a previously saved configuration.  When halscope is terminated, the "
+"last configuration is saved in a file named autosave.halscope."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:145
+msgid ""
+"Configuration files may also be specified when starting halscope from the "
+"commandline.  Commandline help (`-h`) usage:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:150
+#, no-wrap
+msgid ""
+"halscope -h\n"
+"Usage:\n"
+"  halscope [-h] [-i infile] [-o outfile] [num_samples]\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tools.adoc:152
+#, no-wrap
+msgid "Sim Pin"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:155
+msgid ""
+"sim_pin is a command line utility to display and update any number of "
+"writable pins, parameters or signals."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:156
+#, no-wrap
+msgid "`sim_pin` Usage"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:160
+#, no-wrap
+msgid ""
+"Usage:\n"
+"        sim_pin [Options] name1 [name2 ...] &\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:164
+#, no-wrap
+msgid ""
+"Options:\n"
+"        --help                (this text)\n"
+"        --title title_string  (window title, default: sim_pin)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:171
+#, no-wrap
+msgid ""
+"Note:  LinuxCNC (or a standalone HAL application) must be running\n"
+"        A named item can specify a pin, param, or signal\n"
+"        The item must be writable, e.g.:\n"
+"          pin:    IN or I/O (and not connected to a signal with a writer)\n"
+"          param:  RW\n"
+"          signal: connected to a writable pin\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:173
+#, no-wrap
+msgid "        HAL item types bit,s32,u32,float are supported.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:185
+#, no-wrap
+msgid ""
+"        When a bit item is specified, a pushbutton is created\n"
+"        to manage the item in one of three manners specified\n"
+"        by radio buttons:\n"
+"            toggle: Toggle value when button pressed\n"
+"            pulse:  Pulse item to 1 once when button pressed\n"
+"            hold:   Set to 1 while button pressed\n"
+"        The bit pushbutton mode can be specified on the command\n"
+"        line by formatting the item name:\n"
+"            namei/mode=[toggle | pulse | hold]\n"
+"        If the mode begins with an uppercase letter, the radio\n"
+"        buttons for selecting other modes are not shown\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:188
+msgid "For complete information, see the man page:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:191
+#, no-wrap
+msgid "man sim_pin\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:193
+#, no-wrap
+msgid "`sim_pin` Example (with LinuxCNC running)"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:197
+#, no-wrap
+msgid ""
+"halcmd loadrt mux2 names=example; halcmd net sig_example example.in0\n"
+"sim_pin example.sel example.in1 sig_example &\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:199
+#, no-wrap
+msgid "`sim_pin` Window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tools.adoc:200
+#, no-wrap
+msgid "sim_pin Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tools.adoc:200
+#, no-wrap
+msgid "images/sim_pin.png"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tools.adoc:202
+#, no-wrap
+msgid "Simulate Probe"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:206
+msgid ""
+"`simulate_probe` is a simple GUI to simulate activation of the pin "
+"motion.probe-input.  Usage:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:209
+#, no-wrap
+msgid "simulate_probe &\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:211
+#, no-wrap
+msgid "`simulate_probe` Window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tools.adoc:212
+#, no-wrap
+msgid "simulate_probe Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tools.adoc:212
+#, no-wrap
+msgid "images/simulate_probe.png"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tools.adoc:214
+#, no-wrap
+msgid "HAL Histogram"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:217
+msgid ""
+"`hal-histogram` is a command line utility to display histograms for HAL "
+"pins."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:218
+#, no-wrap
+msgid "`hal-histogram` Usage"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:219 src/man/man1/xhc-hb04.1.adoc:54
+#, no-wrap
+msgid "Usage:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:223
+#, no-wrap
+msgid ""
+"   hal-histogram --help | -?\n"
+"or\n"
+"   hal-histogram [Options] [pinname]\n"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:228 src/plasma/qtplasmac.adoc:1491
+#, no-wrap
+msgid "Option"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:229
+#, no-wrap
+msgid "--minvalue"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:229
+#, no-wrap
+msgid "minvalue"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:230
+#, no-wrap
+msgid "minimum bin, default: 0"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:230
+#, no-wrap
+msgid "--binsize"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:230
+#, no-wrap
+msgid "binsize"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:231
+#, no-wrap
+msgid "binsize, default: 100"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:231
+#, no-wrap
+msgid "--nbins"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:231
+#, no-wrap
+msgid "nbins"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:232
+#, no-wrap
+msgid "number of bins, default: 50"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:233
+#, no-wrap
+msgid "--logscale"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:233
+#, no-wrap
+msgid "0/1"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:234 src/man/man1/latency-histogram.1.adoc:44
+#, no-wrap
+msgid "y axis log scale, default: 1"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:234
+#, no-wrap
+msgid "--text"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:234
+#, no-wrap
+msgid "note"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:235
+#, no-wrap
+msgid "text display, default: \"\""
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:235
+#, no-wrap
+msgid "--show"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:236
+#, no-wrap
+msgid "show count of undisplayed nbins, default off"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:236
+#, no-wrap
+msgid "--verbose"
+msgstr ""
+
+#. type: Table
+#: src/hal/tools.adoc:237
+#, no-wrap
+msgid "progress and debug, default off"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:239 man/man9/corexy_by_hal.9:36
+#, no-wrap
+msgid "Notes:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:241
+msgid "LinuxCNC (or another HAL application) must be running."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:242
+msgid "If no pinname is specified, default is: `motion-command-handler.time`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:243
+msgid "This app may be opened for 5 pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:244
+msgid "Pintypes float, s32, u32, bit are supported."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:246
+msgid ""
+"The pin must be associated with a thread supporting floating point.  For a "
+"base thread, this may require using `loadrt motmod ... base_thread_fp=1` ."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:247
+#, no-wrap
+msgid "`hal-histogram` Window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tools.adoc:248
+#, no-wrap
+msgid "hal-histogram Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tools.adoc:248
+#, no-wrap
+msgid "images/hal-histogram.png"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tools.adoc:250
+#, no-wrap
+msgid "Halreport"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:255
+msgid ""
+"`halreport` is a command-line utility that generates a report about HAL "
+"connections for a running LinuxCNC (or other HAL) application.  The report "
+"shows all signal connections and flags potential problems.  Information "
+"included:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:257
+msgid "System description and kernel version."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:258
+msgid "Signals and all connected output, io, and input pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:259
+msgid "Each pin's component_function, thread, and addf-order."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:260
+msgid "Non-realtime component pins having non-ordered functions."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:261
+msgid "Identification of unknown functions for unhandled components."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:262
+#, no-wrap
+msgid "Signals   with no output.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:263
+#, no-wrap
+msgid "Signals   with no inputs.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:264
+#, no-wrap
+msgid "Functions with no addf.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:265
+#, no-wrap
+msgid "Warning tags for components marked as deprecated/obsolete in docs.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:266
+#, no-wrap
+msgid "Real names for pins that use alias names.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:268
+msgid ""
+"The report can be generated from the command line and directed to an output "
+"file (or stdout if no outfilename is specified):"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:269
+#, no-wrap
+msgid "`halreport` Usage"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:275
+#, no-wrap
+msgid ""
+"Usage:\n"
+"  halreport -h | --help (this help)\n"
+"or\n"
+"  halreport [outfilename]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:278
+msgid ""
+"To generate the report for every LinuxCNC startup, include halreport and an "
+"output filename as an [APPLICATIONS]APP entry in the INI file."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tools.adoc:279
+#, no-wrap
+msgid "`halreport` Example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:284
+#, no-wrap
+msgid ""
+"[APPLICATIONS]\n"
+"APP = halreport /tmp/halreport.txt\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:288
+msgid ""
+"The function addf-ordering can be important for servo loops where the "
+"sequence of the functions computed at each servo period is important.  "
+"Typically, the order is:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:290
+msgid "Read input pins,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:291
+msgid "do the motion command-handler and motion-controller functions,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:292
+msgid "perform pid calculations, and finally"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:293
+msgid "write output pins."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:295
+msgid ""
+"For each signal in a critical path, the addf-order of the output pin should "
+"be numerically lower than the addf-order of the critical input pins that it "
+"connects to."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:298
+msgid ""
+"For routine signal paths that handle switch inputs, non-realtime pins, etc., "
+"the addf-ordering is often not critical.  Moreover, the timing of "
+"non-realtime pin value changes cannot be controlled or guaranteed at the "
+"intervals typically employed for HAL threads."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:300
+msgid ""
+"Example report file excerpts showing a pid loop for a hostmot2 stepgen "
+"operated in velocity mode on a trivkins machine with `joint.0` corresponding "
+"to the X axis coordinate:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:318
+#, no-wrap
+msgid ""
+"SIG:    pos-fb-0\n"
+"  OUT:    h.00.position-fb                     hm2_7i92.0.read        "
+"servo-thread 001\n"
+"          (=hm2_7i92.0.stepgen.00.position-fb)\n"
+"    IN:     X_pid.feedback                     X_pid.do-pid-calcs     "
+"servo-thread 004\n"
+"    IN:     joint.0.motor-pos-fb               motion-command-handler "
+"servo-thread 002\n"
+"            ....................               motion-controller      "
+"servo-thread 003\n"
+"...\n"
+"SIG:    pos-cmd-0\n"
+"  OUT:    joint.0.motor-pos-cmd                motion-command-handler "
+"servo-thread 002\n"
+"          .....................                motion-controller      "
+"servo-thread 003\n"
+"    IN:     X_pid.command                      X_pid.do-pid-calcs     "
+"servo-thread 004\n"
+"...\n"
+"SIG:    motor-cmd-0\n"
+"  OUT:    X_pid.output                         X_pid.do-pid-calcs     "
+"servo-thread 004\n"
+"    IN:     h.00.velocity-cmd                  hm2_7i92.0.write       "
+"servo-thread 008\n"
+"            (=hm2_7i92.0.stepgen.00.velocity-cmd)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:321
+msgid ""
+"In the example above, the HALFILE uses halcmd aliases to simplify pin names "
+"for an hostmot2 FPGA board with commands like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tools.adoc:325
+#, no-wrap
+msgid "alias pin hm2_7i92.0.stepgen.00.position-fb h.00.position-fb\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/tools.adoc:330
+msgid "Questionable component function detection may occur for"
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/tools.adoc:332
+msgid "unsupported (deprecated) components,"
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/tools.adoc:333
+msgid ""
+"user-created components that use multiple functions or unconventional "
+"function naming, or"
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/tools.adoc:334
+msgid ""
+"GUI-created non-realtime components that lack distinguishing characteristics "
+"such as a prefix based on the GUI program name."
+msgstr ""
+
+#. type: delimited block =
+#: src/hal/tools.adoc:336
+msgid "Questionable functions are tagged with a question mark \"?\"."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:340
+msgid ""
+"Component pins that cannot be associated with a known thread function report "
+"the function as \"Unknown\"."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tools.adoc:344
+msgid ""
+"`halreport` generates a connections report (without pin types, and current "
+"values) for a running HAL application to aid in designing and verifying "
+"connections.  This helps with the understanding what the source of a pin "
+"value is.  Use this information with applications like `halshow`, "
+"`halmeter`, `halscope` or the `halcmd show` command in a terminal."
+msgstr ""
+
+#. type: Title =
+#: src/hal/tutorial.adoc:5
+#, no-wrap
+msgid "HAL Tutorial(((HAL Tutorial)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:12
+msgid ""
+"Configuration moves from theory to device -- HAL device that is.  For those "
+"who have had just a bit of computer programming, this section is the 'Hello "
+"World' of the HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:16
+msgid ""
+"`halrun` can be used to create a working system.  It is a command line or "
+"text file tool for configuration and tuning.  The following examples "
+"illustrate its setup and operation."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tutorial.adoc:18
+#, no-wrap
+msgid "Halcmd(((Halcmd Tutorial)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:25
+msgid ""
+"`halcmd` is a command line tool for manipulating HAL. A more complete man "
+"page exists for halcmd and installed together with LinuxCNC, from source or "
+"from a package. If LinuxCNC has been compiled as _run-in-place_, the man "
+"page is not installed but is accessible in the LinuxCNC main directory with "
+"the following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:28
+#, no-wrap
+msgid "$ man -M docs/man halcmd\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:30
+#, no-wrap
+msgid "Notation"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:35
+msgid ""
+"For this tutorial, commands for the operating system are typically shown "
+"without the prompt provided by the UNIX shell, i.e typically a dollar sign "
+"($) or a hash/double cross (#).  When communicating directly with the HAL "
+"through `halcmd` or `halrun`, the prompts are shown in the examples.  The "
+"terminal window is in 'Applications/Accessories' from the main Ubuntu menu "
+"bar."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:36
+#, no-wrap
+msgid "Terminal Command Example - prompts"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:41
+#, no-wrap
+msgid ""
+"me@computer:~linuxcnc$ halrun\n"
+"(will be shown like the following line)\n"
+"halrun\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:45
+#, no-wrap
+msgid ""
+"(the halcmd: prompt will be shown when running HAL)\n"
+"halcmd: loadrt counter\n"
+"halcmd: show pin\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:47 src/hal/tutorial.adoc:54
+#, no-wrap
+msgid "Tab-completion"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:53
+msgid ""
+"Your version of `halcmd` may include tab-completion.  Instead of completing "
+"file names as a shell does, it completes commands with HAL identifiers.  You "
+"will have to type enough letters for a unique match.  Try pressing tab after "
+"starting a HAL command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:61
+#, no-wrap
+msgid ""
+"halcmd: loa<TAB>\n"
+"halcmd: load\n"
+"halcmd: loadrt\n"
+"halcmd: loadrt cou<TAB>\n"
+"halcmd: loadrt counter\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:63
+#, no-wrap
+msgid "The RTAPI environment"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:72
+msgid ""
+"RTAPI stands for Real Time Application Programming Interface. Many HAL "
+"components work in realtime, and all HAL components store data in shared "
+"memory so realtime components can access it. Regular Linux does not support "
+"realtime programming or the type of shared memory that HAL "
+"needs. Fortunately, there are realtime operating systems (RTOS's) that "
+"provide the necessary extensions to Linux. Unfortunately, each RTOS does "
+"things a little differently."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:80
+msgid ""
+"To address these differences, the LinuxCNC team came up with RTAPI, which "
+"provides a consistent way for programs to talk to the RTOS. If you are a "
+"programmer who wants to work on the internals of LinuxCNC, you may want to "
+"study 'linuxcnc/src/rtapi/rtapi.h' to understand the API.  But if you are a "
+"normal person, all you need to know about RTAPI is that it (and the RTOS) "
+"needs to be loaded into the memory of your computer before you do anything "
+"with HAL."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tutorial.adoc:81
+#, no-wrap
+msgid "A Simple Example"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:83
+#, no-wrap
+msgid "Loading a component"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:92
+msgid ""
+"For this tutorial, we are going to assume that you have successfully "
+"installed the Live CD and, if using a RIP footnote:[Run In Place, when the "
+"source files have been downloaded to a user directory and are compiled and "
+"executed directly from there.], invoke the 'rip-environment' script to "
+"prepare your shell.  In that case, all you need to do is load the required "
+"RTOS and RTAPI modules into memory.  Just run the following command from a "
+"terminal window:"
+msgstr ""
+
+#.  FIXME: add link to rip-environment explanation
+#. type: Block title
+#: src/hal/tutorial.adoc:95
+#, no-wrap
+msgid "Loading HAL"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:100
+#, no-wrap
+msgid ""
+"cd linuxcnc\n"
+"halrun\n"
+"halcmd:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:106
+msgid ""
+"With the realtime OS and RTAPI loaded, we can move into the first "
+"example. Notice that the prompt is now shown as 'halcmd:'.  This is because "
+"subsequent commands will be interpreted as HAL commands, not shell commands."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:113
+msgid ""
+"For the first example, we will use a HAL component called 'siggen', which is "
+"a simple signal generator. A complete description of the 'siggen' component "
+"can be found in the <<sec:siggen,SigGen>> section of this Manual.  It is a "
+"realtime component.  To load the \"`siggen`\" component, use the HAL command "
+"`loadrt`."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:117
+#, no-wrap
+msgid "halcmd: loadrt siggen\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:120
+#, no-wrap
+msgid "Examining the HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:130
+msgid ""
+"Now that the module is loaded, it is time to introduce `halcmd`, the command "
+"line tool used to configure the HAL.  This tutorial will introduce only a "
+"selection of halcmd features.  For a more complete description try `man "
+"halcmd`, or see the reference in <<sec:hal-commands,HAL Commands>> section "
+"of this document.  The first halcmd feature is the 'show' command.  This "
+"command displays information about the current state of the HAL.  To show "
+"all installed components:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:131
+#, no-wrap
+msgid "Show Components with `halrun`/`halcmd`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:134
+#, no-wrap
+msgid "halcmd: show comp\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:139
+#, no-wrap
+msgid ""
+"    Loaded HAL Components:\n"
+"    ID     Type  Name                                PID   State\n"
+"    3      RT    siggen                                    ready\n"
+"    2      User  halcmd2177                          2177  ready\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:148
+msgid ""
+"Since _halcmd_ itself is also a HAL component, it will always show up in the "
+"list.  The number after \"`halcmd`\" in the component list is the UNIX "
+"process ID.  It is possible to run more than one copy of halcmd at the same "
+"time (in different terminal windows for example), so the PID is added to the "
+"end of the name to make it unique.  The list also shows the 'siggen' "
+"component that we installed in the previous step.  The 'RT' under 'Type' "
+"indicates that 'siggen' is a realtime component.  The 'User' under 'Type' "
+"indicates it is a non-realtime component."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:150
+msgid "Next, let's see what pins `siggen` makes available:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:151
+#, no-wrap
+msgid "Show Pins"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:166
+#, no-wrap
+msgid ""
+"Component Pins:\n"
+"Owner   Type   Dir        Value  Name\n"
+"     3  float  IN             1  siggen.0.amplitude\n"
+"     3  bit    OUT        FALSE  siggen.0.clock\n"
+"     3  float  OUT            0  siggen.0.cosine\n"
+"     3  float  IN             1  siggen.0.frequency\n"
+"     3  float  IN             0  siggen.0.offset\n"
+"     3  float  OUT            0  siggen.0.sawtooth\n"
+"     3  float  OUT            0  siggen.0.sine\n"
+"     3  float  OUT            0  siggen.0.square\n"
+"     3  float  OUT            0  siggen.0.triangle\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:174
+msgid ""
+"This command displays all of the pins in the current HAL.  A complex system "
+"could have dozens or hundreds of pins.  But right now there are only nine "
+"pins.  Of these pins eight are floating point and one is bit (boolean).  Six "
+"carry data out of the 'siggen' component and three are used to transfer "
+"settings into the component.  Since we have not yet executed the code "
+"contained within the component, some the pins have a value of zero."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:176
+msgid "The next step is to look at parameters:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:177
+#, no-wrap
+msgid "Show Parameters"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:180 src/hal/tutorial.adoc:326
+#: src/hal/tutorial.adoc:594
+#, no-wrap
+msgid "halcmd: show param\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:185
+#, no-wrap
+msgid ""
+"Parameters:\n"
+"Owner   Type  Dir        Value   Name\n"
+"     3  s32   RO             0   siggen.0.update.time\n"
+"     3  s32   RW             0   siggen.0.update.tmax\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:199
+msgid ""
+"The 'show param' command shows all the parameters in the HAL.  Right now, "
+"each parameter has the default value it was given when the component was "
+"loaded.  Note the column labeled 'Dir'.  The parameters labeled '-W' are "
+"writable ones that are never changed by the component itself, instead they "
+"are meant to be changed by the user to control the component.  We will see "
+"how to do this later.  Parameters labeled 'R-' are read only parameters.  "
+"They can be changed only by the component.  Finally, parameter labeled 'RW' "
+"are read-write parameters.  That means that they are changed by the "
+"component, but can also be changed by the user.  Note: The parameters "
+"`siggen.0.update.time` and `siggen.0.update.tmax` are for debugging purposes "
+"and won't be covered in this section."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:202
+msgid ""
+"Most realtime components export one or more functions to actually run the "
+"realtime code they contain.  Let's see what function(s) 'siggen' exported:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:203
+#, no-wrap
+msgid "Show Functions with `halcmd``"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:206 src/hal/tutorial.adoc:701
+#, no-wrap
+msgid "halcmd: show funct\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:210
+#, no-wrap
+msgid ""
+"Exported Functions:\n"
+"Owner   CodeAddr  Arg       FP   Users  Name\n"
+"00003   f801b000  fae820b8  YES      0  siggen.0.update\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:217
+msgid ""
+"The siggen component exported a single function.  It requires floating "
+"point.  It is not currently linked to any threads, so 'users' is zero "
+"footnote:[CodeAddr and Arg fields were used during development and should "
+"probably disappear.]."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:218
+#, no-wrap
+msgid "Making realtime code run"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:223
+msgid ""
+"To actually run the code contained in the function `siggen.0.update`, we "
+"need a realtime thread.  The component called 'threads' that is used to "
+"create a new thread.  Lets create a thread called \"test-thread\" with a "
+"period of 1 ms (1,000 µs or 1,000,000 ns):"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:226
+#, no-wrap
+msgid "halcmd: loadrt threads name1=test-thread period1=1000000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:229
+msgid "Let's see if that worked:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:230
+#, no-wrap
+msgid "Show Threads"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:233 src/hal/tutorial.adoc:256
+#: src/hal/tutorial.adoc:748 src/hal/tutorial.adoc:773
+#, no-wrap
+msgid "halcmd: show thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:237
+#, no-wrap
+msgid ""
+"Realtime Threads:\n"
+"     Period  FP     Name               (     Time, Max-Time )\n"
+"     999855  YES    test-thread        (        0,        0 )\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:243
+msgid ""
+"It did. The period is not exactly 1,000,000 ns because of hardware "
+"limitations, but we have a thread that runs at approximately the correct "
+"rate, and which can handle floating point functions.  The next step is to "
+"connect the function to the thread:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:244
+#, no-wrap
+msgid "Add Function"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:247
+#, no-wrap
+msgid "halcmd: addf siggen.0.update test-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:253
+msgid ""
+"Up till now, we've been using `halcmd` only to look at the HAL.  However, "
+"this time we used the `addf` (add function) command to actually change "
+"something in the HAL.  We told 'halcmd' to add the function "
+"`siggen.0.update` to the thread 'test-thread', and if we look at the thread "
+"list again, we see that it succeeded:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:261
+#, no-wrap
+msgid ""
+"Realtime Threads:\n"
+"     Period  FP     Name                (     Time, Max-Time )\n"
+"     999855  YES    test-thread         (        0,        0 )\n"
+"                  1 siggen.0.update\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:267
+msgid ""
+"There is one more step needed before the 'siggen' component starts "
+"generating signals.  When the HAL is first started, the thread(s) are not "
+"actually running.  This is to allow you to completely configure the system "
+"before the realtime code starts.  Once you are happy with the configuration, "
+"you can start the realtime code like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:270 src/hal/tutorial.adoc:825
+#, no-wrap
+msgid "halcmd: start\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:273
+msgid "Now the signal generator is running. Let's look at its output pins:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:288
+#, no-wrap
+msgid ""
+"Component Pins:\n"
+"Owner   Type  Dir         Value  Name\n"
+"     3  float IN              1  siggen.0.amplitude\n"
+"     3  bit   OUT         FALSE  siggen.0.clock\n"
+"     3  float OUT    -0.1640929  siggen.0.cosine\n"
+"     3  float IN              1  siggen.0.frequency\n"
+"     3  float IN              0  siggen.0.offset\n"
+"     3  float OUT    -0.4475303  siggen.0.sawtooth\n"
+"     3  float OUT     0.9864449  siggen.0.sine\n"
+"     3  float OUT            -1  siggen.0.square\n"
+"     3  float OUT    -0.1049393  siggen.0.triangle\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:291
+msgid "And let's look again:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:306
+#, no-wrap
+msgid ""
+"Component Pins:\n"
+"Owner   Type  Dir         Value  Name\n"
+"     3  float IN              1  siggen.0.amplitude\n"
+"     3  bit   OUT         FALSE  siggen.0.clock\n"
+"     3  float OUT     0.0507619  siggen.0.cosine\n"
+"     3  float IN              1  siggen.0.frequency\n"
+"     3  float IN              0  siggen.0.offset\n"
+"     3  float OUT     -0.516165  siggen.0.sawtooth\n"
+"     3  float OUT     0.9987108  siggen.0.sine\n"
+"     3  float OUT            -1  siggen.0.square\n"
+"     3  float OUT    0.03232994  siggen.0.triangle\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:311
+msgid ""
+"We did two `show pin` commands in quick succession, and you can see that the "
+"outputs are no longer zero.  The sine, cosine, sawtooth, and triangle "
+"outputs are changing constantly.  The square output is also working, however "
+"it simply switches from +1.0 to -1.0 every cycle."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:312
+#, no-wrap
+msgid "Changing Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:317
+msgid ""
+"The real power of HAL is that you can change things.  For example, we can "
+"use the `setp` command to set the value of a parameter.  Let's change the "
+"amplitude of the signal generator from 1.0 to 5.0:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:318
+#, no-wrap
+msgid "Set Pin"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:321
+#, no-wrap
+msgid "halcmd: setp siggen.0.amplitude 5\n"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:323
+#, no-wrap
+msgid "Check the parameters and pins again"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:331
+#, no-wrap
+msgid ""
+"Parameters:\n"
+"Owner   Type  Dir         Value  Name\n"
+"     3  s32   RO           1754  siggen.0.update.time\n"
+"     3  s32   RW          16997  siggen.0.update.tmax\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:345
+#, no-wrap
+msgid ""
+"Component Pins:\n"
+"Owner   Type  Dir         Value  Name\n"
+"     3  float IN              5  siggen.0.amplitude\n"
+"     3  bit   OUT         FALSE  siggen.0.clock\n"
+"     3  float OUT     0.8515425  siggen.0.cosine\n"
+"     3  float IN              1  siggen.0.frequency\n"
+"     3  float IN              0  siggen.0.offset\n"
+"     3  float OUT      2.772382  siggen.0.sawtooth\n"
+"     3  float OUT     -4.926954  siggen.0.sine\n"
+"     3  float OUT             5  siggen.0.square\n"
+"     3  float OUT      0.544764  siggen.0.triangle\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:349
+msgid ""
+"Note that the value of parameter `siggen.0.amplitude` has changed to 5, and "
+"that the pins now have larger values."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:350
+#, no-wrap
+msgid "Saving the HAL configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:358
+msgid ""
+"Most of what we have done with `halcmd` so far has simply been viewing "
+"things with the 'show' command.  However two of the commands actually "
+"changed things.  As we design more complex systems with HAL, we will use "
+"many commands to configure things just the way we want them.  HAL has the "
+"memory of an elephant, and will retain that configuration until we shut it "
+"down.  But what about next time? We don't want to manually enter a bunch of "
+"commands every time we want to use the system."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:359
+#, no-wrap
+msgid "Saving the configuration of the entire HAL with a single command."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:362
+#, no-wrap
+msgid "halcmd: save\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:373
+#, no-wrap
+msgid ""
+"# components\n"
+"loadrt threads name1=test-thread period1=1000000\n"
+"loadrt siggen\n"
+"# pin aliases\n"
+"# signals\n"
+"# nets\n"
+"# parameter values\n"
+"setp siggen.0.update.tmax 14687\n"
+"# realtime thread/function links\n"
+"addf siggen.0.update test-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:379
+msgid ""
+"The output of the `save` command is a sequence of HAL commands.  If you "
+"start with an _empty_ HAL and run all these commands, you will get the "
+"configuration that existed when the 'save' command was issued.  To save "
+"these commands for later use, we simply redirect the output to a file:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:380
+#, no-wrap
+msgid "Save configuration to a file with `halcmd`"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:383
+#, no-wrap
+msgid "halcmd: save all saved.hal\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:385
+#, no-wrap
+msgid "Exiting halrun"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:390
+msgid ""
+"When you're finished with your HAL session type `exit` at the \"`halcmd:`\" "
+"prompt.  This will return you to the system prompt and close down the HAL "
+"session.  Do not simply close the terminal window without shutting down the "
+"HAL session."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:391
+#, no-wrap
+msgid "Exit HAL"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:394 src/hal/tutorial.adoc:538
+#, no-wrap
+msgid "halcmd: exit\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:396
+#, no-wrap
+msgid "Restoring the HAL configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:401
+msgid ""
+"To restore the HAL configuration stored in the file \"saved.hal\", we need "
+"to execute all of those HAL commands.  To do that, we use \"`-f _<file "
+"name>_`\" which reads commands from a file, and \"`-I`\" (upper case i) "
+"which shows the halcmd prompt after executing the commands:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:402
+#, no-wrap
+msgid "Run a Saved File"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:405
+#, no-wrap
+msgid "halrun -I -f saved.hal\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:409
+msgid ""
+"Notice that there is not a \"start\" command in saved.hal.  It's necessary "
+"to issue it again (or edit the file saved.hal to add it there)."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:410
+#, no-wrap
+msgid "Removing HAL from memory"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:415
+msgid ""
+"If an unexpected shutdown of a HAL session occurs you might have to unload "
+"HAL before another session can begin.  To do this type the following command "
+"in a terminal window."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:416
+#, no-wrap
+msgid "Removing HAL"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:419
+#, no-wrap
+msgid "halrun -U\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tutorial.adoc:422
+#, no-wrap
+msgid "Halmeter(((Halmeter,Tutorial Halmeter)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:429
+msgid ""
+"You can build very complex HAL systems without ever using a graphical "
+"interface. However there is something satisfying about seeing the result of "
+"your work. The first and simplest GUI tool for the HAL is halmeter. It is a "
+"very simple program that is the HAL equivalent of the handy multimeter (or "
+"analog meter for the old timers)."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:433
+msgid ""
+"It allows to observe the pins, signals or parameters by displaying the "
+"current value of these entities.  It is very easy to use application for "
+"graphical environments.  In a console type:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:436
+#, no-wrap
+msgid "halmeter\n"
+msgstr ""
+
+#. FIXME Add halmeter screenshot(s)
+#. type: Plain text
+#: src/hal/tutorial.adoc:442
+msgid ""
+"Two windows will appear. The selection window is the largest and includes "
+"three tabs:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:444
+msgid "One lists all the pins currently defined in HAL,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:445
+msgid "one lists all the signals,"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:446
+msgid "one lists all the parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:454
+msgid ""
+"Click on a tab, then click on one of the items to select it. The small "
+"window will show the name and value of the selected item.  The display is "
+"updated approximately 10 times per second. To free screen space, the "
+"selection window can be closed with the _Close_ button.  On the little "
+"window, hidden under the selection window at program launch, the _Select_ "
+"button, re-opens the selection window and the _Exit_ button stops the "
+"program and closes both windows."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:458
+msgid ""
+"It is possible to run several halmeters simultaneously, which makes it "
+"possible to visualize several items at the same time. To open a halmeter and "
+"release the console by running it in the background, run the following "
+"command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:461
+#, no-wrap
+msgid "halmeter &\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:467
+msgid ""
+"It is possible to launch halmeter and make it immediately display an item.  "
+"For this, add _pin|sig|par[am] name_ arguments on the command line. It will "
+"display the signal, pin, or parameter _name_ as soon as it will start. If "
+"the indicated item does not exist, it will start normally."
+msgstr ""
+
+#. FIXME Add halmeter command example for direct item display
+#. type: Plain text
+#: src/hal/tutorial.adoc:475
+msgid ""
+"Finally, if an item is specified for display, it is possible add _-s_ in "
+"front of pin|sig|param to tell halmeter to use an even smaller window. The "
+"item name will be displayed in the title bar instead of below the value and "
+"there will be no button.  This is useful for displaying a lot of halmeters "
+"in a small space."
+msgstr ""
+
+#. FIXME Add halmeter run with '-s' screenshot
+#. type: Plain text
+#: src/hal/tutorial.adoc:481
+msgid ""
+"We will use the siggen component again to check out halmeter. If you just "
+"finished the previous example, then you can load siggen using the saved "
+"file. If not, we can load it just like we did before:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:489
+#, no-wrap
+msgid ""
+"halrun\n"
+"halcmd: loadrt siggen\n"
+"halcmd: loadrt threads name1=test-thread period1=1000000\n"
+"halcmd: addf siggen.0.update test-thread\n"
+"halcmd: start\n"
+"halcmd: setp siggen.0.amplitude 5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:493
+msgid ""
+"At this point we have the siggen component loaded and running.  It's time to "
+"start halmeter."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:494
+#, no-wrap
+msgid "Starting Halmeter"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:497
+#, no-wrap
+msgid "halcmd: loadusr halmeter\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:500
+msgid "The first window you will see is the \"Select Item to Probe\" window."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:501 src/hal/tutorial.adoc:502
+#, no-wrap
+msgid "Halmeter Select Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:502
+#, no-wrap
+msgid "images/halmeter-select.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:508
+msgid ""
+"This dialog has three tabs. The first tab displays all of the HAL pins in "
+"the system.  The second one displays all the signals, and the third displays "
+"all the parameters.  We would like to look at the pin `siggen.0.cosine` "
+"first, so click on it then click the \"Close\" button.  The probe selection "
+"dialog will close, and the meter looks something like the following figure."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:509 src/hal/tutorial.adoc:510
+#, no-wrap
+msgid "Halmeter Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:510
+#, no-wrap
+msgid "images/halmeter-1.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:514
+msgid ""
+"To change what the meter displays press the \"Select\" button which brings "
+"back the \"Select Item to Probe\" window."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:517
+msgid ""
+"You should see the value changing as siggen generates its cosine wave.  "
+"Halmeter refreshes its display about 5 times per second."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:519
+msgid "To shut down halmeter, just click the exit button."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:524
+msgid ""
+"If you want to look at more than one pin, signal, or parameter at a time, "
+"you can just start more halmeters. The halmeter window was intentionally "
+"made very small so you could have a lot of them on the screen at once."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tutorial.adoc:525
+#, no-wrap
+msgid "Stepgen Example(((stepgen Example)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:531
+msgid ""
+"Up till now we have only loaded one HAL component. But the whole idea behind "
+"the HAL is to allow you to load and connect a number of simple components to "
+"make up a complex system. The next example will use two components."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:535
+msgid ""
+"Before we can begin building this new example, we want to start with a clean "
+"slate. If you just finished one of the previous examples, we need to remove "
+"the all components and reload the RTAPI and HAL libraries."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:540
+#, no-wrap
+msgid "Installing the components"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:547
+msgid ""
+"Now we are going to load the step pulse generator component. For a detailed "
+"description of this component refer to the stepgen section of the Integrator "
+"Manual. In this example we will use the 'velocity' control type of StepGen.  "
+"For now, we can skip the details, and just run the following commands."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:550
+msgid ""
+"In this example we will use the _velocity_ control type from the `stepgen` "
+"component."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:556
+#, no-wrap
+msgid ""
+"halrun\n"
+"halcmd: loadrt stepgen step_type=0,0 ctrl_type=v,v\n"
+"halcmd: loadrt siggen\n"
+"halcmd: loadrt threads name1=fast fp1=0 period1=50000 name2=slow "
+"period2=1000000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:562
+msgid ""
+"The first command loads two step generators, both configured to generate "
+"stepping type 0.  The second command loads our old friend siggen, and the "
+"third one creates two threads, a fast one with a period of 50 microseconds "
+"(µs) and a slow one with a period of 1 millisecond (ms).  The fast thread "
+"doesn't support floating point functions."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:565
+msgid ""
+"As before, we can use `halcmd show` to take a look at the HAL.  This time we "
+"have a lot more pins and parameters than before:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:592
+#, no-wrap
+msgid ""
+"Component Pins:\n"
+"Owner   Type  Dir         Value  Name\n"
+"     4  float IN              1  siggen.0.amplitude\n"
+"     4  bit   OUT         FALSE  siggen.0.clock\n"
+"     4  float OUT             0  siggen.0.cosine\n"
+"     4  float IN              1  siggen.0.frequency\n"
+"     4  float IN              0  siggen.0.offset\n"
+"     4  float OUT             0  siggen.0.sawtooth\n"
+"     4  float OUT             0  siggen.0.sine\n"
+"     4  float OUT             0  siggen.0.square\n"
+"     4  float OUT             0  siggen.0.triangle\n"
+"     3  s32   OUT             0  stepgen.0.counts\n"
+"     3  bit   OUT         FALSE  stepgen.0.dir\n"
+"     3  bit   IN          FALSE  stepgen.0.enable\n"
+"     3  float OUT             0  stepgen.0.position-fb\n"
+"     3  bit   OUT         FALSE  stepgen.0.step\n"
+"     3  float IN              0  stepgen.0.velocity-cmd\n"
+"     3  s32   OUT             0  stepgen.1.counts\n"
+"     3  bit   OUT         FALSE  stepgen.1.dir\n"
+"     3  bit   IN          FALSE  stepgen.1.enable\n"
+"     3  float OUT             0  stepgen.1.position-fb\n"
+"     3  bit   OUT         FALSE  stepgen.1.step\n"
+"     3  float IN              0  stepgen.1.velocity-cmd\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:623
+#, no-wrap
+msgid ""
+"Parameters:\n"
+"Owner   Type  Dir         Value  Name\n"
+"     4  s32   RO              0  siggen.0.update.time\n"
+"     4  s32   RW              0  siggen.0.update.tmax\n"
+"     3  u32   RW     0x00000001  stepgen.0.dirhold\n"
+"     3  u32   RW     0x00000001  stepgen.0.dirsetup\n"
+"     3  float RO              0  stepgen.0.frequency\n"
+"     3  float RW              0  stepgen.0.maxaccel\n"
+"     3  float RW              0  stepgen.0.maxvel\n"
+"     3  float RW              1  stepgen.0.position-scale\n"
+"     3  s32   RO              0  stepgen.0.rawcounts\n"
+"     3  u32   RW     0x00000001  stepgen.0.steplen\n"
+"     3  u32   RW     0x00000001  stepgen.0.stepspace\n"
+"     3  u32   RW     0x00000001  stepgen.1.dirhold\n"
+"     3  u32   RW     0x00000001  stepgen.1.dirsetup\n"
+"     3  float RO              0  stepgen.1.frequency\n"
+"     3  float RW              0  stepgen.1.maxaccel\n"
+"     3  float RW              0  stepgen.1.maxvel\n"
+"     3  float RW              1  stepgen.1.position-scale\n"
+"     3  s32   RO              0  stepgen.1.rawcounts\n"
+"     3  u32   RW     0x00000001  stepgen.1.steplen\n"
+"     3  u32   RW     0x00000001  stepgen.1.stepspace\n"
+"     3  s32   RO              0  stepgen.capture-position.time\n"
+"     3  s32   RW              0  stepgen.capture-position.tmax\n"
+"     3  s32   RO              0  stepgen.make-pulses.time\n"
+"     3  s32   RW              0  stepgen.make-pulses.tmax\n"
+"     3  s32   RO              0  stepgen.update-freq.time\n"
+"     3  s32   RW              0  stepgen.update-freq.tmax\n"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:625
+#, no-wrap
+msgid "Connecting pins with signals"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:640
+msgid ""
+"What we have is two step pulse generators, and a signal generator. Now it is "
+"time to create some HAL signals to connect the two components. We are going "
+"to pretend that the two step pulse generators are driving the X and Y axis "
+"of a machine. We want to move the table in circles. To do this, we will send "
+"a cosine signal to the X axis, and a sine signal to the Y axis. The siggen "
+"module creates the sine and cosine, but we need 'wires' to connect the "
+"modules together. In the HAL, 'wires' are called signals. We need to create "
+"two of them. We can call them anything we want, for this example they will "
+"be 'X-vel' and 'Y-vel'. The signal 'X-vel' is intended to run from the "
+"cosine output of the signal generator to the velocity input of the first "
+"step pulse generator.  The first step is to connect the signal to the signal "
+"generator output.  To connect a signal to a pin we use the net command."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:641
+#, no-wrap
+msgid "net command"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:644
+#, no-wrap
+msgid "halcmd: net X-vel <= siggen.0.cosine\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:647
+msgid "To see the effect of the `net` command, we show the signals again."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:650 src/hal/tutorial.adoc:679
+#, no-wrap
+msgid "halcmd: show sig\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:654
+#, no-wrap
+msgid ""
+"Signals:\n"
+"Type          Value  Name     (linked to)\n"
+"float             0  X-vel <== siggen.0.cosine\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:661
+msgid ""
+"When a signal is connected to one or more pins, the show command lists the "
+"pins immediately following the signal name. The 'arrow' shows the direction "
+"of data flow - in this case, data flows from pin `siggen.0.cosine` to signal "
+"`X-vel`. Now let's connect the `X-vel` to the velocity input of a step pulse "
+"generator."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:664
+#, no-wrap
+msgid "halcmd: net X-vel => stepgen.0.velocity-cmd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:670
+msgid ""
+"We can also connect up the Y axis signal `Y-vel`.  It is intended to run "
+"from the sine output of the signal generator to the input of the second step "
+"pulse generator.  The following command accomplishes in one line what two "
+"`net` commands accomplished for `X-vel`."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:673
+#, no-wrap
+msgid "halcmd: net Y-vel siggen.0.sine => stepgen.1.velocity-cmd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:676
+msgid "Now let's take a final look at the signals and the pins connected to them."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:686
+#, no-wrap
+msgid ""
+"Signals:\n"
+"Type          Value  Name     (linked to)\n"
+"float             0  X-vel <== siggen.0.cosine\n"
+"                           ==> stepgen.0.velocity-cmd\n"
+"float             0  Y-vel <== siggen.0.sine\n"
+"                           ==> stepgen.1.velocity-cmd\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:690
+msgid ""
+"The 'show sig' command makes it clear exactly how data flows through the "
+"HAL.  For example, the 'X-vel' signal comes from pin `siggen.0.cosine`, and "
+"goes to pin `stepgen.0.velocity-cmd`."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:691
+#, no-wrap
+msgid "Setting up realtime execution - threads and functions"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:698
+msgid ""
+"Thinking about data flowing through \"wires\" makes pins and signals fairly "
+"easy to understand.  Threads and functions are a little more difficult.  "
+"Functions contain the computer instructions that actually get things done.  "
+"Thread are the method used to make those instructions run when they are "
+"needed.  First let's look at the functions available to us."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:708
+#, no-wrap
+msgid ""
+"Exported Functions:\n"
+"Owner   CodeAddr  Arg       FP   Users  Name\n"
+" 00004  f9992000  fc731278  YES      0   siggen.0.update\n"
+" 00003  f998b20f  fc7310b8  YES      0   stepgen.capture-position\n"
+" 00003  f998b000  fc7310b8  NO       0   stepgen.make-pulses\n"
+" 00003  f998b307  fc7310b8  YES      0   stepgen.update-freq\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:716
+msgid ""
+"In general, you will have to refer to the documentation for each component "
+"to see what its functions do. In this case, the function `siggen.0.update` "
+"is used to update the outputs of the signal generator. Every time it is "
+"executed, it calculates the values of the sine, cosine, triangle, and square "
+"outputs. To make smooth signals, it needs to run at specific intervals."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:718
+msgid "The other three functions are related to the step pulse generators."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:722
+msgid ""
+"The first one, `stepgen.capture_position`, is used for position feedback.  "
+"It captures the value of an internal counter that counts the step pulses as "
+"they are generated.  Assuming no missed steps, this counter indicates the "
+"position of the motor."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:730
+msgid ""
+"The main function for the step pulse generator is `stepgen.make_pulses`.  "
+"Every time 'make_pulses' runs it decides if it is time to take a step, and "
+"if so sets the outputs accordingly.  For smooth step pulses, it should run "
+"as frequently as possible.  Because it needs to run so fast, 'make_pulses' "
+"is highly optimized and performs only a few calculations.  Unlike the "
+"others, it does not need floating point math."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:734
+msgid ""
+"The last function, `stepgen.update-freq`, is responsible for doing scaling "
+"and some other calculations that need to be performed only when the "
+"frequency command changes."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:741
+msgid ""
+"What this means for our example is that we want to run `siggen.0.update` at "
+"a moderate rate to calculate the sine and cosine values.  Immediately after "
+"we run `siggen.0.update`, we want to run `stepgen.update_freq` to load the "
+"new values into the step pulse generator.  Finally we need to run "
+"`stepgen.make_pulses` as fast as possible for smooth pulses.  Because we "
+"don't use position feedback, we don't need to run `stepgen.capture_position` "
+"at all."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:745
+msgid ""
+"We run functions by adding them to threads.  Each thread runs at a specific "
+"rate.  Let's see what threads we have available."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:753
+#, no-wrap
+msgid ""
+"Realtime Threads:\n"
+"     Period  FP     Name               (     Time, Max-Time )\n"
+"     996980  YES                  slow (        0,        0 )\n"
+"      49849  NO                   fast (        0,        0 )\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:762
+msgid ""
+"The two threads were created when we loaded `threads`.  The first one, "
+"'slow', runs every millisecond, and is capable of running floating point "
+"functions.  We will use it for `siggen.0.update` and `stepgen.update_freq`.  "
+"The second thread is 'fast', which runs every 50 microseconds (µs), and does "
+"not support floating point.  We will use it for `stepgen.make_pulses`.  To "
+"connect the functions to the proper thread, we use the `addf` command.  We "
+"specify the function first, followed by the thread."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:767
+#, no-wrap
+msgid ""
+"halcmd: addf siggen.0.update slow\n"
+"halcmd: addf stepgen.update-freq slow\n"
+"halcmd: addf stepgen.make-pulses fast\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:770
+msgid ""
+"After we give these commands, we can run the `show thread` command again to "
+"see what happened."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:781
+#, no-wrap
+msgid ""
+"Realtime Threads:\n"
+"     Period  FP     Name               (     Time, Max-Time )\n"
+"     996980  YES                  slow (        0,        0 )\n"
+"                  1 siggen.0.update\n"
+"                  2 stepgen.update-freq\n"
+"      49849  NO                   fast (        0,        0 )\n"
+"                  1 stepgen.make-pulses\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:785
+msgid ""
+"Now each thread is followed by the names of the functions, in the order in "
+"which the functions will run."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:786
+#, no-wrap
+msgid "Setting parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:801
+msgid ""
+"We are almost ready to start our HAL system.  However we still need to "
+"adjust a few parameters.  By default, the siggen component generates signals "
+"that swing from +1 to -1.  For our example that is fine, we want the table "
+"speed to vary from +1 to -1 inches per second.  However the scaling of the "
+"step pulse generator isn't quite right.  By default, it generates an output "
+"frequency of 1 step per second with an input of 1.0.  It is unlikely that "
+"one step per second will give us one inch per second of table movement.  "
+"Let's assume instead that we have a 5 turn per inch leadscrew, connected to "
+"a 200 step per rev stepper with 10x microstepping.  So it takes 2000 steps "
+"for one revolution of the screw, and 5 revolutions to travel one inch.  That "
+"means the overall scaling is 10000 steps per inch.  We need to multiply the "
+"velocity input to the step pulse generator by 10000 to get the proper "
+"output.  That is exactly what the parameter `stepgen.n.velocity-scale` is "
+"for.  In this case, both the X and Y axis have the same scaling, so we set "
+"the scaling parameters for both to 10000."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:807
+#, no-wrap
+msgid ""
+"halcmd: setp stepgen.0.position-scale 10000\n"
+"halcmd: setp stepgen.1.position-scale 10000\n"
+"halcmd: setp stepgen.0.enable 1\n"
+"halcmd: setp stepgen.1.enable 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:817
+msgid ""
+"This velocity scaling means that when the pin `stepgen.0.velocity-cmd` is "
+"1.0, the step generator will generate 10000 pulses per second (10 kHz).  "
+"With the motor and leadscrew described above, that will result in the axis "
+"moving at exactly 1.0 inches per second.  This illustrates a key HAL concept "
+"- things like scaling are done at the lowest possible level, in this case in "
+"the step pulse generator.  The internal signal `X-vel` is the velocity of "
+"the table in inches per second, and other components such as `siggen` don't "
+"know (or care) about the scaling at all.  If we changed the leadscrew, or "
+"motor, we would change only the scaling parameter of the step pulse "
+"generator."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:818
+#, no-wrap
+msgid "Run it!"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:822
+msgid ""
+"We now have everything configured and are ready to start it up.  Just like "
+"in the first example, we use the `start` command."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:832
+msgid ""
+"Although nothing appears to happen, inside the computer the step pulse "
+"generator is cranking out step pulses, varying from 10 kHz forward to 10 kHz "
+"reverse and back again every second. Later in this tutorial we'll see how to "
+"bring those internal signals out to run motors in the real world, but first "
+"we want to look at them and see what is happening."
+msgstr ""
+
+#. type: Title ==
+#: src/hal/tutorial.adoc:834
+#, no-wrap
+msgid "Halscope(((Tutorial Halscope)))"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:840
+msgid ""
+"The previous example generates some very interesting signals. But much of "
+"what happens is far too fast to see with halmeter. To take a closer look at "
+"what is going on inside the HAL, we want an oscilloscope.  Fortunately HAL "
+"has one, called halscope."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:842
+msgid ""
+"Halscope has two parts - a realtime part that reads the HAL signals, and a "
+"non-realtime part that provides the GUI and display. However, you don't need "
+"to worry about this because the non-realtime part will automatically load "
+"the realtime part when needed."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:844
+msgid ""
+"With LinuxCNC running in a terminal you can start halscope with the "
+"following command."
+msgstr ""
+
+#. type: Block title
+#: src/hal/tutorial.adoc:845
+#, no-wrap
+msgid "Starting Halscope"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:848
+#, no-wrap
+msgid "halcmd loadusr halscope\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:855
+msgid ""
+"If LinuxCNC is not running or the autosave.halscope file does not match the "
+"pins available in the current running LinuxCNC the scope GUI window will "
+"open, immediately followed by a 'Realtime function not linked' dialog that "
+"looks like the following figure. To change the sample rate left click on the "
+"samples box."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:857 src/hal/tutorial.adoc:858
+#, no-wrap
+msgid "Realtime function not linked dialog"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:858
+#, no-wrap
+msgid "images/halscope-01.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:867
+msgid ""
+"This dialog is where you set the sampling rate for the oscilloscope.  For "
+"now we want to sample once per millisecond, so click on the 989 µs thread "
+"'slow' and leave the multiplier at 1. We will also leave the record length "
+"at 4000 samples, so that we can use up to four channels at one time. When "
+"you select a thread and then click 'OK', the dialog disappears, and the "
+"scope window looks something like the following figure."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:869 src/hal/tutorial.adoc:870
+#, no-wrap
+msgid "Initial scope window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:870
+#, no-wrap
+msgid "images/halscope-02.png"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:872
+#, no-wrap
+msgid "Hooking up the scope probes"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:881
+msgid ""
+"At this point, Halscope is ready to use. We have already selected a sample "
+"rate and record length, so the next step is to decide what to look at. This "
+"is equivalent to hooking 'virtual scope probes' to the HAL. Halscope has 16 "
+"channels, but the number you can use at any one time depends on the record "
+"length - more channels means shorter records, since the memory available for "
+"the record is fixed at approximately 16,000 samples."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:888
+msgid ""
+"The channel buttons run across the bottom of the halscope screen.  Click "
+"button '1', and you will see the 'Select Channel Source' dialog as shown in "
+"the following figure. This dialog is very similar to the one used by "
+"Halmeter. We would like to look at the signals we defined earlier, so we "
+"click on the 'Signals' tab, and the dialog displays all of the signals in "
+"the HAL (only two for this example)."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:890 src/hal/tutorial.adoc:891
+#, no-wrap
+msgid "Select Channel Source"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:891
+#, no-wrap
+msgid "images/halscope-03.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:896
+msgid ""
+"To choose a signal, just click on it. In this case, we want channel 1 to "
+"display the signal 'X-vel'. Click on the Signals tab then click on 'X-vel' "
+"and the dialog closes and the channel is now selected."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:898 src/hal/tutorial.adoc:899
+#, no-wrap
+msgid "Select Signal"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:899
+#, no-wrap
+msgid "images/halscope-04.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:906
+msgid ""
+"The channel 1 button is pressed in, and channel number 1 and the name "
+"'X-vel' appear below the row of buttons. That display always indicates the "
+"selected channel - you can have many channels on the screen, but the "
+"selected one is highlighted, and the various controls like vertical position "
+"and scale always work on the selected one."
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:909
+#, no-wrap
+msgid "images/halscope-05.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:917
+msgid ""
+"To add a signal to channel 2, click the '2' button. When the dialog pops up, "
+"click the 'Signals' tab, then click on 'Y-vel'. We also want to look at the "
+"square and triangle wave outputs. There are no signals connected to those "
+"pins, so we use the 'Pins' tab instead. For channel 3, select "
+"`siggen.0.triangle` and for channel 4, select `siggen.0.square`."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:918
+#, no-wrap
+msgid "Capturing our first waveforms"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:932
+msgid ""
+"Now that we have several probes hooked to the HAL, it's time to capture some "
+"waveforms. To start the scope, click the 'Normal' button in the 'Run Mode' "
+"section of the screen (upper right). Since we have a 4000 sample record "
+"length, and are acquiring 1000 samples per second, it will take halscope "
+"about 2 seconds to fill half of its buffer.  During that time a progress bar "
+"just above the main screen will show the buffer filling. Once the buffer is "
+"half full, the scope waits for a trigger. Since we haven't configured one "
+"yet, it will wait forever. To manually trigger it, click the 'Force' button "
+"in the 'Trigger' section at the top right. You should see the remainder of "
+"the buffer fill, then the screen will display the captured waveforms. The "
+"result will look something like the following figure."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:934 src/hal/tutorial.adoc:935
+#, no-wrap
+msgid "Captured Waveforms"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:935
+#, no-wrap
+msgid "images/halscope-06.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:941
+msgid ""
+"The 'Selected Channel' box at the bottom tells you that the purple trace is "
+"the currently selected one, channel 4, which is displaying the value of the "
+"pin `siggen.0.square`. Try clicking channel buttons 1 through 3 to highlight "
+"the other three traces."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:942
+#, no-wrap
+msgid "Vertical Adjustments"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:952
+msgid ""
+"The traces are rather hard to distinguish since all four are on top of each "
+"other. To fix this, we use the 'Vertical' controls in the box to the right "
+"of the screen. These controls act on the currently selected channel. When "
+"adjusting the gain, notice that it covers a huge range - unlike a real "
+"scope, this one can display signals ranging from very tiny (pico-units) to "
+"very large (Tera-units). The position control moves the displayed trace up "
+"and down over the height of the screen only. For larger adjustments the "
+"offset button should be used."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:954 src/hal/tutorial.adoc:955
+#, no-wrap
+msgid "Vertical Adjustment"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:955
+#, no-wrap
+msgid "images/halscope-07.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:961
+msgid ""
+"The large _Selected Channel_ button at the bottom indicates that channel 1 "
+"is currently selected channel and that it matches the _X-vel_ signal.  Try "
+"clicking on the other channels to put their traces in evidence and to be "
+"able to move them with the _Pos_ cursor."
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:962
+#, no-wrap
+msgid "Triggering"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:970
+msgid ""
+"Using the 'Force' button is a rather unsatisfying way to trigger the "
+"scope. To set up real triggering, click on the 'Source' button at the bottom "
+"right. It will pop up the 'Trigger Source' dialog, which is simply a list of "
+"all the probes that are currently connected. Select a probe to use for "
+"triggering by clicking on it. For this example we will use channel 3, the "
+"triangle wave as shown in the following figure."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:972 src/hal/tutorial.adoc:973
+#, no-wrap
+msgid "Trigger Source Dialog"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:973
+#, no-wrap
+msgid "images/halscope-08.png"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:990
+msgid ""
+"After setting the trigger source, you can adjust the trigger level and "
+"trigger position using the sliders in the 'Trigger' box along the right "
+"edge. The level can be adjusted from the top to the bottom of the screen, "
+"and is displayed below the sliders. The position is the location of the "
+"trigger point within the overall record. With the slider all the way down, "
+"the trigger point is at the end of the record, and halscope displays what "
+"happened before the trigger point. When the slider is all the way up, the "
+"trigger point is at the beginning of the record, displaying what happened "
+"after it was triggered. The trigger point is visible as a vertical line in "
+"the progress box above the screen. The trigger polarity can be changed by "
+"clicking the button just below the trigger level display. It will then "
+"become _descendant_.  Note that changing the trigger position stops the "
+"scope once the position has been adjusted, you relaunch the scope by "
+"clicking on the _Normal_ button of _Run mode_ the group."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:993
+msgid ""
+"Now that we have adjusted the vertical controls and triggering, the scope "
+"display looks something like the following figure."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:995 src/hal/tutorial.adoc:996
+#, no-wrap
+msgid "Waveforms with Triggering"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:996
+#, no-wrap
+msgid "images/halscope-09.png"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:998
+#, no-wrap
+msgid "Horizontal Adjustments"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:1010
+msgid ""
+"To look closely at part of a waveform, you can use the zoom slider at the "
+"top of the screen to expand the waveforms horizontally, and the position "
+"slider to determine which part of the zoomed waveform is visible.  However, "
+"sometimes simply expanding the waveforms isn't enough and you need to "
+"increase the sampling rate.  For example, we would like to look at the "
+"actual step pulses that are being generated in our example.  Since the step "
+"pulses may be only 50 µs long, sampling at 1 kHz isn't fast enough.  To "
+"change the sample rate, click on the button that displays the number of "
+"samples and sample rate to bring up the 'Select Sample Rate' dialog figure.  "
+"For this example, we will click on the 50 µs thread, 'fast', which gives us "
+"a sample rate of about 20 kHz.  Now instead of displaying about 4 seconds "
+"worth of data, one record is 4000 samples at 20 kHz, or about 0.20 seconds."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:1012 src/hal/tutorial.adoc:1013
+#, no-wrap
+msgid "Sample Rate Dialog"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:1013
+#, no-wrap
+msgid "images/halscope-10.png"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:1015
+#, no-wrap
+msgid "More Channels"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:1031
+msgid ""
+"Now let's look at the step pulses.  Halscope has 16 channels, but for this "
+"example we are using only 4 at a time.  Before we select any more channels, "
+"we need to turn off a couple.  Click on the channel 2 button, then click the "
+"'Chan Off' button at the bottom of the 'Vertical' box.  Then click on "
+"channel 3, turn if off, and do the same for channel 4.  Even though the "
+"channels are turned off, they still remember what they are connected to, and "
+"in fact we will continue to use channel 3 as the trigger source.  To add new "
+"channels, select channel 5, and choose pin `stepgen.0.dir`, then channel 6, "
+"and select `stepgen.0.step`.  Then click run mode 'Normal' to start the "
+"scope, and adjust the horizontal zoom to 5 ms per division.  You should see "
+"the step pulses slow down as the velocity command (channel 1) approaches "
+"zero, then the direction pin changes state and the step pulses speed up "
+"again.  You might want toincrease the gain on channel 1 to about 20 milli "
+"per division to better see the change in the velocity command.  The result "
+"should look like the following figure."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/hal/tutorial.adoc:1033 src/hal/tutorial.adoc:1034
+#, no-wrap
+msgid "Step Pulses"
+msgstr ""
+
+#. type: Target for macro image
+#: src/hal/tutorial.adoc:1034
+#, no-wrap
+msgid "images/halscope-11.png"
+msgstr ""
+
+#. type: Title ===
+#: src/hal/tutorial.adoc:1036
+#, no-wrap
+msgid "More samples"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:1041
+msgid ""
+"If you want to record more samples at once, restart realtime and load "
+"halscope with a numeric argument which indicates the number of samples you "
+"want to capture."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/tutorial.adoc:1044
+#, no-wrap
+msgid "halcmd loadusr halscope 80000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/tutorial.adoc:1051
+msgid ""
+"If the 'scope_rt' component was not already loaded, halscope will load it "
+"and request 80000 total samples, so that when sampling 4 channels at a time "
+"there will be 20000 samples per channel.  (If 'scope_rt' was already loaded, "
+"the numeric argument to halscope will have no effect)."
+msgstr ""
+
+#. type: Title =
+#: src/hal/twopass.adoc:5
+#, no-wrap
+msgid "HAL TWOPASS"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/twopass.adoc:13
+#, no-wrap
+msgid "TWOPASS"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:19
+msgid ""
+"This section describes an option to have multiple load-commands for multiple "
+"instances of the same component at different positions in the file or among "
+"different files.  Internally, this requires to read the HAL file twice, "
+"hence the name TWOPASS.  Supported since LinuxCNC version 2.5, the TWOPASS "
+"processing of LinuxCNC configuration files helps with their modularization "
+"and readability.  To recall, LinuxCNC configuration files are specified in a "
+"LinuxCNC INI file as `[HAL]HALFILE=filename`."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:22
+msgid ""
+"Normally, a set of one or more LinuxCNC configuration files must use a "
+"single, unique `loadrt` line to load a realtime component, which may create "
+"multiple instances of the component.  For example, if you use a two-input "
+"AND gate component (and2) in three different places in your setup, you would "
+"need to have a single line somewhere to specify:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/twopass.adoc:23
+#, no-wrap
+msgid ""
+"Example resulting in real-time components with default names `and2.0`, "
+"`and2.1`, `and2.2`."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:27
+#, no-wrap
+msgid "loadrt and2 count=3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:31
+msgid ""
+"Configurations are more readable if you specify with the `names=` option for "
+"components where it is supported, e.g.:"
+msgstr ""
+
+#. type: Block title
+#: src/hal/twopass.adoc:32
+#, no-wrap
+msgid ""
+"Example load command resulting in explicitly named components `aa`, `ab`, "
+"`ac`."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:36
+#, no-wrap
+msgid "loadrt and2 names=aa,ab,ac\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:40
+msgid ""
+"It can be a maintenance problem to keep track of the components and their "
+"names, since when you add (or remove) a component, you must find and update "
+"the single loadrt directive applicable to the component."
+msgstr ""
+
+#. type: Block title
+#: src/hal/twopass.adoc:41
+#, no-wrap
+msgid ""
+"TWOPASS processing is enabled by including an INI file parameter in the "
+"`[HAL]` section, where \"anystring\" can be any non-null string."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:45 src/hal/twopass.adoc:119
+#, no-wrap
+msgid "[HAL]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:47
+#, no-wrap
+msgid "TWOPASS = anystring\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:50
+msgid "With TWOPASS enabled, you can have multiple specifications like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:58
+#, no-wrap
+msgid ""
+"loadrt and2 names=aa\n"
+"...\n"
+"loadrt and2 names=ab,ac\n"
+"...\n"
+"loadrt and2 names=ad\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:62
+msgid ""
+"These commands can appear in different HAL files.  The HAL files are "
+"processed in the order of their appearance in the INI file, in multiple "
+"HALFILE assignments."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:65
+msgid ""
+"The TWOPASS option can be specified with options to add output for debugging "
+"(verbose) and to prevent deletion of temporary files (nodelete).  The "
+"options are separated with commas."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:71
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"TWOPASS = on,verbose,nodelete\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:75
+msgid ""
+"With TWOPASS processing, all [HAL]HALFILES are first read and multiple "
+"appearances of loadrt directives for each module are accumulated.  "
+"Non-realtime components (loadusr) are loaded in order but no other LinuxCNC "
+"commands are executed in the initial pass."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:78
+msgid ""
+"Non-realtime components should use the wait (-W) option to ensure the "
+"component is ready before other commands are executed."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:80
+msgid ""
+"After the initial pass, the realtime modules are loaded (loadrt) "
+"automatically"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:82
+msgid "with a number equal to the total number when using the 'count=' option or"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:83
+msgid "with all of the individual names specified when using the 'names=' option."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:86
+msgid ""
+"A second pass is then made to execute all of the other LinuxCNC instructions "
+"specified in the HALFILES.  The addf commands that associate a component's "
+"functions with thread execution are executed in the order of appearance with "
+"other commands during this second pass."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:88
+msgid ""
+"While you can use either the 'count=' or 'names=' options, they are mutually "
+"exclusive -- only one type can be specified for a given module."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:93
+msgid ""
+"TWOPASS processing is most effective when using the 'names=' option.  This "
+"option allows you to provide unique names that are mnemonic or otherwise "
+"relevant to the configuration.  For example, if you use a derivative "
+"component to estimate the velocities and accelerations on each (x,y,z) "
+"coordinate, using the 'count=' method will give arcane component names like "
+"ddt.0, ddt.1, ddt.2, etc."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:95
+msgid "Alternatively, using the 'names=' option like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:101
+#, no-wrap
+msgid ""
+"loadrt ddt names=xvel,yvel,zvel\n"
+"...\n"
+"loadrt ddt names=xaccel,yaccel,zaccel\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:104
+msgid ""
+"results in components sensibly named xvel, yvel, zvel, xaccel, yaccel, "
+"zaccel."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:107
+msgid ""
+"Many comps supplied with the distribution are created with the halcompile "
+"utility and support the 'names=' option.  These include the common logic "
+"components that are the glue of many LinuxCNC configurations."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:111
+msgid ""
+"User-created comps that use the halcompile utility automatically support the "
+"names= option as well.  In addition to comps generated with the halcompile "
+"utility, numerous other comps support the names=option.  Comps that support "
+"names= option include: at_pid, encoder, encoder_ratio, pid, siggen, and "
+"sim_encoder."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:114
+msgid ""
+"Two-step processing occurs before the GUI is loaded.  When using a "
+"[HAL]POSTGUI_HALFILE, it is convenient to place all the [HAL]POSTGUI_HALFILE "
+"loadrt declarations for the necessary components in a preloaded HAL file."
+msgstr ""
+
+#. type: Block title
+#: src/hal/twopass.adoc:115
+#, no-wrap
+msgid "Example of a HAL section when using a POSTGUI_HALFILE"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:126
+#, no-wrap
+msgid ""
+"TWOPASS = on\n"
+"HALFILE = core_sim.hal\n"
+"HALFILE = sim_spindle_encoder.hal\n"
+"HALFILE = axis_manualtoolchange.hal\n"
+"HALFILE = simulated_home.hal\n"
+"HALFILE = load_for_postgui.hal <- loadrt lines for components in "
+"postgui.hal\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:129
+#, no-wrap
+msgid ""
+"POSTGUI_HALFILE = postgui.hal\n"
+"HALUI = halui\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/twopass.adoc:131
+#, no-wrap
+msgid "Post GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:137
+msgid ""
+"Some GUIs support HAL files that are processed after the GUI is started in "
+"order to connect LinuxCNC pins that are created by the GUI.  When using a "
+"postgui HAL file with TWOPASS processing, include all loadrt items for "
+"components added by postgui HAL files in a separate HAL file that is "
+"processed before the GUI.  The `addf` commands can also be included in the "
+"file."
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:149
+#, no-wrap
+msgid ""
+"[HAL]\n"
+"TWOPASS = on\n"
+"HALFILE = file_1.hal\n"
+"...\n"
+"HALFILE = file_n.hal\n"
+"HALFILE = file_with_all_loads_for_postgui.hal\n"
+"...\n"
+"POSTGUI_HALFILE = the_postgui_file.hal\n"
+msgstr ""
+
+#. type: Title ==
+#: src/hal/twopass.adoc:151
+#, no-wrap
+msgid "Excluding .hal files"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:156
+msgid ""
+"TWOPASS processing converts '.hal' files to equivalent '.tcl' files and uses "
+"haltcl to find loadrt and addf commands in order to accumulate and "
+"consolidate their usage.  Loadrt parameters that conform to the simple "
+"`names=` (or `count=`) parameters accepted by the HAL Component Generator "
+"(`halcompile`) are expected.  More complex parameter items included in "
+"specialized LinuxCNC components may not be handled properly."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:160
+msgid ""
+"A '.hal' file may be excluded from TWOPASS processing by including a magic "
+"comment line anywhere in the '.hal' file.  The magic comment line must begin "
+"with the string: `#NOTWOPASS`.  Files specified with this magic comment are "
+"sourced by halcmd using the `-k` (keep going if failure) and `-v` (verbose) "
+"options."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:162
+msgid ""
+"This exclusion provision can be used to isolate problems or for loading any "
+"special LinuxCNC component that does not require or benefit from TWOPASS "
+"processing."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:165
+msgid ""
+"Ordinarily, the loadrt ordering of realtime components is not critical, but "
+"loadrt ordering for special components can be enforced by placing the such "
+"loadrt directives in an excluded file."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:168
+msgid ""
+"While the order of loadrt directives is not usually critical, ordering of "
+"addf directives is often very important for proper operation of servo loop "
+"components."
+msgstr ""
+
+#. type: Block title
+#: src/hal/twopass.adoc:169
+#, no-wrap
+msgid "Excluded HAL file example"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:175
+#, no-wrap
+msgid ""
+"$ cat twopass_excluded.hal\n"
+"# The following magic comment causes this file to\n"
+"# be excluded from twopass processing:\n"
+"# NOTWOPASS\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:179
+#, no-wrap
+msgid ""
+"# debugging component with complex options:\n"
+"loadrt mycomponent parm1=\"abc def\" parm2=ghi\n"
+"show pin mycomponent\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/hal/twopass.adoc:183
+#, no-wrap
+msgid ""
+"# ordering special components\n"
+"loadrt component_1\n"
+"loadrt component_2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:191
+msgid ""
+"Case and whitespace within the magic comment are ignored.  The loading of "
+"components that use `names=` or `count=` parameters (typically built by "
+"halcompile) should not be used in excluded files, as that would eliminate "
+"the benefits of TWOPASS processing.  The LinuxCNC commands that create "
+"signals (`net`) and commands that establish execution order (`addf`) should "
+"not be placed in excluded files.  This is especially true for addf commands "
+"since their ordering may be important."
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:196
+msgid "Examples of TWOPASS usage for a simulator are included in the directories:"
+msgstr ""
+
+#. type: Plain text
+#: src/hal/twopass.adoc:199
+#, no-wrap
+msgid ""
+"  configs/sim/axis/twopass/\n"
+"  configs/sim/axis/simtcl/\n"
+msgstr ""
+
+#. type: Title =
+#: src/install/latency-test.adoc:5
+#, no-wrap
+msgid "Latency Testing(((Latency Testing)))"
+msgstr ""
+
+#. type: Title ==
+#: src/install/latency-test.adoc:9
+#, no-wrap
+msgid "What is latency?"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:15
+msgid ""
+"Latency is how long it takes the PC to stop what it is doing and respond to "
+"an external request, such as running one of LinuxCNC's periodic realtime "
+"threads.  The lower the latency, the faster you can run the realtime "
+"threads, and the smoother motion will be (and potentially faster, in the "
+"case of software stepping)."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:20
+msgid ""
+"Latency is far more important than CPU speed.  A lowly Pentium II that "
+"responds to interrupts within 10 microseconds each and every time can give "
+"better results than the latest and fastest P4 Hyperthreading beast."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:24
+msgid ""
+"The CPU isn't the only factor in determining latency.  Motherboards, video "
+"cards, USB ports, and a number of other things can hurt the latency.  The "
+"best way to find out what you are dealing with is to run the latency test."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:29
+msgid ""
+"Generating step pulses in software has one very big advantage - it's free.  "
+"Just about every PC has a parallel port that is capable of outputting step "
+"pulses that are generated by the software.  However, software step pulses "
+"also have some disadvantages:"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:31 src/motion/tweaking-steppers.adoc:15
+msgid "limited maximum step rate"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:32 src/motion/tweaking-steppers.adoc:16
+msgid "jitter in the generated pulses"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:33 src/motion/tweaking-steppers.adoc:17
+msgid "loads the CPU"
+msgstr ""
+
+#. type: Title ==
+#: src/install/latency-test.adoc:36
+#, no-wrap
+msgid "Latency Tests(((Latency Tests)))"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:40
+msgid ""
+"LinuxCNC includes several latency tests.  They all produce equivalent "
+"information.  Running these tests will help determine if a computers is "
+"suitable for driving a CNC machine."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:43
+msgid "Do not run LinuxCNC or StepConf while the latency test is running."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:51
+msgid ""
+"To run the test, open a terminal window (in Ubuntu, from Applications → "
+"Accessories → Terminal)  and run the following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:54
+#, no-wrap
+msgid "latency-test\n"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:59
+msgid ""
+"This will start the latency test with a base-thread period of 25&thinsp;µs "
+"and a servo-thread period of 1&thinsp;ms. The period times may be specified "
+"on the command line:"
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:62
+#, no-wrap
+msgid "latency-test 50000 1000000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:66
+msgid ""
+"This will start the latency test with a base-thread period of 50uS and a "
+"servo-thread period of 1&thinsp;ms."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:68
+msgid "For available options, on the command line enter:"
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:71
+#, no-wrap
+msgid "latency-test -h\n"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:74
+msgid "After starting a latency test you should see something like this:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/install/latency-test.adoc:75 src/install/latency-test.adoc:76
+#, no-wrap
+msgid "HAL Latency Test"
+msgstr ""
+
+#. type: Target for macro image
+#: src/install/latency-test.adoc:76
+#, no-wrap
+msgid "../config/images/latency-test_en.png"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:84
+msgid ""
+"While the test is running, you should 'abuse' the computer.  Move windows "
+"around on the screen. Surf the web. Copy some large files around on the "
+"disk. Play some music.  Run an OpenGL program such as glxgears.  The idea is "
+"to put the PC through its paces while the latency test checks to see what "
+"the worst case numbers are."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:88
+msgid ""
+"The important number for software stepping is the 'max jitter' of the base "
+"thread.  In the example above, that is 6693 nanoseconds (ns), or 6.693 "
+"microseconds (µs).  Record this number, and enter it in StepConf when it is "
+"requested."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:96
+msgid ""
+"In the example above, latency-test only ran for a few seconds.  You should "
+"run the test for at least several minutes; sometimes the worst case latency "
+"doesn't happen very often, or only happens when you do some particular "
+"action. For instance, one Intel motherboard worked pretty well most of the "
+"time, but every 64 seconds it had a very bad 300&thinsp;µs "
+"latency. Fortunately that was fixable, see "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?FixingSMIIssues ."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:108
+msgid ""
+"So, what do the results mean? If your Max Jitter number is less than about "
+"15-20 microseconds (15000-20000 nanoseconds), the computer should give very "
+"nice results with software stepping.  If the max latency is more like 30-50 "
+"microseconds, you can still get good results, but your maximum step rate "
+"might be a little disappointing, especially if you use microstepping or have "
+"very fine pitch leadscrews. If the numbers are 100&thinsp;µs or more, "
+"i.e. >= 100,000 nanoseconds (ns), then the PC is not a good candidate for "
+"software stepping. Numbers over 1 millisecond (1,000,000 ns) mean the PC is "
+"not a good candidate for LinuxCNC, regardless of whether you use software "
+"stepping or not."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:114
+msgid ""
+"If you get high numbers, there may be ways to improve them.  Another PC had "
+"very bad latency (several milliseconds) when using the onboard video. But a "
+"$5 used video card solved the problem.  LinuxCNC does not require bleeding "
+"edge hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:117
+msgid ""
+"For more information on stepper tuning see the <<cha:stepper-tuning,Stepper "
+"Tuning>> Chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:121
+msgid ""
+"Additional command line tools are available for examining latency when "
+"LinuxCNC is not running."
+msgstr ""
+
+#. type: Title ===
+#: src/install/latency-test.adoc:122
+#, no-wrap
+msgid "Latency Plot"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:127
+msgid ""
+"latency-plot makes a strip chart recording for a base and a servo thread.  "
+"It may be useful to see spikes in latency when other applications are "
+"started or used. Usage:"
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:130
+#, no-wrap
+msgid "latency-plot --help\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:134
+#, no-wrap
+msgid ""
+"Usage:\n"
+"      latency-plot --help | -?\n"
+"      latency-plot --hal [Options]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:141
+#, no-wrap
+msgid ""
+"Options:\n"
+"      --base ns  (base  thread interval in nanoseconds, default:   25000)\n"
+"      --servo ns (servo thread interval in nanoseconds, default: 1000000)\n"
+"      --time ms  (report interval in milliseconds, default: 1000)\n"
+"      --relative (relative clock time (default))\n"
+"      --actual   (actual clock time)\n"
+msgstr ""
+
+#. type: Block title
+#: src/install/latency-test.adoc:143
+#, no-wrap
+msgid "`latency-plot` Window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/install/latency-test.adoc:144
+#, no-wrap
+msgid "latency-plot Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/install/latency-test.adoc:144
+#, no-wrap
+msgid "../config/images/latency-plot.png"
+msgstr ""
+
+#. type: Title ===
+#: src/install/latency-test.adoc:147
+#, no-wrap
+msgid "Latency Histogram"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:151
+msgid ""
+"The application latency-histogram displays a histogram of latency (jitter) "
+"for a base and servo thread."
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:156
+#, no-wrap
+msgid ""
+"Usage:\n"
+"   latency-histogram --help | -?\n"
+"   latency-histogram [Options]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:170
+#, no-wrap
+msgid ""
+"Options:\n"
+"  --base      ns   (base  thread interval in nanoseconds, default:   25000, "
+"min:  5000)\n"
+"  --servo     ns   (servo thread interval in nanoseconds, default: 1000000, "
+"min: 25000)\n"
+"  --bbinsize  ns   (base  bin size in nanoseconds, default: 100\n"
+"  --sbinsize  ns   (servo bin size in nanoseconds, default: 100\n"
+"  --bbins     n    (base  bins, default: 200\n"
+"  --sbins     n    (servo bins, default: 200\n"
+"  --logscale  0|1  (y axis log scale, default: 1)\n"
+"  --text      note (additional note, default: \"\" )\n"
+"  --show           (show count of undisplayed bins)\n"
+"  --nobase         (servo thread only)\n"
+"  --verbose        (progress and debug)\n"
+"  --nox            (no gui, display elapsed,min,max,sdev for each thread)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/install/latency-test.adoc:178
+#, no-wrap
+msgid ""
+"Notes:\n"
+"LinuxCNC and HAL should not be running, stop with halrun -U.\n"
+"Large number of bins and/or small binsizes will slow updates.\n"
+"For single thread, specify --nobase (and options for servo thread).\n"
+"Measured latencies outside of the +/- bin range are reported\n"
+"with special end bars.  Use --show to show count for\n"
+"the off-chart [pos|neg] bin\n"
+msgstr ""
+
+#. type: Block title
+#: src/install/latency-test.adoc:180
+#, no-wrap
+msgid "`latency-histogram` Window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/install/latency-test.adoc:181
+#, no-wrap
+msgid "latency-histogram Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/install/latency-test.adoc:181
+#, no-wrap
+msgid "../config/images/latency-histogram.png"
+msgstr ""
+
+#. type: Title ==
+#: src/install/latency-test.adoc:184
+#, no-wrap
+msgid "Latency tuning"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:189
+msgid ""
+"LinuxCNC can run on many different hardware platforms and with many "
+"different realtime kernels, and they all may benefit from tuning for optimal "
+"latency."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:191
+msgid ""
+"A primary goal in tuning the system for LinuxCNC is to reserve a CPU for the "
+"exclusive use of LinuxCNC's realtime tasks, so that other tasks (both user "
+"programs and kernel threads) do not interfere with LinuxCNC's access to that "
+"CPU."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:197
+msgid ""
+"When specific tuning options are believed to be universally helpful LinuxCNC "
+"does this tuning automatically at startup, but many tuning options are "
+"machine-specific and cannot be done automatically.  The person installing "
+"LinuxCNC will need to experimentally determine the optimal tuning for their "
+"system."
+msgstr ""
+
+#. type: Title ===
+#: src/install/latency-test.adoc:199
+#, no-wrap
+msgid "Tuning the BIOS for latency"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:202
+msgid "PC BIOSes vary wildly in their latency behavior."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:207
+msgid ""
+"Tuning the BIOS is tedious because you have to reboot the computer, make one "
+"small tweak in the BIOS, boot Linux, and run the latency test (potentially "
+"for a long time) to see what effects your BIOS change had.  Then repeat for "
+"all the other BIOS settings you want to try."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:211
+msgid ""
+"Because BIOSes are all different and non-standard, providing a detailed BIOS "
+"tuning guide is not practical.  In general, some things to try tuning in the "
+"BIOS are:"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:215
+msgid ""
+"Disable ACPI, APM, and any other power-saving features.  This includes "
+"anything related to power saving, suspending, CPU sleep states, CPU "
+"frequency scaling, etc."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:217
+msgid "Disable CPU \"turbo\" mode."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:219
+msgid "Disable CPU hyperthreading."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:221
+msgid "Disable (or otherwise control) System Management Interrupt (SMI)."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:223
+msgid "Disable any hardware you do not intend to use."
+msgstr ""
+
+#. type: Title ===
+#: src/install/latency-test.adoc:225
+#, no-wrap
+msgid "Tuning Preempt-RT for latency"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:230
+msgid ""
+"The Preempt-RT kernel may benefit from tuning in order to provide the best "
+"latency for LinuxCNC.  Tuning may be done via the kernel command line, "
+"sysctl, and via files in `/proc` and `/sys`."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:232
+msgid "Some tuning parameters to look into:"
+msgstr ""
+
+#. type: Labeled list
+#: src/install/latency-test.adoc:233
+#, no-wrap
+msgid "Kernel command line"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:236
+msgid ""
+"Details here: "
+"<https://www.kernel.org/doc/Documentation/admin-guide/kernel-parameters.txt>"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:239
+msgid ""
+"`isolcpus`: Prevent most non-LinuxCNC processes from using these CPUs, "
+"leaving more CPU time available for LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:242
+msgid ""
+"`irqaffinity`: Select which CPUs service interrupts, so that the CPUs "
+"reserved for LinuxCNC realtime don't have to perform this task."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:244
+msgid "`rcu_nocbs`: Prevent RCU callbacks from running on these CPUs."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:246
+msgid "`rcu_nocb_poll`: Poll for RCU callbacks instead of using sleep/wake."
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:248
+msgid "`nohz_full`: Disable clock tick on these CPUs."
+msgstr ""
+
+#. type: Labeled list
+#: src/install/latency-test.adoc:249
+#, no-wrap
+msgid "Sysctl"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:252
+msgid ""
+"Details here: "
+"<https://www.kernel.org/doc/html/latest/scheduler/sched-rt-group.html>"
+msgstr ""
+
+#. type: Plain text
+#: src/install/latency-test.adoc:255
+msgid ""
+"`sysctl.kernel.sched_rt_runtime_us`: Set to -1 to remove the limit on how "
+"much time realtime tasks may use."
+msgstr ""
+
+#. type: Title =
+#: src/integrator/steppers.adoc:5
+#, no-wrap
+msgid "Stepper Information"
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/steppers.adoc:7
+#, no-wrap
+msgid "Stepper Motor Operation"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:12
+msgid ""
+"Stepper motors operate by sequentially energising and de-energising several "
+"coils surrounding the rotor in such a way that the shaft is magnetically "
+"forced to rotate around in discrete steps.  Steps of 0.9 - 1.8 degrees are "
+"quite common, giving 400 - 200 steps per full revolution of the shaft."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:19
+msgid ""
+"As in real life, nothing can change from one state to another with "
+"absolutely no time delay.  In the case of the stepper motor, the current "
+"passing through each coil, and thus the magnetic field that pulls the rotor "
+"around to each step of rotation takes some time to take effect.  This is due "
+"to the coil having inductance (expressed in Henries, abbreviated to the "
+"letter H)  which has a natural tendency to resist the flow of a rapidly "
+"changing current.  More coil inductance results in a slower rate of current "
+"change and thus a slower rate of magnetic field expansion and contraction."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:25
+msgid ""
+"The maximum torque that the stepper motor can achieve is when the motor is "
+"stationary with one winding energised.  This figure may be quoted on a "
+"stepper motor datasheet as the 'holding torque'.  As the rate at which each "
+"coil is energised and de-energised increases to induce rotation in the "
+"shaft, the time that each coil can exert its full magnetic attraction on the "
+"rotor reduces, thereby reducing the overall torque.  This relationship "
+"between speed and torque is largely inversely proportional."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:30
+msgid ""
+"In the below example, the charging time for three coils is shown when the "
+"applied voltage is stepped from 0&#8239;V to 40&#8239;V.  While all three "
+"coils can easily reach the full current limit of 5 amps (A), the time taken "
+"varies for each coil.  The 4 milli-Henry (mH) coil (blue trace) takes twice "
+"as long to reach full current than the 2&#8239;mH coil (green trace), and "
+"the 8&#8239;mH (red trace) coil takes twice as long again:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/integrator/steppers.adoc:31
+#, no-wrap
+msgid "images/inductance-step-response.png"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:37
+msgid ""
+"If the rate at which step changes are applied to the coils is significantly "
+"shorter than the rise time, it's easy to see that the winding has less time "
+"to attain full magnetic attraction on the rotor, and thus maximum torque is "
+"curtailed. In the below example the 2&#8239;mH coil can achieve the full "
+"5&#8239;A limit before the step voltage is removed, but the 4&#8239;mH and "
+"8&#8239;mH coils cannot:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/integrator/steppers.adoc:38
+#, no-wrap
+msgid "images/inductance-pulse-response-slow-charge.png"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:43
+msgid ""
+"The accepted way of improving motor speed while maintaining torque is to "
+"increase the speed at which the magnetic field of the motor coils can expand "
+"and collapse.  The easiest way to accomplish this is to increase the supply "
+"voltage to force the current in each winding to rise and fall much more "
+"rapidly.  A quicker magnetising time equates to faster step rates while "
+"improving torque at higher speeds, both of which are obviously desirable in "
+"a CNC system."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:46
+msgid ""
+"Using the same example as above, but increasing the step voltage to "
+"80&#8239;V it can be seen that all three coils can now reach the 5&#8239;A "
+"maximum quite easily:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/integrator/steppers.adoc:47
+#, no-wrap
+msgid "images/inductance-pulse-response-fast-charge.png"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:52
+msgid ""
+"However, careful management of a higher drive voltage is required, as a "
+"higher voltage will increase current flowing in each coil with a "
+"corresponding increase in temperature of the winding.  Excessive temperature "
+"rise in the winding will lead to eventual overheating and failure of the "
+"motor."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:57
+msgid ""
+"In most stepper-based CNC systems the voltage of the supply feeding the "
+"stepper driver is several orders of magnitude greater than the voltage of "
+"the motor itself.  A typical NEMA23 stepper motor may have a rating of only "
+"a handful of volts, yet the power supply and driver could be operating at "
+"48&#8239;VDC or more."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:65
+msgid ""
+"Nearly all modern stepper motor drivers on the market today are "
+"constant-current types.  That is, the current being applied to each winding "
+"is fixed irrespective of how much voltage is being applied.  Most drivers "
+"accomplish this by monitoring the current being drawn through the motor "
+"windings and rapidly switching the outputs on and off at a very high "
+"frequency to maintain this current.  Depending on the drivers being used, it "
+"may even be possible to hear this high frequency whistling in the motors "
+"themselves when stationary.  Because the voltage is rapidly switched on and "
+"off to maintain the winding current at an approximate fixed value, these "
+"types of drivers are also known as 'chopper drive'."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/steppers.adoc:66
+#, no-wrap
+msgid "Selecting a Stepper Power Supply"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:74
+msgid ""
+"While a higher voltage is directly related to more speed and torque, "
+"obviously there comes a limit where increasing supply voltage is no longer "
+"beneficial.  The first limitation to the maximum power supply voltage is "
+"likely to be what the stepper driver itself is capable of withstanding.  "
+"This value should be provided in the datasheet for the stepper driver, and "
+"exceeding this voltage will result in the destruction of the driver.  "
+"Ideally the power supply voltage should be chosen with a degree of headroom "
+"that falls under this maximum voltage limit of around 10%.  If, for example "
+"a stepper driver has a V~max~ rating of 80&#8239;VDC, the maximum power "
+"supply voltage should be limited to 72&#8239;VDC."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:80
+msgid ""
+"As mentioned above, excessive motor supply voltage also leads to excessive "
+"heat rise in the motor windings, which can lead to eventual failure of the "
+"motor through overheating.  A commonly used equation for providing a "
+"guideline in determining the maximum voltage to prevent excessive heat rise "
+"is to take the square-root of the winding inductance quoted in the motor "
+"datasheet (expressed in mill-Henries) and multiply by 32.  For example, "
+"choosing a stepper with a coil inductance of 4&#8239;mH will result in a "
+"maximum power supply voltage of 32 x SQRT (4) = 64&#8239;VDC."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:86
+msgid ""
+"Many stepper motor datasheets will also provide speed/torque curves, often "
+"plotted using different supply voltages.  By studying the graphs it may be "
+"determined that increasing the supply voltage by a factor of two will not "
+"result in a corresponding improvement in speed/torque by the same degree.  "
+"If there is little to be gained in running a stepper motor at 64&#8239;VDC, "
+"this may help in narrowing down the proposed power supply to 32 VDC which "
+"will also help minimise excessive heat rise in the motor windings."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:95
+msgid ""
+"The other factor to consider is the current rating of the power supply.  "
+"This is based from the motor's winding current ratings and whether the motor "
+"windings are wired in series or parallel, both of which should be listed in "
+"the motor's datasheet.  A good rule of thumb is to size the power supply "
+"current rating at 2/3 of the rated phase current of the stepper motor if the "
+"windings are in parallel, or 1/3 of the rated current if wired in series.  "
+"Thus, for a stepper motor rated at 4 A wired in parallel, the power supply "
+"needs to have a current rating of at least 2.7&#8239;A, or 1.3&#8239;A if "
+"wired in series.  The total current rating of the complete system is then "
+"the sum of all stepper motors' current requirements."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/steppers.adoc:96
+#, no-wrap
+msgid "Resonance"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:103
+msgid ""
+"Motor resonance occurs when the rate at which the steps are applied to the "
+"windings matches the natural frequency of the motor itself.  Applying steps "
+"for a prolonged period of time at this rate results in the torque dropping "
+"dramatically, and the motor may stall or even rotate in random directions.  "
+"Some stepper motor datasheets provide plots of the torque/speed relationship "
+"and show a dip in the graph where resonance is likely to occur.  It should "
+"be noted that this resonant peak provided in the datasheet is only for the "
+"motor itself - as soon as the motor is coupled to other components (i.e., "
+"installed in a CNC system) the resonant frequency may be altered, or even "
+"multiple new resonances introduced."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:105
+msgid ""
+"Several methods exist to help control the effects of resonance, all with "
+"varying degrees of complexity, effectiveness and side effects:"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:108
+msgid ""
+"Microstepping can help reduce resonance by using smaller step changes in "
+"current between each step.  These smaller step changes cause less ringing in "
+"the motor and windings and thus cause less excitation at the point of "
+"resonance."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:110
+msgid ""
+"Ensuring the motor is never operated at a particular frequency for a "
+"sustained period is a very basic method of reducing resonance, always "
+"accelerating or decelerating through the resonant peak."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:112
+msgid ""
+"Increasing inertial load will damp unwanted resonances at the expense of "
+"some torque and potentially some accuracy.  Elastomeric motor mounts, shaft "
+"couplings or bearing mounts can be employed."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:114
+msgid ""
+"More advanced stepper motor drives may have the ability to switch between "
+"stepping modes such that the resonant peak is managed at certain rates of "
+"operation.  Other systems exist to place electrical load on the windings, "
+"which has a similar effect to mechanical damping, above."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/steppers.adoc:115
+#, no-wrap
+msgid "Microstepping"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:120
+msgid ""
+"A stepper motor operating with each winding being fully energised in a "
+"sequential fashion is operating in full-step mode.  That is, the maximum "
+"rotation resolution possible for that motor is the same as the number of "
+"whole steps that motor is manufactured to perform at (e.g., 200 steps per "
+"revolution for a 1.8 degree/step motor).  As each winding is energised the "
+"rotor clocks around fully from one detent to the next."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:124
+msgid ""
+"Additional rotational resolution from a stepper motor can be obtained by "
+"performing microstepping, whereby the current being driven into each winding "
+"can essentially be 'ramped' in discrete intermediate steps.  This then "
+"causes the rotor to gradually straddle across each rotational detent rather "
+"than making the full jump from one step to the next."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:131
+msgid ""
+"Microstepping is commonly performed in multiples of 2 (4x, 8x, 16x, 32x "
+"etc).  For example, a drive set to 4x microstepping will divide each step "
+"into four discrete current levels in the motor windings, thus affording an "
+"improvement in rotational resolution by a factor of four.  This obviously "
+"means that for a typical step/direction control interface there will need to "
+"be four times as many step pulses generated to make the motor move the same "
+"amount had it been operating in full-step mode.  To make the motor rotate at "
+"the same speed the rate at which pulses need to be applied to the drive also "
+"needs to be four times as fast."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:135
+msgid ""
+"At low rotational speeds, microstepping actually results in slightly higher "
+"torque than when full stepping.  This is due to the smaller changes in "
+"current between intermediate steps resulting in less energy being wasted "
+"exciting natural resonances in the motor.  As RPM increases however, torque "
+"tends to fall off at a similar rate as full stepping."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:140
+msgid ""
+"However, continuing to increase the degree of microstepping will eventually "
+"lead to some real-life limitations.  Step pulse generation, particularly "
+"when using the parallel port, is limited in frequency.  This will inevitably "
+"limit the maximum speed at which the drive can be commanded to step at.  "
+"With high degrees of microstepping this will result in unacceptably slow RPM "
+"of the motor."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:151
+msgid ""
+"Excessively-high rates of microstepping have no real benefit if the "
+"resultant accuracy is too small to be mechanically useful.  A 1.8 degree per "
+"step motor running at 16x microstepping is theoretically capable of 0.1125 "
+"degrees per step.  Coupled with a 20&#8239;TPI leadscrew this should result "
+"in a positional resolution of 0.000016” or 0.0004&#8239;mm.  In reality it "
+"is incredibly difficult to achieve such fine degrees of control.  All "
+"components in the CNC system will contain tolerances and countering forces "
+"(backlash in leadscrews, flex in gantries, runout in the spindle and cutting "
+"tool, static friction in the stepper motor itself, stepper detent error , "
+"etc.) that will render such small amounts of resolution completely "
+"meaningless.  In practice, microstepping at rates in excess of 4x or 8x on a "
+"CNC machine fitted with leadscrews serves little purpose.  In some cases it "
+"may even be more beneficial to run at lower degrees of microstepping or even "
+"full steps, and operate the stepper motor through a gear reduction to obtain "
+"the necessary resolution and torque gains."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/steppers.adoc:152
+#, no-wrap
+msgid "Open and Closed Loop"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:161
+msgid ""
+"In the simplest CNC systems employing stepper motors, the host computer "
+"and/or stepper driver receives no feedback from the motor that it has "
+"achieved the desired outcome when commanded to begin stepping.  The "
+"assumption by the software, driver and end user is that the motor operated "
+"correctly and the axis has moved to the expected new position.  A system "
+"operating in this fashion is said to be running in 'open loop', where the "
+"device at the end of the signal chain (the stepper motor) does not provide "
+"any indication to the device at the start of the chain (the computer)  that "
+"the target was reached."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:168
+msgid ""
+"A further enhancement to the basic stepper motor is to run the system in a "
+"'closed loop'.  This is achieved by equipping the stepper motor with a "
+"rotary encoder whose positional signal is returned back to a device higher "
+"up in the signal chain.  In this way the motors' actual position can be "
+"compared to the expected position at all times, and the drive parameters "
+"adjusted in real time to ensure that the motor does not fall behind.  This "
+"enables closed loop stepper systems to be able to achieve better speed and "
+"torque performance than open loop systems, due to the system constantly "
+"compensating for any deviation to the stepper's performance under varying "
+"loads."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:173
+msgid ""
+"Basic systems operating in this fashion may only close the loop between the "
+"motor and the driver, leaving the software on the host computer out of the "
+"loop.  The software issues step/direction pulses to the downstream driver as "
+"it would normally when running in open loop.  In these situations the "
+"drivers usually include an alarm output which signals the software to halt "
+"when the load placed on the stepper becomes too great for the driver to "
+"compensate without losing steps."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/steppers.adoc:176
+msgid ""
+"More advanced implementations of closed loop operation bring the encoder "
+"signal all the way back to the host computer, but require that a much higher "
+"hardware and software overhead be installed to manage the encoder feedback "
+"and calculation and delivery of drive compensation."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/stepper-timing.adoc:7
+msgid "This page is for step and direction timing of stepper drives."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/stepper-timing.adoc:10
+msgid ""
+"Please add to this list using the stepconf wizard format and in nanoseconds "
+"so it will be uniform."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/stepper-timing.adoc:13
+msgid "Some boards have know issues see the troubleshooting hardware page"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/stepper-timing.adoc:18
+msgid ""
+"If your unsure about your drive timing start high like 10000 for each and "
+"test.  remember that signal conditioning and opto-isolation can increase "
+"timing requirements. That's why you need to know the timings for a driver "
+"board, not just the step translator chip that is contains."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/stepper-timing.adoc:22
+msgid ""
+"Also notice that some controllers step on the falling edge some on the "
+"rising edge. This matters as it will change the timing and will be hard to "
+"trace.  make sure LinuxCNC follows what the controller expects."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/stepper-timing.adoc:25
+msgid ""
+"Note 1 if an asterisk precedes the name then the values are not "
+"confirmed. If you can confirm the values please do..."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/stepper-timing.adoc:28
+msgid ""
+"Times listed are in nanoseconds (ns). Multiply microseconds (us) by 1000 to "
+"get nanoseconds (ns)"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:31
+#, no-wrap
+msgid "Manufacturer"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:31
+#, no-wrap
+msgid "Model"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:31
+#, no-wrap
+msgid "Step Time"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:31
+#, no-wrap
+msgid "Step Space"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:31
+#, no-wrap
+msgid "Direction Hold"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:31
+#, no-wrap
+msgid "Direction Setup"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:31
+#, no-wrap
+msgid "Steps on"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:31
+#, no-wrap
+msgid "Spec Sheet"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:32
+#, no-wrap
+msgid "Chinese Blue Boards"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:32
+#, no-wrap
+msgid "TB6560 CNC Stepper Motor Driver Controller Board"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:32
+#, no-wrap
+msgid "150000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:32 src/integrator/stepper-timing.adoc:33
+#: src/integrator/stepper-timing.adoc:34 src/integrator/stepper-timing.adoc:36
+#: src/integrator/stepper-timing.adoc:37
+#, no-wrap
+msgid "Falling Edge"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:32
+#, no-wrap
+msgid "https://hyu68.com/cp8.htm"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:33 src/integrator/stepper-timing.adoc:34
+#: src/integrator/stepper-timing.adoc:35 src/integrator/stepper-timing.adoc:36
+#: src/integrator/stepper-timing.adoc:37 src/integrator/stepper-timing.adoc:38
+#: src/integrator/stepper-timing.adoc:39 src/integrator/stepper-timing.adoc:40
+#, no-wrap
+msgid "Gecko"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:33
+#, no-wrap
+msgid "201"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:33 src/integrator/stepper-timing.adoc:34
+#: src/integrator/stepper-timing.adoc:36 src/integrator/stepper-timing.adoc:37
+#: src/integrator/stepper-timing.adoc:39 src/integrator/stepper-timing.adoc:43
+#: src/integrator/stepper-timing.adoc:44 src/integrator/stepper-timing.adoc:49
+#: src/integrator/stepper-timing.adoc:63
+#, no-wrap
+msgid "500"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:33 src/integrator/stepper-timing.adoc:37
+#: src/integrator/stepper-timing.adoc:45 src/integrator/stepper-timing.adoc:49
+#, no-wrap
+msgid "4000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:33 src/integrator/stepper-timing.adoc:34
+#: src/integrator/stepper-timing.adoc:36 src/integrator/stepper-timing.adoc:37
+#: src/integrator/stepper-timing.adoc:52 src/integrator/stepper-timing.adoc:56
+#: src/integrator/stepper-timing.adoc:64
+#, no-wrap
+msgid "20000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:33 src/integrator/stepper-timing.adoc:36
+#, no-wrap
+msgid "https://www.geckodrive.com/support/motor-control-manuals/stepper-drives/g201-rev-16.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:34
+#, no-wrap
+msgid "202"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:34
+#, no-wrap
+msgid "4500"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:34
+#, no-wrap
+msgid "https://www.geckodrive.com/support/motor-control-manuals/stepper-drives/g202-rev-15.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:35
+#, no-wrap
+msgid "203v"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:35 src/integrator/stepper-timing.adoc:38
+#: src/integrator/stepper-timing.adoc:47 src/integrator/stepper-timing.adoc:50
+#: src/integrator/stepper-timing.adoc:53 src/integrator/stepper-timing.adoc:88
+#, no-wrap
+msgid "2000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:35 src/integrator/stepper-timing.adoc:38
+#: src/integrator/stepper-timing.adoc:39 src/integrator/stepper-timing.adoc:40
+#: src/integrator/stepper-timing.adoc:48 src/integrator/stepper-timing.adoc:50
+#: src/integrator/stepper-timing.adoc:51 src/integrator/stepper-timing.adoc:52
+#: src/integrator/stepper-timing.adoc:54 src/integrator/stepper-timing.adoc:60
+#: src/integrator/stepper-timing.adoc:86
+#, no-wrap
+msgid "200"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:35 src/integrator/stepper-timing.adoc:38
+#: src/integrator/stepper-timing.adoc:39 src/integrator/stepper-timing.adoc:40
+#: src/integrator/stepper-timing.adoc:41 src/integrator/stepper-timing.adoc:42
+#: src/integrator/stepper-timing.adoc:43 src/integrator/stepper-timing.adoc:44
+#: src/integrator/stepper-timing.adoc:45 src/integrator/stepper-timing.adoc:46
+#: src/integrator/stepper-timing.adoc:47 src/integrator/stepper-timing.adoc:48
+#: src/integrator/stepper-timing.adoc:49 src/integrator/stepper-timing.adoc:50
+#: src/integrator/stepper-timing.adoc:51 src/integrator/stepper-timing.adoc:52
+#: src/integrator/stepper-timing.adoc:55 src/integrator/stepper-timing.adoc:57
+#: src/integrator/stepper-timing.adoc:60 src/integrator/stepper-timing.adoc:64
+#: src/integrator/stepper-timing.adoc:65 src/integrator/stepper-timing.adoc:66
+#: src/integrator/stepper-timing.adoc:67 src/integrator/stepper-timing.adoc:68
+#: src/integrator/stepper-timing.adoc:69 src/integrator/stepper-timing.adoc:70
+#: src/integrator/stepper-timing.adoc:71 src/integrator/stepper-timing.adoc:72
+#: src/integrator/stepper-timing.adoc:73 src/integrator/stepper-timing.adoc:74
+#: src/integrator/stepper-timing.adoc:75 src/integrator/stepper-timing.adoc:76
+#: src/integrator/stepper-timing.adoc:77 src/integrator/stepper-timing.adoc:78
+#: src/integrator/stepper-timing.adoc:79 src/integrator/stepper-timing.adoc:80
+#: src/integrator/stepper-timing.adoc:81 src/integrator/stepper-timing.adoc:82
+#: src/integrator/stepper-timing.adoc:83 src/integrator/stepper-timing.adoc:84
+#: src/integrator/stepper-timing.adoc:85 src/integrator/stepper-timing.adoc:86
+#: src/integrator/stepper-timing.adoc:87 src/integrator/stepper-timing.adoc:88
+#, no-wrap
+msgid "Rising Edge"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:35
+#, no-wrap
+msgid "https://www.geckodrive.com/support/motor-control-manuals/stepper-drives/g203v-rev-7.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:36
+#, no-wrap
+msgid "201x"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:36
+#, no-wrap
+msgid "3000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:37
+#, no-wrap
+msgid "212"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:37
+#, no-wrap
+msgid "https://www.geckodrive.com/support/motor-control-manuals/stepper-drives/g212-rev-15.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:38
+#, no-wrap
+msgid "213v"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:38
+#, no-wrap
+msgid "https://www.geckodrive.com/support/motor-control-manuals/stepper-drives/g213v-rev-7.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:39
+#, no-wrap
+msgid "320"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:39
+#, no-wrap
+msgid "3500"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:39
+#, no-wrap
+msgid "https://www.geckodrive.com/support/motor-control-manuals/dc-servo-drives/g320-rev-7.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:40
+#, no-wrap
+msgid "320x"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:40 src/integrator/stepper-timing.adoc:43
+#: src/integrator/stepper-timing.adoc:44 src/integrator/stepper-timing.adoc:61
+#: src/integrator/stepper-timing.adoc:62 src/integrator/stepper-timing.adoc:65
+#: src/integrator/stepper-timing.adoc:66 src/integrator/stepper-timing.adoc:67
+#: src/integrator/stepper-timing.adoc:68 src/integrator/stepper-timing.adoc:69
+#: src/integrator/stepper-timing.adoc:70 src/integrator/stepper-timing.adoc:71
+#: src/integrator/stepper-timing.adoc:72 src/integrator/stepper-timing.adoc:78
+#: src/integrator/stepper-timing.adoc:79 src/integrator/stepper-timing.adoc:81
+#, no-wrap
+msgid "2500"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:40
+#, no-wrap
+msgid "https://www.geckodrive.com/support/motor-control-manuals/dc-servo-drives/g320x-rev-10.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:41 src/integrator/stepper-timing.adoc:42
+#, no-wrap
+msgid "Granite Devices"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:41
+#, no-wrap
+msgid "VSD-E/XE Evolution"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:41
+#, no-wrap
+msgid "125"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:41
+#, no-wrap
+msgid "https://granitedevices.fi/assets/files/vsd-e_160_manual.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:42
+#, no-wrap
+msgid "VSD-E/XE DualDC"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:42
+#, no-wrap
+msgid "150"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:42
+#, no-wrap
+msgid "1850"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:42
+#, no-wrap
+msgid "https://granitedevices.fi/assets/files/vsd-e_160_dualdc_manual.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:43 src/integrator/stepper-timing.adoc:44
+#, no-wrap
+msgid "JVL"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:43
+#, no-wrap
+msgid "SMD41"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:43 src/integrator/stepper-timing.adoc:44
+#, no-wrap
+msgid "https://www.jvl.dk/files/pdf/lb043gb.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:44
+#, no-wrap
+msgid "SMD42"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:45 src/integrator/stepper-timing.adoc:46
+#, no-wrap
+msgid "Linistepper Open Source"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:45
+#, no-wrap
+msgid "RULMS1"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:45
+#, no-wrap
+msgid "30000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:45
+#, no-wrap
+msgid "100000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:45
+#, no-wrap
+msgid "https://www.piclist.com/techref/io/stepper/linistep/index.htm"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:46
+#, no-wrap
+msgid "THB6064"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:46
+#, no-wrap
+msgid "2300"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:46
+#, no-wrap
+msgid "4600"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:46
+#, no-wrap
+msgid "https://www.piclist.com/techref/io/stepper/THB6064/index.htm"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:47
+#, no-wrap
+msgid "*Motion Control"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:47
+#, no-wrap
+msgid "MSD542"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:47
+#, no-wrap
+msgid ">1500"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:47
+#, no-wrap
+msgid "https://www.motioncontrolproducts.com/c2/uploads/msd542%20datasheet.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:48
+#, no-wrap
+msgid "Parker"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:48
+#, no-wrap
+msgid "OEM750"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:48
+#, no-wrap
+msgid "300"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:48
+#, no-wrap
+msgid "200000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:48
+#, no-wrap
+msgid "https://www.compumotor.com/manuals/OEM750/OEM750_Entire_Rev_B.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:49
+#, no-wrap
+msgid "ST"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:49
+#, no-wrap
+msgid "L297"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:49 src/integrator/stepper-timing.adoc:53
+#: src/integrator/stepper-timing.adoc:54 src/integrator/stepper-timing.adoc:56
+#: src/integrator/stepper-timing.adoc:58 src/integrator/stepper-timing.adoc:59
+#: src/integrator/stepper-timing.adoc:61 src/integrator/stepper-timing.adoc:62
+#: src/integrator/stepper-timing.adoc:63
+#, no-wrap
+msgid "?"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:49
+#, no-wrap
+msgid "https://www.st.com/stonline/books/pdf/docs/1334.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:50 src/integrator/stepper-timing.adoc:51
+#, no-wrap
+msgid "Xylotex"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:50
+#, no-wrap
+msgid "XS-3525/8S-3"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:50
+#, no-wrap
+msgid "https://www.xylotex.com/XS3525V202.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:51
+#, no-wrap
+msgid "XS-3525/8S-4"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:51
+#, no-wrap
+msgid "https://www.xylotex.com/XS3525V400.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:52
+#, no-wrap
+msgid "Lin Engineering"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:52
+#, no-wrap
+msgid "Silverpak 17D/DE"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:52
+#, no-wrap
+msgid "https://www.linengineering.com/site/products/pdf/SilverPak17D_DE-manual.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:53
+#, no-wrap
+msgid "Hobbycnc"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:53
+#, no-wrap
+msgid "Pro Chopper Board"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:53
+#, no-wrap
+msgid "https://www.hobbycnc.com/products/hobbycnc-pro-chopper-driver-board-kits/"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:54
+#, no-wrap
+msgid "*Routout"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:54
+#, no-wrap
+msgid "2.5amp Stepper Driver"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:54
+#, no-wrap
+msgid "https://www.routoutcnc.com/2-5ampdriver.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:55
+#, no-wrap
+msgid "*Intelligent Motion System"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:55
+#, no-wrap
+msgid "IM483"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:55
+#, no-wrap
+msgid "https://www.imshome.com/im483.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:56 src/integrator/stepper-timing.adoc:57
+#, no-wrap
+msgid "Keling"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:56
+#, no-wrap
+msgid "4030"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:56 src/integrator/stepper-timing.adoc:59
+#: src/integrator/stepper-timing.adoc:64 src/integrator/stepper-timing.adoc:65
+#: src/integrator/stepper-timing.adoc:66 src/integrator/stepper-timing.adoc:67
+#: src/integrator/stepper-timing.adoc:68 src/integrator/stepper-timing.adoc:69
+#: src/integrator/stepper-timing.adoc:70 src/integrator/stepper-timing.adoc:71
+#: src/integrator/stepper-timing.adoc:72 src/integrator/stepper-timing.adoc:73
+#: src/integrator/stepper-timing.adoc:74 src/integrator/stepper-timing.adoc:75
+#: src/integrator/stepper-timing.adoc:76 src/integrator/stepper-timing.adoc:77
+#: src/integrator/stepper-timing.adoc:78 src/integrator/stepper-timing.adoc:79
+#: src/integrator/stepper-timing.adoc:80 src/integrator/stepper-timing.adoc:81
+#: src/integrator/stepper-timing.adoc:82 src/integrator/stepper-timing.adoc:83
+#: src/integrator/stepper-timing.adoc:84 src/integrator/stepper-timing.adoc:85
+#: src/integrator/stepper-timing.adoc:88
+#, no-wrap
+msgid "5000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:56
+#, no-wrap
+msgid "https://www."
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:57
+#, no-wrap
+msgid "6852"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:57
+#, no-wrap
+msgid "1750"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:57 src/integrator/stepper-timing.adoc:65
+#: src/integrator/stepper-timing.adoc:66 src/integrator/stepper-timing.adoc:67
+#: src/integrator/stepper-timing.adoc:68 src/integrator/stepper-timing.adoc:69
+#: src/integrator/stepper-timing.adoc:70 src/integrator/stepper-timing.adoc:71
+#: src/integrator/stepper-timing.adoc:72 src/integrator/stepper-timing.adoc:78
+#: src/integrator/stepper-timing.adoc:79 src/integrator/stepper-timing.adoc:81
+#, no-wrap
+msgid "10000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:57
+#, no-wrap
+msgid "https://www.kelinginc.net/kL-6852.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:58
+#, no-wrap
+msgid "Sherline"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:58
+#, no-wrap
+msgid "8760"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:58 src/integrator/stepper-timing.adoc:59
+#, no-wrap
+msgid "6000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:58
+#, no-wrap
+msgid "24000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:58
+#, no-wrap
+msgid "https://www.sherline.com/"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:59
+#, no-wrap
+msgid "Burkhard Lewetz"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:59
+#, no-wrap
+msgid "Step3S"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:59
+#, no-wrap
+msgid "15000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:59
+#, no-wrap
+msgid "https://www.lewetz.de/download/ibstep3se.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:60
+#, no-wrap
+msgid "Parker Compumotor"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:60
+#, no-wrap
+msgid "Zeta 4"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:60
+#, no-wrap
+msgid "?(200)"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:60
+#, no-wrap
+msgid "https://www.compumotor.com/manuals/ZETA/ZETA_Rev_A_Entire.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:61 src/integrator/stepper-timing.adoc:62
+#, no-wrap
+msgid "www.cncdrive.com"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:61
+#, no-wrap
+msgid "Dugong"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:61
+#, no-wrap
+msgid "https://www.cncdrive.com/content/dugong.htm"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:62
+#, no-wrap
+msgid "DG2S-08020"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:62
+#, no-wrap
+msgid "https://cncdrive.com/DG2S_08020.html"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:63
+#, no-wrap
+msgid "Wantai Motors"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:63
+#, no-wrap
+msgid "DQ542MA"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:63
+#, no-wrap
+msgid "5050"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:63
+#, no-wrap
+msgid "https://www.wantmotor.com/ProductsView.asp?id=257&pid=82"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:64 src/integrator/stepper-timing.adoc:65
+#: src/integrator/stepper-timing.adoc:66 src/integrator/stepper-timing.adoc:67
+#: src/integrator/stepper-timing.adoc:68 src/integrator/stepper-timing.adoc:69
+#: src/integrator/stepper-timing.adoc:70 src/integrator/stepper-timing.adoc:71
+#: src/integrator/stepper-timing.adoc:72 src/integrator/stepper-timing.adoc:73
+#: src/integrator/stepper-timing.adoc:74 src/integrator/stepper-timing.adoc:75
+#: src/integrator/stepper-timing.adoc:76 src/integrator/stepper-timing.adoc:77
+#: src/integrator/stepper-timing.adoc:78 src/integrator/stepper-timing.adoc:79
+#: src/integrator/stepper-timing.adoc:80 src/integrator/stepper-timing.adoc:81
+#: src/integrator/stepper-timing.adoc:82 src/integrator/stepper-timing.adoc:83
+#, no-wrap
+msgid "Leadshine USA"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:64
+#, no-wrap
+msgid "Digital DM422 40V 2.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:64
+#, no-wrap
+msgid "7500"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:64
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/DM422m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:65
+#, no-wrap
+msgid "Digital DM556 50V 5.6A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:65
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/DM556m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:66
+#, no-wrap
+msgid "Digital DM856 80V 7.0A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:66
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/DM856m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:67
+#, no-wrap
+msgid "Digital DM870 80V 7.0A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:67
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/DM870m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:68
+#, no-wrap
+msgid "Digital DM1182 150VAC 8.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:68
+#, no-wrap
+msgid "https://leadshine.com/UploadFile/Down/DM1182m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:69
+#, no-wrap
+msgid "Digital EM402 40V 2.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:69
+#, no-wrap
+msgid "https://leadshine.com/UploadFile/Down/EM402d_P.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:70
+#, no-wrap
+msgid "Digital EM503 50V 4.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:70
+#, no-wrap
+msgid "https://leadshine.com/UploadFile/Down/EM503d_P.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:71
+#, no-wrap
+msgid "Digital EM705 70V 7.0A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:71
+#, no-wrap
+msgid "https://leadshine.com/UploadFile/Down/EM705d_P.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:72
+#, no-wrap
+msgid "Digital EM806 80V 8.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:72
+#, no-wrap
+msgid "https://leadshine.com/UploadFile/Down/EM806d_P.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:73
+#, no-wrap
+msgid "Analog M415B 40V 1.5A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:73 src/integrator/stepper-timing.adoc:74
+#: src/integrator/stepper-timing.adoc:75 src/integrator/stepper-timing.adoc:76
+#: src/integrator/stepper-timing.adoc:77
+#, no-wrap
+msgid "1500"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:73 src/integrator/stepper-timing.adoc:74
+#: src/integrator/stepper-timing.adoc:75 src/integrator/stepper-timing.adoc:76
+#: src/integrator/stepper-timing.adoc:77 src/integrator/stepper-timing.adoc:88
+#, no-wrap
+msgid "8000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:73
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/M415Bm.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:74
+#, no-wrap
+msgid "Analog M542 50V 4.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:74
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/M542V2m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:75
+#, no-wrap
+msgid "Analog M752 75V 5.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:75
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/M752m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:76
+#, no-wrap
+msgid "Analog M880A 80V 7.8A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:76
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/M880Am.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:77
+#, no-wrap
+msgid "Analog M860H 80VAC 7.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:77
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/MA860Hm.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:78
+#, no-wrap
+msgid "Brushed servo DCS303 30V 15A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:78
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/DCS303m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:79
+#, no-wrap
+msgid "Brushed servo DCS810 80V 20A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:79
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/DCS810V1m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:80
+#, no-wrap
+msgid "Brushed servo DCS810S 80V 20A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:80
+#, no-wrap
+msgid "7000"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:80
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/DCS810Sm.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:81
+#, no-wrap
+msgid "Brushless servo ACS306 30V 15A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:81
+#, no-wrap
+msgid "https://leadshine.com/UploadFile/Down/ACS306hm.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:82
+#, no-wrap
+msgid "Brushless servo ACS606 60V 15A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:82 src/integrator/stepper-timing.adoc:83
+#, no-wrap
+msgid "6700"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:82
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/ACS606m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:83
+#, no-wrap
+msgid "Brushless servo ACS806 80V 20A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:83
+#, no-wrap
+msgid "https://leadshineusa.com/UploadFile/Down/ACS806m.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:84 src/integrator/stepper-timing.adoc:85
+#, no-wrap
+msgid "StepperOnline"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:84
+#, no-wrap
+msgid "Digital DM860T v1.0 80VAC/110VDC 7.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:84
+#, no-wrap
+msgid "https://www.omc-stepperonline.com/download/DM860T.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:85
+#, no-wrap
+msgid "Digital DM860T v3.0 80VAC/110VDC 7.2A"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:85
+#, no-wrap
+msgid "https://www.omc-stepperonline.com/download/DM860T_V3.0.pdf"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:86 src/integrator/stepper-timing.adoc:87
+#, no-wrap
+msgid "Pololu"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:86
+#, no-wrap
+msgid "A4988 Stepper Motor Driver Carrier"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:86
+#, no-wrap
+msgid "https://www.pololu.com/catalog/product/1182/"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:87
+#, no-wrap
+msgid "DRV8825 Stepper Motor Driver Carrier"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:87
+#, no-wrap
+msgid "1900"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:87
+#, no-wrap
+msgid "650"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:87
+#, no-wrap
+msgid "https://www.pololu.com/catalog/product/2132/"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:88
+#, no-wrap
+msgid "cnc4you"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:88
+#, no-wrap
+msgid "[[CW5045]]"
+msgstr ""
+
+#. type: Table
+#: src/integrator/stepper-timing.adoc:88
+#, no-wrap
+msgid "https://cnc4you.co.uk/resources/CW5045.pdf"
+msgstr ""
+
+#. type: Title =
+#: src/integrator/wiring.adoc:5
+#, no-wrap
+msgid "Best Wiring Practices"
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:7
+#, no-wrap
+msgid "Electrical Noise"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:14
+msgid ""
+"Electrical noise in a system is caused by Electromagnetic Interference "
+"(EMI), where signals appearing in one electrical circuit interfere with an "
+"adjacent circuit, either through electromagnetic induction, electrostatic "
+"coupling or conduction. EMI can cause problems with the daily operation of a "
+"CNC machine, and can manifest itself in various ways such as false "
+"triggering of limit switches, prematurely interrupted tool probing "
+"operations, corruption of a serial data link to a VFD or erratic behaviour "
+"of the CNC control systems and software."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:18
+msgid ""
+"When current passes through a conductor a magnetic field is created. As the "
+"current increases the magnetic field gets stronger, and then collapses again "
+"when current ceases to flow. If this alternating magnetic field happens to "
+"cross another conductor it can induce an unwanted voltage into it, which "
+"presents itself as noise."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:23
+msgid ""
+"There are several methods that can be employed to minimise the effects of "
+"EMI in any electrical system. The most effective of these is obviously to "
+"prevent the noise from occurring in the first place. In reality the method "
+"of controlling the effects of EMI is usually by applying measures to prevent "
+"noise from contaminating wanted signals in the CNC system."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:24
+#, no-wrap
+msgid "Ground, Earth and Common"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:33
+msgid ""
+"Confusion can arise when using terms such as earth, ground and common. In "
+"some cases they may be used to describe the same thing; that being the point "
+"in an electrical system to which all voltages are referenced to. For the "
+"purpose of this article, the terms 'earth' and 'ground' refer to the point "
+"at which the incoming mains supply is earthed to, whereas 'common' is the "
+"return or negative terminal on a DC supply.  In some cases it is permissible "
+"to ground the common on a DC supply, thereby making the negative terminal on "
+"that supply the same potential as the incoming AC earth, but for the "
+"purposes of this discussion the terms 'earth' and 'common' must be made "
+"distinct from each other to avoid confusion."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:34
+#, no-wrap
+msgid "Wire Selection and Use"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:40
+msgid ""
+"Wire comes in many types, sizes and configurations. Wading through all the "
+"wire available is a monumental task of its own, but for the purposes of this "
+"article it is only necessary to consider the types of wires typically used "
+"when wiring a CNC controller. Additionally, how the wire is to be used can "
+"have some effect on the overall system. What follows are some tips that may "
+"prove helpful."
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:41
+#, no-wrap
+msgid "Single Conductor Wire"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:46
+msgid ""
+"Wire comes in two forms: solid conductor and stranded. Solid core wire is "
+"generally cheaper than stranded, but more likely to break if used in "
+"applications where repeated bending is expected. Fortunately, the prevalence "
+"of stranded wire on the market means that its use should be encouraged "
+"wherever possible."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:51
+msgid ""
+"Wires should be terminated such that all strands in the conductor are neatly "
+"and securely located into the mating receptacle. This may be accomplished by "
+"either twisting the strands together before inserting in the termination, or "
+"using a compression crimp such as a spade or bootlace terminal. Care should "
+"be made to ensure that no strands of wire end up outside the termination to "
+"prevent accidental shorting with adjacent terminations."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:56
+msgid ""
+"If using a compression crimp on the bare wire, avoid soldering the strands "
+"together before crimping. Crimping the lug onto a soldered wire can result "
+"in the lug working loose over time as the soldered strands lose their "
+"compressibility once the crimp has been applied. For this same reason, "
+"soldered wire should not be installed in a terminal block where the screw "
+"stud bites directly onto the wire when tightened."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:60
+msgid ""
+"When stripping the wire ready for a termination, only remove the minimum "
+"amount required to keep the termination covered when complete. Stripping too "
+"much insulation off will expose some of the wire that something can short "
+"against."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:69
+msgid ""
+"The circuit that the wire is intended for should also be considered; the "
+"voltage the circuit operates at and the amount of current it carries have a "
+"bearing on the choice of wire to be used. The thin insulation on a piece of "
+"recycled CAT5 ethernet cable is insufficient to withstand the voltages that "
+"can appear at the output terminals of a Variable Frequency Drive, nor is the "
+"cross sectional area of the conductor sufficient to carry several amps of "
+"current without overheating and potentially causing a fire. Conversely, "
+"while it is perfectly permissible to wire a limit switch circuit using 2.5 "
+"sqmm cable, it creates needless bulk in the wiring loom. Consult any "
+"manufacturer's documentation and your local country's electrical wiring "
+"codes for minimum suggested wire gauges for power and control requirements."
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:70
+#, no-wrap
+msgid "Shielded Wire"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:75
+msgid ""
+"There are two types of shielded wire. One has a bare wire braid that "
+"surrounds the wire inside, and the other has metal foil that surrounds the "
+"wire inside. The type of shielded wire selected will depend on the amount of "
+"noise you are trying to combat."
+msgstr ""
+
+#. type: Block title
+#: src/integrator/wiring.adoc:76
+#, no-wrap
+msgid "Foil Shielded Wire"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:83
+msgid ""
+"Foil shielded wire has a thin aluminum or copper foil that is usually bonded "
+"to a film of plastic that surrounds the wire. The enclosed wire is usually "
+"100% covered. Attaching the foil to earth can be difficult, especially if "
+"the foil is constructed from aluminum or laminated to a plastic backing "
+"material. For this reason, it is usual to find a bare metal stranded wire "
+"enclosed inside the cable which is in contact with the foil for the full "
+"length of the cable. This is called the drain wire and is used to make the "
+"connection to earth with."
+msgstr ""
+
+#. type: Block title
+#: src/integrator/wiring.adoc:84
+#, no-wrap
+msgid "Braided Shielded Wire"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:91
+msgid ""
+"Braided shielded wire has a woven copper braid that surrounds the wire. It "
+"is more bulky than foil and does not provide 100% coverage, but is more "
+"flexible than foil shielded types. Coverage is typically 70% to 95% "
+"depending on how tight the braid has been constructed. Despite the lower "
+"coverage of braided shield, the effectiveness is greater than foil shielding "
+"due to the increased bulk of the braid, and copper being a better conductor "
+"than aluminum."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:95
+msgid ""
+"For very noisy environments, a further subset of the above two shielding "
+"methodologies may be employed, whereby both braid and foil shielding is used "
+"simultaneously. Individual wires in a multi-conductor cable may also be "
+"shielded along with an overall shield being applied to the entire cable "
+"jacket."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:96
+#, no-wrap
+msgid "AC Line Voltage"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:104
+msgid ""
+"The incoming mains AC that powers the CNC system can pick up and carry noise "
+"into the power supplies and other equipment. For example, if the incoming "
+"supply is also used to feed large motors, electrical noise may be generated "
+"on the line feeding the CNC components. Although most modern electronic "
+"devices feature built-in mains filtering to help minimise the susceptibility "
+"to mains-borne interference, the custom and modularised nature of a CNC "
+"system can mean that components used come from a wide variety of sources "
+"with differing degrees of inherent noise immunity."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:108
+msgid ""
+"Inline filters may be installed on the incoming mains supply feeding the CNC "
+"control system to help reduce any induced noise. Running the CNC system from "
+"a different mains circuit to any large electrical sources of noise may also "
+"help minimise any potential sources of mains-borne interference."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:112
+msgid ""
+"Be aware that in many countries, the installation and alteration of mains "
+"circuits can only be carried out by licensed electricians."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:113
+#, no-wrap
+msgid "Power Supply Units"
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:115
+#, no-wrap
+msgid "AC Ground"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:121
+msgid ""
+"A typical CNC machine may have several different Power Supply Units (PSUs) "
+"installed in the system. Any device powered from the incoming mains designed "
+"to be earthed must be properly and permanently terminated to mains earth.  "
+"Ideally this should be made to the same point in the system, which may be a "
+"threaded post or bolt, a copper/brass termination strip or a large metallic "
+"mounting plate within the control enclosure."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:125
+msgid ""
+"The prevalence of high-frequency switchmode PSUs used in CNC systems "
+"increase the likelihood of RF noise being coupled from them to adjacent "
+"circuitry. Many of these PSUs have a metal case which, if connected to mains "
+"earth, will help screen the coupling of high frequency EMI into other "
+"electrical components."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:130
+msgid ""
+"From a safety standpoint, it is important that these mains earth connections "
+"also be mechanically strong and unlikely to break free, and the wire used "
+"has a cross-sectional area sufficient to carry the anticipated fault current "
+"should a short to earth occur. It is also imperative that mains earth is "
+"never used as a current-carrying conductor for other components in the "
+"system. Earth shall be used for one purpose only: safety earthing."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:133
+msgid ""
+"Note also that the colour of the jacket used to make a termination to earth "
+"may be prescribed by the wiring code for your country, and the conduction of "
+"other unrelated signals in that same wire colour may be prohibited."
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:134
+#, no-wrap
+msgid "DC Common"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:141
+msgid ""
+"Commoning of a DC PSU is somewhat dependent on the electrical operating "
+"requirements of the CNC system. For example, a stepper motor driver "
+"operating with a 24VDC motor supply and a 5V logic supply may have "
+"optically-isolated signal input lines which provide complete electrical "
+"separation of the driver's input and output circuitry for safety and noise "
+"immunity purposes. Tying the stepper motor and logic control supply commons "
+"together in this case may have a detrimental impact on the operation of the "
+"system."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:148
+msgid ""
+"In general it makes most sense to keep the commons of the various DC PSUs "
+"used in the CNC system separate from each other, and separate from the AC "
+"mains earth unless there is a specific requirement to tie them together. In "
+"most cases the common points of the heavy-duty power sections of the CNC "
+"system (eg, stepper motor or servo motor drivers, spindle motors etc) will "
+"be segregated from common points of the electrically-sensitive sections of "
+"the CNC (control interface boards, limit switches, tool probe circuitry etc) "
+"to prevent cross-contamination of the two systems."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:152
+msgid ""
+"Should it be necessary to connect several common points of different PSUs "
+"together, or to connect a common of a PSU to AC main earth, it should be "
+"done at a single point only and as close to the common terminal of the PSUs "
+"as possible."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:155
+msgid ""
+"In CNC machines where the hardware drivers and interfacing circuitry are "
+"pre-assembled, the decision as to which DC commons are tied where is usually "
+"taken out of the hands of the end user."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:156
+#, no-wrap
+msgid "DC Supply Feeds"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:164
+msgid ""
+"In situations where a DC circuit is run with the common point disconnected "
+"from the mains earth (ie, the supply is 'floating'), it can be helpful to "
+"run DC supplies using twisted pairs of wires, whereby each pair of wires in "
+"the circuit (eg, the positive and negative leads) is physically twisted "
+"together in a helix pattern. The twist in the wire allows both conductors to "
+"share the same 'real estate' as closely as possible. Any EMI that passes "
+"across them will therefore be largely canceled as both conductors will "
+"receive the same degree of EMI. For additional protection use twisted wire "
+"that is housed in a shielded jacket with the shield terminated to mains "
+"earth."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:169
+msgid ""
+"Note however that twisted pairs of wires are less effective at combating the "
+"effects of EMI if one of the two wires is referenced to mains earth, as the "
+"conductor at earth potential is less able to be influenced by EMI than the "
+"un-earthed conductor. In these instances the twisting of the wires has less "
+"of an impact on the overall noise immunity, and shielded cable will be "
+"intrinsically more effective at reducing noise pickup."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:170
+#, no-wrap
+msgid "Signal Wires and Control Lines"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:179
+msgid ""
+"The wires that are used to transmit logic signals to and from various "
+"peripherals in the CNC (eg, stepper motor controller inputs, axis limit "
+"switches etc) are the most susceptible to noise interference. The reason for "
+"this is the low level voltages that are used to convey the information. When "
+"a limit or home switch is engaged, or a tool probe has made or broken "
+"contact, this signal is used to signify the event has taken place. Typically "
+"this is done by using input pins on the computer interface card or parallel "
+"port which, dependent on the application, may be signaled using as little as "
+"3.3V. Evidently a 2V noise spike has the potential to corrupt the validity "
+"of a signal if the useful range is only 0-3.3V."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:184
+msgid ""
+"If possible, isolate the common point of the PSU supplying the logic "
+"peripherals from the rest of the system.  For example, keeping the common of "
+"the low voltage power supply isolated from the common of the stepper motor "
+"supply will reduce the chances of large currents flowing in the stepper "
+"motor return line contaminating the common of the low voltage supply."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:188
+msgid ""
+"If the controller uses differential signaling, use twisted pairs to carry "
+"the signal. Shielded cable is preferred when the control lines are "
+"single-ended, or if the distances traversed are long or through electrically "
+"hostile environments. When grounding the shield in the cable, terminate to "
+"the mains earth."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:193
+msgid ""
+"If the controller and interfacing devices can withstand higher control "
+"signals, consider altering the wiring and power supply requirements to use a "
+"bigger voltage for signaling (eg, 12V or 24V). The same 2V EMI noise spike "
+"that could corrupt a 3.3V limit switch signal will be far less likely to "
+"cause issues with a limit switch operating with a 24V signal."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:194
+#, no-wrap
+msgid "Stepper or Servo Motor Drivers"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:199
+msgid ""
+"The metal housing of the driver should be connected to the local mains earth "
+"in the CNC system. Some driver enclosures will indicate a specific terminal "
+"as being the earthing point, in which case this point must be connected to "
+"earth via a dedicated wire."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:202
+msgid ""
+"Control and power wiring should be segregated as much as possible. Route "
+"signal input wires well away from power supply and motor drive output lines."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:206
+msgid ""
+"It is recommended to run both driver input and motor output wiring in "
+"shielded cable with the shield terminated to mains earth. The shield on the "
+"input lines helps reduce the amount of interference they can receive, while "
+"the shield on the output lines reduces the amount of noise they can radiate."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:207
+#, no-wrap
+msgid "Variable Frequency Drives"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:212
+msgid ""
+"If at all possible the Variable Frequency Drive (VFD) should be mounted in a "
+"separate enclosure or cabinet to reduce the risk of it radiating noise into "
+"adjacent wiring. If the VFD enclosure is metallic it must be earthed as per "
+"any recommendations in the manufacturer's documentation."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:216
+msgid ""
+"Because the VFD is a high power, high frequency electronic switching device, "
+"the output is notoriously prone to EMI radiation, and it is advisable to run "
+"the VFD output to the connected motor in a shielded cable, with the shield "
+"terminated to mains earth."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:217
+#, no-wrap
+msgid "Routing Conductors"
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:219
+#, no-wrap
+msgid "Routing Movable Wires"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:226
+msgid ""
+"Any wire that will be moved about during normal operation of the CNC falls "
+"into this category. For example, wires running from stepper drivers through "
+"a cable management system (drag chains) and then to the stepper motors "
+"mounted on a movable gantry.  Cables and wires operating in these "
+"circumstances should be rated for extra flexibility. This precludes the use "
+"of solid-core wires and cables, as the constant flexing will lead to fatigue "
+"and eventual failure of the conductors."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:230
+msgid ""
+"If running cables in a cable track/carrier, tie them down at both ends of "
+"the cable track. If not, ratcheting can occur and fatigue the cable "
+"prematurely. Care should also be taken to ensure that mechanical rubbing of "
+"conductors against other parts of the machine is prevented."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:233
+msgid ""
+"In a cable track/carrier observe the neutral axis idea. Have the wire run as "
+"close to the neutral axis as possible. Make sure the wire is not in tension "
+"in the longest neutral axis situation."
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:234
+#, no-wrap
+msgid "Routing Stationary Wires"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:239
+msgid ""
+"As discussed earlier, running different signal classes (high voltage and low "
+"voltage) in proximity to each other has the tendency to exacerbate EMI "
+"interference. Separate conductors by as much distance as possible. If two "
+"conductors must cross over each other make the crossing as close to a 90 "
+"degree angle as possible."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:244
+msgid ""
+"Avoid long loops of excess wire at any peripheral devices - they are great "
+"antennas for receiving or transmitting noise. Where possible, run wires in "
+"close proximity to large earthed structures. If the controller enclosure "
+"features a large metallic back plate that is earthed, secure all control "
+"wiring against this surface as much as possible while wiring between two "
+"points."
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:245
+#, no-wrap
+msgid "Mechanical Noise"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:253
+msgid ""
+"Very few mechanical switches (eg, an axis limit switch or tool probe input) "
+"will close or open perfectly when operated. More often than not the switch "
+"contacts will physically bounce against each other several times within a "
+"very short space of time when operated. This may be interpreted by the "
+"machine controller as multiple operations of the same signal when in reality "
+"only one clean state change was expected. Sometimes it doesn't matter, but "
+"in many circumstances it is desirable to ensure that any state change is as "
+"'clean' as possible and does not interfere with the operation of the "
+"machine. This is accomplished by debouncing."
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:258
+msgid ""
+"Debouncing is achieved by permitting a state change on a mechanical switch "
+"to only register with the controller after a fixed period of time to allow "
+"any bouncing in the switch contacts to settle. Time delays of 5-15 "
+"milliseconds are usually sufficient. This can be done with the addition of "
+"some hardware to the signal circuit or in software within LinuxCNC."
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:259
+#, no-wrap
+msgid "Hardware Debouncing"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:264
+msgid ""
+"Several schemes exist to implement debouncing of switches and relay contacts "
+"with hardware, ranging from the addition of a single capacitor across the "
+"signal and common lines, to dedicated debouncing integrated circuits such as "
+"the MC14490 or MAX6818. Several hardware debouncing schemes can be found via "
+"the link below:"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:266
+msgid "https://electrosome.com/switch-debouncing/"
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:267
+#, no-wrap
+msgid "Software Debouncing"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:273
+msgid ""
+"The Hardware Abstraction Layer (HAL) of LinuxCNC includes a debounce "
+"component. This component has a single input pin and a single output "
+"pin. Its job is to monitor the input and to send an output after the input "
+"has activated for a programmed delay period. More information can be found "
+"for the debounce component by visiting the following page:"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:275
+msgid "link:../man/man9/debounce.9.html[debounce(9)]"
+msgstr ""
+
+#. type: Title ==
+#: src/integrator/wiring.adoc:276
+#, no-wrap
+msgid "Documentation"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:281
+msgid ""
+"The importance of documenting the installed wiring and components cannot be "
+"over-emphasised. Should the user want to modify the CNC system further down "
+"the track, or if trouble should arise that needs correcting, then complete "
+"and concise documentation of the wiring and equipment can save many hours of "
+"head scratching and frustration."
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:282
+#, no-wrap
+msgid "Hardware Documentation"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:288
+msgid ""
+"At a minimum, make sure to save any documentation associated with the "
+"installed hardware in a safe place. Stepper controllers, break out boards, "
+"power supplies, VFDs, interfaces and controllers, servo and stepper drivers "
+"and any associated device settings are all critical components of the system "
+"and their documentation should be kept at hand for easy reference."
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:289
+#, no-wrap
+msgid "Wiring Schematics"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:296
+msgid ""
+"As the CNC machine is wired, make sure to draw up a schematic that can be "
+"referenced to later. The schematic does not have to be all that neat, but it "
+"should be understandable in such a way that it could be easily interpreted "
+"at a later date, ideally by anyone who may need to service the "
+"equipment. Include details such as wire colours used, pin numbers, part "
+"numbers and any other notes that will help explain particular details not "
+"immediately apparent from first glance at the schematic."
+msgstr ""
+
+#. type: Title ===
+#: src/integrator/wiring.adoc:297
+#, no-wrap
+msgid "Wiring Identification"
+msgstr ""
+
+#. type: Plain text
+#: src/integrator/wiring.adoc:303
+msgid ""
+"Take the time to identify each wire in the system. When a bundle of wires "
+"has been cable-tied in place it can be very difficult to look at them and "
+"know for sure which wire goes where. Label the motor wires with the joint or "
+"axis they are associated with, or identify each signal wire so that it is "
+"easy to identify what that signal does.  It will also help if this "
+"information is transferred to the wiring schematics."
+msgstr ""
+
+#. type: Title =
+#: src/ladder/classic-ladder.adoc:5
+#, no-wrap
+msgid "ClassicLadder Programming(((ClassicLadder Programming,CL Programming)))"
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:13
+#, no-wrap
+msgid "Ladder Concepts"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:19
+msgid ""
+"ClassicLadder is a type of programming language originally implemented on "
+"industrial PLCs (it's called Ladder Programming).  It is based on the "
+"concept of relay contacts and coils, and can be used to construct logic "
+"checks and functions in a manner that is familiar to many systems "
+"integrators.  Ladder consists of rungs that may have branches and resembles "
+"an electrical circuit.  It is important to know how ladder programs are "
+"evaluated when running."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:22
+msgid ""
+"It seems natural that each line would be evaluated left to right, then the "
+"next line down, etc., but it doesn't work this way in ladder logic.  Ladder "
+"logic 'scans' the ladder rungs 3 times to change the state of the outputs."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:24
+msgid "the inputs are read and updated"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:25
+msgid "the logic is figured out"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:26
+msgid "the outputs are set"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:29
+msgid ""
+"This can be confusing at first if the output of one line is read by the "
+"input of a another rung.  There will be one scan before the second input "
+"becomes true after the output is set."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:32
+msgid ""
+"Another gotcha with ladder programming is the \"Last One Wins\" rule.  If "
+"you have the same output in different locations of your ladder the state of "
+"the last one will be what the output is set to."
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:33 src/user/user-intro.adoc:192
+#, no-wrap
+msgid "Languages"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:37
+msgid ""
+"The most common language used when working with ClassicLadder is 'ladder'.  "
+"ClassicLadder also supports Sequential Function Chart (Grafcet)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:41
+msgid "There are two components to ClassicLadder."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:43
+msgid "The realtime module classicladder_rt"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:44
+msgid "The non-realtime module (including a GUI) classicladder"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:49
+msgid ""
+"Typically ClassicLadder components are placed in the custom.hal file if your "
+"working from a StepConf generated configuration.  These must not be placed "
+"in the custom_postgui.hal file or the Ladder Editor menu will be grayed out."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:51
+msgid "Ladder files (.clp) must not contain any blank spaces in the name."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:52
+#, no-wrap
+msgid "Realtime Module"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:57
+msgid ""
+"Loading the ClassicLadder real time module (classicladder_rt) is possible "
+"from a HAL file, or directly using a halcmd instruction.  The first line "
+"loads real time the ClassicLadder module. The second line adds the function "
+"classicladder.0.refresh to the servo thread.  This line makes ClassicLadder "
+"update at the servo thread rate."
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:62 src/ladder/ladder-examples.adoc:68
+#, no-wrap
+msgid ""
+"loadrt classicladder_rt\n"
+"addf classicladder.0.refresh servo-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:71
+msgid ""
+"The speed of the thread that ClassicLadder is running in directly affects "
+"the responsiveness to inputs and outputs.  If you can turn a switch on and "
+"off faster than ClassicLadder can notice it then you may need to speed up "
+"the thread.  The fastest that ClassicLadder can update the rungs is one "
+"millisecond.  You can put it in a faster thread but it will not update any "
+"faster.  If you put it in a slower than one millisecond thread then "
+"ClassicLadder will update the rungs slower.  The current scan time will be "
+"displayed on the section display, it is rounded to microseconds.  If the "
+"scan time is longer than one millisecond you may want to shorten the ladder "
+"or put it in a slower thread."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:72
+#, no-wrap
+msgid "Variables"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:76
+msgid ""
+"It is possible to configure the number of each type of ladder object while "
+"loading the ClassicLadder real time module.  If you do not configure the "
+"number of ladder objects ClassicLadder will use the default values."
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:78
+#, no-wrap
+msgid "Default Variable Count"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:82
+#, no-wrap
+msgid "Object Name"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:82
+#, no-wrap
+msgid "Variable Name"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:83
+#, no-wrap
+msgid "Default Value"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:83
+#, no-wrap
+msgid "Number of rungs"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:83
+#, no-wrap
+msgid "(numRungs)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:84
+#, no-wrap
+msgid "100"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:84
+#, no-wrap
+msgid "Number of bits"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:84
+#, no-wrap
+msgid "(numBits)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:85
+#, no-wrap
+msgid "Number of word variables"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:85
+#, no-wrap
+msgid "(numWords)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:86
+#, no-wrap
+msgid "Number of timers"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:86
+#, no-wrap
+msgid "(numTimers)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:87
+#, no-wrap
+msgid "Number of timers IEC"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:87
+#, no-wrap
+msgid "(numTimersIec)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:88
+#, no-wrap
+msgid "Number of monostables"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:88
+#, no-wrap
+msgid "(numMonostables)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:89
+#, no-wrap
+msgid "Number of counters"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:89
+#, no-wrap
+msgid "(numCounters)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:90
+#, no-wrap
+msgid "Number of HAL inputs bit pins"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:90
+#, no-wrap
+msgid "(numPhysInputs)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:91
+#, no-wrap
+msgid "Number of HAL output bit pins"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:91
+#, no-wrap
+msgid "(numPhysOutputs)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:92
+#, no-wrap
+msgid "Number of arithmetic expressions"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:92
+#, no-wrap
+msgid "(numArithmExpr)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:93 src/remap/remap.adoc:1867
+#, no-wrap
+msgid "50"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:93
+#, no-wrap
+msgid "Number of Sections"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:93
+#, no-wrap
+msgid "(numSections)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:94
+#, no-wrap
+msgid "Number of Symbols"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:94
+#, no-wrap
+msgid "(numSymbols)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:95
+#, no-wrap
+msgid "Number of S32 inputs"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:95
+#, no-wrap
+msgid "(numS32in)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:96
+#, no-wrap
+msgid "Number of S32 outputs"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:96
+#, no-wrap
+msgid "(numS32out)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:97
+#, no-wrap
+msgid "Number of Float inputs"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:97
+#, no-wrap
+msgid "(numFloatIn)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:98
+#, no-wrap
+msgid "Number of Float outputs"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:98
+#, no-wrap
+msgid "(numFloatOut)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:102
+msgid ""
+"Objects of most interest are numPhysInputs, numPhysOutputs, numS32in, and "
+"numS32out."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:106
+msgid ""
+"Changing these numbers will change the number of HAL bit pins available.  "
+"numPhysInputs and numPhysOutputs control how many HAL bit (on/off) pins are "
+"available.  numS32in and numS32out control how many HAL signed integers (+- "
+"integer range) pins are available."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:108
+msgid "For example (you don't need all of these to change just a few):"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:115
+#, no-wrap
+msgid ""
+"loadrt classicladder_rt numRungs=12 numBits=100 numWords=10\n"
+"numTimers=10 numMonostables=10 numCounters=10 numPhysInputs=10\n"
+"numPhysOutputs=10 numArithmExpr=100 numSections=4 numSymbols=200\n"
+"numS32in=5 numS32out=5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:118
+msgid "To load the default number of objects:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:122 src/ladder/classic-ladder.adoc:907
+#, no-wrap
+msgid "loadrt classicladder_rt\n"
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:124
+#, no-wrap
+msgid "Loading the ClassicLadder non-realtime module"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:128
+msgid ""
+"ClassicLadder HAL commands must executed before the GUI loads or the menu "
+"item Ladder Editor will not function.  If you used the Stepper Config Wizard "
+"place any ClassicLadder HAL commands in the custom.hal file."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:130
+msgid "To load the non-realtime module:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:134
+#, no-wrap
+msgid "loadusr classicladder\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:137
+msgid ""
+"Only one .clp file can be loaded. If you need to divide your ladder then use "
+"sections."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:139
+msgid "To load a ladder file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:143
+#, no-wrap
+msgid "loadusr classicladder myladder.clp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:146
+msgid "ClassicLadder Loading Options"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:149
+msgid ""
+"'--nogui' - (loads without the ladder editor) normally used after debugging "
+"is finished."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:150
+msgid "'--modbus_port=port' - (loads the modbus port number)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:152
+msgid ""
+"'--modmaster' - (initializes MODBUS master) should load the ladder program "
+"at the same time or the TCP is default port."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:153
+msgid "'--modslave' - (initializes MODBUS slave) only TCP"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:155
+msgid "To use ClassicLadder with HAL without EMC:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:159
+#, no-wrap
+msgid "loadusr -w classicladder\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:162
+msgid ""
+"The -w tells HAL not to close down the HAL environment until ClassicLadder "
+"is finished."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:164
+msgid ""
+"If you first load ladder program with the '--nogui' option then load "
+"ClassicLadder again with no options the GUI will display the last loaded "
+"ladder program."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:166
+msgid "In AXIS you can load the GUI from File/Ladder Editor..."
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:167
+#, no-wrap
+msgid "ClassicLadder GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:170
+msgid ""
+"If you load ClassicLadder with the GUI it will display two windows: Section "
+"display, and section manager."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:171
+#, no-wrap
+msgid "Sections Manager"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:174
+msgid ""
+"When you first start up ClassicLadder you get an empty Sections Manager "
+"window."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:176 src/ladder/classic-ladder.adoc:177
+#, no-wrap
+msgid "Sections Manager Default Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:177
+#, no-wrap
+msgid "images/Default_Sections_Manager.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:181
+msgid ""
+"This window allows you to name, create or delete sections and choose what "
+"language that section uses.  This is also how you name a subroutine for call "
+"coils."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:182
+#, no-wrap
+msgid "Section Display"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:186
+msgid ""
+"When you first start up ClassicLadder you get an empty Section Display "
+"window.  Displayed is one empty rung."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:188 src/ladder/classic-ladder.adoc:189
+#, no-wrap
+msgid "Section Display Default Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:189
+#, no-wrap
+msgid "images/Default_Section_Display.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:192
+msgid "Most of the buttons are self explanatory:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:194
+msgid ""
+"The Vars button is for looking at variables, toggle it to display one, the "
+"other, both, then none of the windows."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:196
+msgid ""
+"The Config button is used for modbus and shows the max number of ladder "
+"elements that was loaded with the real time module."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:198
+msgid ""
+"The Symbols button will display an editable list of symbols for the "
+"variables (hint you can name the inputs, outputs, coils etc)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:201
+msgid ""
+"The Quit button will shut down the non-realtime program, i.e. Modbus and the "
+"display.  The realtime ladder program will still run in the background."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:203
+msgid ""
+"The check box at the top right allows you to select whether variable names "
+"or symbol names are displayed"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:213
+msgid ""
+"You might notice that there is a line under the ladder program display that "
+"reads \"Project failed to load...\".  That is the status bar that gives you "
+"info about elements of the ladder program that you click on in the display "
+"window.  This status line will now display HAL signal names for variables "
+"%I, %Q and the first %W (in an equation).  You might see some funny labels, "
+"such as (103) in the rungs.  This is displayed (on purpose) because of an "
+"old bug- when erasing elements older versions sometimes didn't erase the "
+"object with the right code.  You might have noticed that the long horizontal "
+"connection button sometimes did not work in the older versions.  This was "
+"because it looked for the 'free' code but found something else.  The number "
+"in the brackets is the unrecognized code.  The ladder program will still "
+"work properly, to fix it erase the codes with the editor and save the "
+"program."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:214
+#, no-wrap
+msgid "The Variable Windows"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:218
+msgid ""
+"This are two variable windows: the Bit Status Window (boolean) and the Watch "
+"Window (signed integer).  The Vars button is in the Section Display Window, "
+"toggle the Vars button to display one, the other, both, then none of the "
+"variable windows."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:220 src/ladder/classic-ladder.adoc:221
+#, no-wrap
+msgid "Bit Status Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:221
+#, no-wrap
+msgid "images/Bit_Status.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:231
+msgid ""
+"The Bit Status Window displays some of the boolean (on/off) variable data.  "
+"Notice all variables start with the % sign. The %I variables represent HAL "
+"input bit pins.  The %Q represents the relay coil and HAL output bit pins.  "
+"The %B represents an internal relay coil or internal contact.  The three "
+"edit areas at the top allow you to select what 15 variables will be "
+"displayed in each column.  For instance, if the %B Variable column were 15 "
+"entries high, and you entered 5 at the top of the column, variables %B5 to "
+"%B19 would be displayed.  The check boxes allow you to set and unset %B "
+"variables manually as long as the ladder program isn't setting them as "
+"outputs.  Any Bits that are set as outputs by the program when ClassicLadder "
+"is running can not be changed and will be displayed as checked if on and "
+"unchecked if off."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:233 src/ladder/classic-ladder.adoc:234
+#, no-wrap
+msgid "Watch Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:234
+#, no-wrap
+msgid "images/watch_window.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:241
+msgid ""
+"The Watch Window displays variable status.  The edit box beside it is the "
+"number stored in the variable and the drop-down box beside that allow you to "
+"choose whether the number to be displayed in hex, decimal or binary.  If "
+"there are symbol names defined in the symbols window for the word variables "
+"showing and the 'display symbols' checkbox is checked in the section display "
+"window, symbol names will be displayed.  To change the variable displayed, "
+"type the variable number, e.g. %W2 (if the display symbols check box is not "
+"checked)  or type the symbol name (if the display symbols checkbox is "
+"checked) over an existing variable number/name and press the Enter Key."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:242
+#, no-wrap
+msgid "Symbol Window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:245 src/ladder/classic-ladder.adoc:246
+#, no-wrap
+msgid "Symbol Names window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:246
+#, no-wrap
+msgid "images/Default_Symbols_names.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:255
+msgid ""
+"This is a list of 'symbol' names to use instead of variable names to be "
+"displayed in the section window when the 'display symbols' check box is "
+"checked.  You add the variable name (remember the '%' symbol and capital "
+"letters), symbol name.  If the variable can have a HAL signal connected to "
+"it (%I, %Q, and %W-if you have loaded s32 pin with the real time module)  "
+"then the comment section will show the current HAL signal name or lack "
+"thereof.  Symbol names should be kept short to display better.  Keep in mind "
+"that you can display the longer HAL signal names of %I, %Q and %W variable "
+"by clicking on them in the section window.  Between the two, one should be "
+"able to keep track of what the ladder program is connected to!"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:256
+#, no-wrap
+msgid "The Editor window"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:259 src/ladder/classic-ladder.adoc:260
+#: src/ladder/classic-ladder.adoc:936 src/ladder/classic-ladder.adoc:937
+#, no-wrap
+msgid "Editor Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:260
+#, no-wrap
+msgid "images/Editor.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:263
+msgid "'Add' - adds a rung after the selected rung"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:264
+msgid "'Insert' - inserts a rung before the selected rung"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:265
+msgid "'Delete' - deletes the selected rung"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:266
+msgid "'Modify' - opens the selected rung for editing"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:268
+msgid "Starting from the top left image:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:270
+msgid "Object Selector, Eraser"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:271
+msgid "N.O. Input, N.C. Input, Rising Edge Input, Falling Edge Input"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:272
+msgid "Horizontal Connection, Vertical Connection, Long Horizontal Connection"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:273
+msgid "Timer IEC Block, Counter Block, Compare Variable"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:274
+msgid ""
+"Old Timer Block, Old Monostable Block (These have been replaced by the IEC "
+"Timer)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:275
+msgid "COILS - N.O. Output, N.C. Output, Set Output, Reset Output"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:276
+msgid "Jump Coil, Call Coil, Variable Assignment"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:278
+msgid "A short description of each of the buttons:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:280
+msgid ""
+"'Selector' - allows you to select existing objects and modify the "
+"information."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:281
+msgid "'Eraser' - erases an object."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:284
+msgid ""
+"'N.O. Contact' - creates a normally open contact. It can be an external "
+"HAL-pin (%I) input contact, an internal-bit coil (%B) contact or a external "
+"coil (%Q) contact.  The HAL-pin input contact is closed when the HAL-pin is "
+"true.  The coil contacts are closed when the corresponding coil is active "
+"(%Q2 contact closes when %Q2 coil is active)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:285
+msgid ""
+"'N.C. Contact' - creates a normally closed contact. It is the same as the "
+"N.O. contact except that the contact is open when the HAL-pin is true or the "
+"coil is active."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:286
+msgid ""
+"'Rising Edge Contact' - creates a contact that is closed when the HAL-pin "
+"goes from False to true, or the coil from not-active to active."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:287
+msgid ""
+"'Falling Edge Contact' - creates a contact that is closed when the HAL-pin "
+"goes from true to false or the coil from active to not."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:288
+msgid "'Horizontal Connection' - creates a horizontal connection to objects."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:289
+msgid "'Vertical Connection' - creates a vertical connection to horizontal lines."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:290
+msgid ""
+"'Horizontal Running Connection' - creates a horizontal connection between "
+"two objects and is a quick way to connect objects that are more than one "
+"block apart."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:291
+msgid "'IEC Timer' - creates a timer and replaces the 'Timer'."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:292
+msgid "'Timer' - creates a Timer Module (depreciated use IEC Timer instead)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:293
+msgid "'Monostable' - creates a one-shot monostable module"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:294
+msgid "'Counter' - creates a counter module."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:296
+msgid ""
+"'Compare' - creates a compare block to compare variable to values or other "
+"variables, e.g. `%W1<=5` or `%W1=%W2`.  Compare cannot be placed in the "
+"right most side of the section display."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:298
+msgid ""
+"'Variable Assignment' - creates an assignment block so you to assign values "
+"to variables, e.g. `%W2=7` or `%W1=%W2`.  ASSIGNMENT functions can only be "
+"placed at the right most side of the section display."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:299 src/ladder/classic-ladder.adoc:304
+#: src/ladder/classic-ladder.adoc:305
+#, no-wrap
+msgid "Config Window"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:302
+msgid ""
+"The config window shows the current project status and has the Modbus setup "
+"tabs."
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:305
+#, no-wrap
+msgid "images/Config.png"
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:307
+#, no-wrap
+msgid "Ladder objects"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:309
+#, no-wrap
+msgid "CONTACTS"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:312
+msgid ""
+"Represent switches or relay contacts. They are controlled by the variable "
+"letter and number assigned to them."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:320
+msgid ""
+"The variable letter can be B, I, or Q and the number can be up to a three "
+"digit number, e.g. `%I2`, `%Q3`, or `%B123`.  Variable I is controlled by a "
+"HAL input pin with a corresponding number.  Variable B is for internal "
+"contacts, controlled by a B coil with a corresponding number.  Variable Q is "
+"controlled by a Q coil with a corresponding number (like a relay with "
+"multiple contacts).  E.g., if HAL pin `classicladder.0.in-00` is true then "
+"%I0 N.O. contact would be on (closed, true, whatever you like to call it).  "
+"If %B7 coil is 'energized' (on, true, etc) then %B7 N.O. contact would be "
+"on.  If %Q1 coil is 'energized' then %Q1 N.O. contact would be on (and HAL "
+"pin `classicladder.0.out-01` would be true)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:323
+msgid ""
+"'N.O. Contact' - image:images/ladder_action_load.png[\"Normally Open "
+"Contact\"] (Normally Open)  When the variable is false the switch is off."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:325
+msgid ""
+"'N.C. Contact' - image:images/ladder_action_loadbar.png[\"Normally Closed "
+"Contact\"] (Normally Closed)  When the variable is false the switch is on."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:326
+msgid ""
+"'Rising Edge Contact' - When the variable changes from false to true, the "
+"switch is PULSED on."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:327
+msgid ""
+"'Falling Edge Contact' - When the variable changes from true to false, the "
+"switch is PULSED on."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:328
+#, no-wrap
+msgid "IEC TIMERS"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:331
+msgid "Represent new count down timers. IEC Timers replace Timers and Monostables."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:333
+msgid "IEC Timers have 2 contacts."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:335
+msgid "'I' - input contact"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:336
+msgid "'Q' - output contact"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:338
+msgid "There are three modes - TON, TOF, TP."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:341
+msgid ""
+"'TON' - When timer input is true countdown begins and continues as long as "
+"input remains true.  After countdown is done and as long as timer input is "
+"still true the output will be true."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:342
+msgid ""
+"'TOF' - When timer input is true, sets output true. When the input is false "
+"the timer counts down then sets output false."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:343
+msgid ""
+"'TP' - When timer input is pulsed true or held true timer sets output true "
+"till timer counts down. (one-shot)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:345
+msgid ""
+"The time intervals can be set in multiples of 100&8239;ms, seconds, or "
+"minutes."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:347
+msgid ""
+"There are also Variables for IEC timers that can be read and/or written to "
+"in compare or operate blocks."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:349
+msgid "'%TMxxx.Q' - timer done (Boolean, read write)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:350
+msgid "'%TMxxx.P' - timer preset (read write)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:351
+msgid "'%TMxxx.V' - timer value (read write)"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:352
+#, no-wrap
+msgid "TIMERS"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:355
+msgid "Represent count down timers. This is deprecated and replaced by IEC Timers."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:357
+msgid "Timers have 4 contacts."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:359
+msgid "'E' - enable (input) starts timer when true, resets when goes false"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:360
+msgid "'C' - control (input) must be on for the timer to run (usually connect to E)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:361
+msgid "'D' - done (output) true when timer times out and as long as E remains true"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:362
+msgid "'R' - running (output) true when timer is running"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:364
+msgid "The timer base can be multiples of milliseconds, seconds, or minutes."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:366
+msgid ""
+"There are also Variables for timers that can be read and/or written to in "
+"compare or operate blocks."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:368
+msgid "'%Txx.R' - Timer xx running (Boolean, read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:369
+msgid "'%Txx.D' - Timer xx done (Boolean, read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:370
+msgid "'%Txx.V' - Timer xx current value (integer, read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:371
+msgid "'%Txx.P' - Timer xx preset (integer, read or write)"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:372
+#, no-wrap
+msgid "MONOSTABLES"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:375
+msgid ""
+"Represent the original one-shot timers. This is now deprecated and replaced "
+"by IEC Timers."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:377
+msgid "Monostables have 2 contacts, I and R."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:379
+msgid "'I' - input (input) will start the mono timer running."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:380
+msgid "'R' - running (output) will be true while timer is running."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:385
+msgid ""
+"The I contact is rising edge sensitive meaning it starts the timer only when "
+"changing from false to true (or off to on).  While the timer is running the "
+"I contact can change with no effect to the running timer.  R will be true "
+"and stay true till the timer finishes counting to zero.  The timer base can "
+"be multiples of milliseconds, seconds, or minutes."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:387
+msgid ""
+"There are also Variables for monostables that can be read and/or written to "
+"in compare or operate blocks."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:389
+msgid "'%Mxx.R' - Monostable xx running (Boolean, read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:390
+msgid "'%Mxx.V' - Monostable xx current value (integer, read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:391
+msgid "'%Mxx.P' - Monostable xx preset (integer, read or write)"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:392
+#, no-wrap
+msgid "COUNTERS"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:395
+msgid "Represent up/down counters."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:397
+msgid "There are 7 contacts:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:399
+msgid "'R' - reset (input) will reset the count to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:400
+msgid ""
+"'P' - preset (input) will set the count to the preset number assigned from "
+"the edit menu."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:401
+msgid "'U' - up count (input) will add one to the count."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:402
+msgid "'D' - down count (input) will subtract one from the count."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:403
+msgid ""
+"'E' - under flow (output) will be true when the count rolls over from 0 to "
+"9999."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:404
+msgid "'D' - done (output) will be true when the count equals the preset."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:405
+msgid ""
+"'F' - overflow (output) will be true when the count rolls over from 9999 to "
+"0."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:407
+msgid ""
+"The up and down count contacts are edge sensitive meaning they only count "
+"when the contact changes from false to true (or off to on if you prefer)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:409
+msgid "The range is 0 to 9999."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:411
+msgid ""
+"There are also Variables for counters that can be read and/or written to in "
+"compare or operate blocks."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:413
+msgid "'%C'__xx__`.D` - Counter _xx_ done (_Boolean_, _read only_)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:414
+msgid "'%C'__xx__`.E` - Counter _xx_ empty overflow (_Boolean_, _read only__)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:415
+msgid "'%C'__xx__`.F` - Counter _xx_ full overflow (_Boolean_, _read only_)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:416
+msgid "'%C'__xx__`.V` - Counter _xx_ current value (_integer_, _read_ or _write_)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:417
+msgid "'%C'__xx__`.P` - Counter _xx_ preset (_integer_, _read_ or _write_)"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:418
+#, no-wrap
+msgid "COMPARE"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:421
+msgid ""
+"For arithmetic comparison. Is variable %XXX = to this number (or evaluated "
+"number)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:423
+msgid ""
+"The compare block will be true when comparison is true. You can use most "
+"math symbols:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:425
+msgid "`+`, `-`, `*`, `/`, `=` (standard math symbols)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:426
+msgid ""
+"`<` (less than), `>` (greater than), `<=` (less or equal), `>=` (greater or "
+"equal), `<>` (not equal)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:428
+msgid ""
+"`(`, `)` separate into groups example `%IF1=2,&%IF2<5` in pseudo code "
+"translates to if %IF1 is equal to 2 and %IF2 is less than 5 then the "
+"comparison is true.  Note the comma separating the two groups of "
+"comparisons."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:429
+msgid "`^` (exponent), `%` (modulus), `&` (and), `|` (or),. -"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:430
+msgid "`ABS` (absolute), `MOY` (French for average), `AVG` (average)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:432
+msgid "For example ABS(%W2)=1, MOY(%W1,%W2)<3."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:435
+msgid ""
+"No spaces are allowed in the comparison equation.  For example `%C0.V>%C0.P` "
+"is a valid comparison expression while `%C0.V > %CO.P` is not a valid "
+"expression."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:438
+msgid ""
+"There is a list of Variables down the page that can be used for reading from "
+"and writing to ladder objects.  When a new compare block is opened be sure "
+"and delete the `#` symbol when you enter a compare."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:440
+msgid ""
+"To find out if word variable #1 is less than 2 times the current value of "
+"counter #0 the syntax would be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:443
+#, no-wrap
+msgid "%W1<2*%C0.V\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:446
+msgid "To find out if S32in bit 2 is equal to 10 the syntax would be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:449
+#, no-wrap
+msgid "%IW2=10\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:452
+msgid ""
+"Note: Compare uses the arithmetic equals not the double equals that "
+"programmers are used to."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:453
+#, no-wrap
+msgid "VARIABLE ASSIGNMENT"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:457
+msgid ""
+"For variable assignment, e.g. assign this number (or evaluated number) to "
+"this variable %xxx, there are two math functions MINI and MAXI that check a "
+"variable for maximum (0x80000000) and minimum values (0x07FFFFFFF) (think "
+"signed values) and keeps them from going beyond."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:459
+msgid ""
+"When a new variable assignment block is opened be sure to delete the `#` "
+"symbol when you enter an assignment."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:461
+msgid ""
+"To assign a value of 10 to the timer preset of IEC Timer 0 the syntax would "
+"be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:464
+#, no-wrap
+msgid "%TM0.P=10\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:467
+msgid "To assign the value of 12 to s32out bit 3 the syntax would be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:470
+#, no-wrap
+msgid "%QW3=12\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:475
+msgid ""
+"When you assign a value to a variable with the variable assignment block the "
+"value is retained until you assign a new value using the variable assignment "
+"block.  The last value assigned will be restored when LinuxCNC is started."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:479
+msgid ""
+"The following figure shows an Assignment and a Comparison Example.  %QW0 is "
+"a S32out bit and %IW0 is a S32in bit.  In this case the HAL pin "
+"`classicladder.0.s32out-00` will be set to a value of 5 and when the HAL pin "
+"`classicladder.0.s32in-00` is 0 the HAL pin `classicladder.0.out-00` will be "
+"set to True."
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:481
+#, no-wrap
+msgid "Assign/Compare Ladder Example"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:482
+#, no-wrap
+msgid "Assign/Compare Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:482
+#, no-wrap
+msgid "images/AssignCompare-Ladder.png"
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:484
+#, no-wrap
+msgid "Assignment Expression Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:485
+#, no-wrap
+msgid "images/Assignment_Expression.png"
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:487
+#, no-wrap
+msgid "Comparison Expression Example"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:488
+#, no-wrap
+msgid "images/Comparison_Expression.png"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:490
+#, no-wrap
+msgid "COILS"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:493
+msgid ""
+"Coils represent relay coils. They are controlled by the variable letter and "
+"number assigned to them."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:497
+msgid ""
+"The variable letter can be B or Q and the number can be up to a three digit "
+"number, e.g., %Q3, or %B123.  Q coils control HAL out pins, e.g. if %Q15 is "
+"energized then HAL pin classicladder.0.out-15 will be true.  B coils are "
+"internal coils used to control program flow."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:499
+msgid ""
+"'N.O. COIL' - A relay coil: When coil is energized, then its contact that is "
+"normally open (short: N.O.) will be closed (turned on, true, etc.) and the "
+"current may pass."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:501
+msgid ""
+"'N.C. COIL' - A relay coil that inverses its contacts: When coil is "
+"energized, then its contact that is normally closed (short: N.C.) will be "
+"opened (turned off, false, etc) and the current flow is interrupted."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:503
+msgid ""
+"'SET COIL' - A relay coil with latching contacts: When coil is energized "
+"then its N.O. contact will be latched closed."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:505
+msgid ""
+"'RESET COIL' - A relay coil with latching contacts: When coil is energized "
+"then its N.O. contact will be latched open."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:508
+msgid ""
+"'JUMP COIL' - A 'goto' coil: When coil is energized then the ladder program "
+"jumps to a rung (in the CURRENT section) - jump points are designated by a "
+"rung label.  (Add rung labels in the section display, top left label box.)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:510
+msgid ""
+"'CALL COIL' - A 'gosub' coil: When coil is energized then the program jumps "
+"to a subroutine section designated by a subroutine number - subroutines are "
+"designated SR0 to SR9 (designate them in the section manager)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:513
+msgid ""
+"If you use a N.C. contact with a N.C. coil the logic will work (when the "
+"coil is energized the contact will be closed) but that is really hard to "
+"follow!"
+msgstr ""
+
+#. type: Title ====
+#: src/ladder/classic-ladder.adoc:514
+#, no-wrap
+msgid "JUMP COIL"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:517
+msgid ""
+"A JUMP COIL is used to 'JUMP' to another section, like a goto in BASIC "
+"programming language."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:520
+msgid ""
+"If you look at the top left of the sections display window you will see a "
+"small label box and a longer comment box beside it.  Now go to Editor→Modify "
+"then go back to the little box, type in a name."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:523
+msgid ""
+"Go ahead and add a comment in the comment section.  This label name is the "
+"name of this rung only and is used by the JUMP COIL to identify where to go."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:525
+msgid ""
+"When placing a JUMP COIL, add it in the rightmost position and change the "
+"label to the rung you want to JUMP to."
+msgstr ""
+
+#. type: Title ====
+#: src/ladder/classic-ladder.adoc:526
+#, no-wrap
+msgid "CALL COIL"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:529
+msgid ""
+"A CALL COIL is used to go to a subroutine section then return, like a gosub "
+"in BASIC programming language."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:532
+msgid ""
+"If you go to the sections manager window hit the add section button.  You "
+"can name this section, select what language it will use (ladder or "
+"sequential), and select what type (main or subroutine)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:535
+msgid ""
+"Select a subroutine number (SR0 for example).  An empty section will be "
+"displayed and you can build your subroutine."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:537
+msgid ""
+"When you've done that, go back to the section manager and click on the your "
+"main section (default name prog1)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:539
+msgid ""
+"Now you can add a CALL COIL to your program. CALL COILs are to be placed at "
+"the rightmost position in the rung."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:541
+msgid "Remember to change the label to the subroutine number you chose before."
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:542
+#, no-wrap
+msgid "ClassicLadder Variables"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:545
+msgid ""
+"These Variables are used in COMPARE or OPERATE to get information about, or "
+"change specs of, ladder objects such as changing a counter preset, or seeing "
+"if a timer is done running."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:547
+msgid "List of variables :"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:549
+msgid "`%B`__xxx__ - Bit memory _xxx_ (Boolean)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:550
+msgid "`%W`__xxx__ - Word memory _xxx_ (32 bits signed integer)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:551
+msgid "`%IW`__xxx__ - Word memory _xxx_ (S32 in pin)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:552
+msgid "`%QW`__xxx__ - Word memory _xxx_ (S32 out pin)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:553
+msgid ""
+"`%IF`__xx__ - Word memory _xx_ (Float in pin) (*converted to S32 in "
+"ClassicLadder*)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:554
+msgid ""
+"`%QF`__xx__ - Word memory _xx_ (Float out pin) (*converted to S32 in "
+"ClassicLadder*)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:555
+msgid "`%T`__xx__`.R` - Timer _xx_ running (Boolean, user read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:556
+msgid "`%T`__xx__`.D` - Timer _xx_ done (Boolean, user read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:557
+msgid "`%T`__xx__`.V` - Timer _xx_ current value (integer, user read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:558
+msgid "`%T`__xx__`.P` - Timer _xx_ preset (integer)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:559
+msgid "`%TM`__xxx__`.Q` - Timer _xxx_ done (Boolean, read write)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:560
+msgid "`%TM`__xxx__`.P` - Timer _xxx_ preset (integer, read write)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:561
+msgid "`%TM`__xxx__`.V` - Timer _xxx_ value (integer, read write)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:562
+msgid "`%M`__xx__`.R` - Monostable _xx_ running (Boolean)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:563
+msgid "`%M`__xx__`.V` - Monostable _xx_ current value (integer, user read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:564
+msgid "`%M`__xx__`.P` - Monostable _xx_ preset (integer)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:565
+msgid "`%C`__xx__`.D` - Counter _xx_ done (Boolean, user read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:566
+msgid "`%C`__xx__`.E` - Counter _xx_ empty overflow (Boolean, user read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:567
+msgid "`%C`__xx__`.F` - Counter _xx_ full overflow (Boolean, user read only)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:568
+msgid "`%C`__xx__`.V` - Counter _xx_ current value (integer)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:569
+msgid "`%C`__xx__`.P` - Counter _xx_ preset (integer)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:570
+msgid "`%I`__xxx__ - Physical input _xxx_ (Boolean) (HAL input bit)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:571
+msgid "`%Q`__xxx__ - Physical output _xxx_ (Boolean) (HAL output bit)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:572
+msgid "`%X`__xxx__ - Activity of step _xxx_ (sequential language)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:573
+msgid ""
+"`%X`__xxx__`.V` - Time of activity in seconds of step _xxx_ (sequential "
+"language)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:574
+msgid "`%E`__xx__ - Errors (Boolean, read write(will be overwritten))"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:577
+msgid ""
+"'Indexed or vectored variables' - These are variables indexed by another "
+"variable.  Some might call this vectored variables.  Example: `%W0[%W4]` => "
+"if %W4 equals 23 it corresponds to %W23"
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:578
+#, no-wrap
+msgid "GRAFCET (State Machine) Programming"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:586
+msgid ""
+"This is probably the least used and most poorly understood feature of "
+"ClassicLadder.  Sequential programming is used to make sure a series of "
+"ladder events always happen in a prescribed order.  Sequential programs do "
+"not work alone.  There is always a ladder program as well that controls the "
+"variables.  Here are the basic rules governing sequential programs:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:589
+msgid ""
+"Rule 1 : Initial situation - The initial situation is characterized by the "
+"initial steps which are by definition in the active state at the beginning "
+"of the operation.  There shall be at least one initial step."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:592
+msgid ""
+"Rule 2 : R2, Clearing of a transition - A transition is either enabled or "
+"disabled.  It is said to be enabled when all immediately preceding steps "
+"linked to its corresponding transition symbol are active, otherwise it is "
+"disabled.  A transition cannot be cleared unless it is enabled, and its "
+"associated transition condition is true."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:593
+msgid ""
+"Rule 3 : R3, Evolution of active steps - The clearing of a transition "
+"simultaneously leads to the active state of the immediately following "
+"step(s) and to the inactive state of the immediately preceding step(s)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:594
+msgid ""
+"Rule 4 : R4, Simultaneous clearing of transitions - All simultaneous cleared "
+"transitions are simultaneously cleared."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:595
+msgid ""
+"Rule 5 : R5, Simultaneous activation and deactivation of a step - If during "
+"operation, a step is simultaneously activated and deactivated, priority is "
+"given to the activation."
+msgstr ""
+
+#. FIXME Convert CL sequential editor window description to table or add callouts on image
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:604
+#, no-wrap
+msgid ""
+"This is the SEQUENTIAL editor window. (Starting from the top left):\n"
+"Selector arrow, Eraser\n"
+"Ordinary step,  Initial (Starting) step\n"
+"Transition,  Step and Transition\n"
+"Transition Link-Downside,  Transition Link-Upside\n"
+"Pass-through Link-Downside, Pass-through Link-Upside Jump\n"
+"Link, Comment Box +"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:605 src/ladder/classic-ladder.adoc:606
+#, no-wrap
+msgid "Sequence Editor Window"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:606
+#, no-wrap
+msgid "images/sequence-editor.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:609
+msgid "'ORDINARY STEP' - has a unique number for each one"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:610
+msgid ""
+"'STARTING STEP' - a sequential program must have one. This is where the "
+"program will start."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:611
+msgid ""
+"'TRANSITION' - shows the variable that must be true for control to pass "
+"through to the next step."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:612
+msgid "'STEP AND TRANSITION' - combined for convenience"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:613
+msgid ""
+"'TRANSITION LINK-DOWNSIDE' - splits the logic flow to one of two possible "
+"lines based on which of the next steps is true first (Think OR logic)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:614
+msgid "'TRANSITION LINK=UPSIDE' - combines two (OR) logic lines back in to one"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:615
+msgid ""
+"'PASS-THROUGH LINK-DOWNSIDE' - splits the logic flow to two lines that BOTH "
+"must be true to continue (Think AND logic)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:616
+msgid ""
+"'PASS-THROUGH LINK-UPSIDE' - combines two concurrent (AND logic) logic lines "
+"back together"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:617
+msgid ""
+"'JUMP LINK' - connects steps that are not underneath each other such as "
+"connecting the last step to the first"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:618
+msgid "'COMMENT BOX' - used to add comments"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:622
+msgid ""
+"To use links, you must have steps already placed.  Select the type of link, "
+"then select the two steps or transactions one at a time.  It takes practice!"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:628
+msgid ""
+"With sequential programming: The variable `%X`__xxx__ (e.g., `%X5`) is used "
+"to see if a step is active.  The variable `%X`__xxx__`.V` (e.g., `%X5.V`) is "
+"used to see how long the step has been active.  The %X and %X.v variables "
+"are use in LADDER logic. The variables assigned to the transitions (e.g., "
+"%B) control whether the logic will pass to the next step.  After a step has "
+"become active the transition variable that caused it to become active has no "
+"control of it anymore.  The last step has to JUMP LINK back only to the "
+"beginning step."
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:629
+#, no-wrap
+msgid "Modbus"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:632
+msgid "Things to consider:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:634
+msgid ""
+"Modbus is a non-realtime program so it might have latency issues on a "
+"heavily laden computer."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:635
+msgid ""
+"Modbus is not really suited to hard real time events such as position "
+"control of motors or to control E-stop."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:636
+msgid "The ClassicLadder GUI must be running for Modbus to be running."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:637
+msgid "Modbus is not fully finished so it does not do all modbus functions."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:639
+msgid ""
+"To get MODBUS to initialize you must specify that when loading the "
+"ClassicLadder non-realtime program."
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:640
+#, no-wrap
+msgid "Loading Modbus"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:643
+#, no-wrap
+msgid "loadusr -w classicladder --modmaster myprogram.clp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:647
+msgid ""
+"The `-w` makes HAL wait until you close ClassicLadder before closing "
+"realtime session.  ClassicLadder also loads a TCP modbus slave if you add "
+"`--modserver` on command line."
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:648
+#, no-wrap
+msgid "Modbus Functions"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:650
+msgid "'1' - read coils"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:651
+msgid "'2' - read inputs"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:652
+msgid "'3' - read holding registers"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:653
+msgid "'4' - read input registers"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:654
+msgid "'5' - write single coils"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:655
+msgid "'6' - write single register"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:656
+msgid "'8' - echo test"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:657
+msgid "'15' - write multiple coils"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:658
+msgid "'16' - write multiple registers"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:660
+msgid ""
+"If you do not specify a '--modmaster' when loading the ClassicLadder "
+"non-realtime program this page will not be displayed."
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:662
+#, no-wrap
+msgid "Modbus I/O Config"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:663
+#, no-wrap
+msgid "Config I/O"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:663
+#, no-wrap
+msgid "images/Config-io.png"
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:666
+#, no-wrap
+msgid "Modbus Communication Config"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:667
+#, no-wrap
+msgid "Config Coms"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:667
+#, no-wrap
+msgid "images/Config-com.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:670
+msgid ""
+"'SERIAL PORT' - For IP blank. For serial the location/name of serial driver, "
+"e.g., /dev/ttyS0 ( or /dev/ttyUSB0 for a USB-to-serial converter)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:671
+msgid ""
+"'SERIAL SPEED' - Should be set to speed the slave is set for - 300, 600, "
+"1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200 are supported."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:672
+msgid ""
+"'PAUSE AFTER TRANSMIT' - Pause (milliseconds) after transmit and before "
+"receiving answer, some devices need more time (e.g., USB-to-serial "
+"converters)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:674
+msgid ""
+"'PAUSE INTER-FRAME' - Pause (milliseconds) after receiving answer from "
+"slave.  This sets the duty cycle of requests (it's a pause for EACH "
+"request)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:675
+msgid ""
+"'REQUEST TIMEOUT LENGTH' - Length (milliseconds) of time before we decide "
+"that the slave didn't answer."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:676
+msgid ""
+"'MODBUS ELEMENT OFFSET' - used to offset the element numbers by 1 (for "
+"manufacturers numbering differences)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:677
+msgid ""
+"'DEBUG LEVEL' - Set this to 0-3 (0 to stop printing debug info besides "
+"no-response errors)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:678
+msgid ""
+"'READ COILS/INPUTS MAP TO' - Select what variables that read coils/inputs "
+"will update. (B or Q)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:679
+msgid ""
+"'WRITE COILS MAP TO' - Select what variables that write coils will updated "
+"from (B,Q,or I)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:680
+msgid ""
+"'READ REGISTERS/HOLDING' - Select what variables that read registers will "
+"update (W or QW)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:681
+msgid ""
+"'WRITE REGISTERS MAP TO' - Select what variables that read registers will "
+"updated from (W, QW, or IW)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:683
+msgid ""
+"'SLAVE ADDRESS' - For serial the slaves ID number usually settable on the "
+"slave device (usually 1-256).  For IP the slave IP address plus optionally "
+"the port number."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:684
+msgid ""
+"'TYPE ACCESS' - This selects the MODBUS function code to send to the slave "
+"(eg what type of request)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:685
+msgid ""
+"'COILS / INPUTS' - Inputs and Coils (bits) are read from/written to I, B, or "
+"Q variables (user selects)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:686
+msgid ""
+"'REGISTERS (WORDS)' - Registers (Words/Numbers) map to IW, W, or QW "
+"variables (user selects)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:687
+msgid ""
+"'1st MODBUS ELEMENT' - The address (or register number) of the first element "
+"in a group (remember to set MODBUS ELEMENT OFFSET properly)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:688
+msgid "'NUMBER OF ELEMENTS' - The number of elements in this group."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:689
+msgid "'LOGIC' - You can invert the logic here."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:690
+msgid ""
+"'1st%I%Q IQ WQ MAPPED' - This is the starting number of %B, %I, %Q, %W, %IW, "
+"or %QW variables that are mapped onto/from the modbus element group "
+"(starting at the first modbus element number)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:692
+msgid ""
+"In the example above: Port number - for my computer /dev/ttyS0 was my serial "
+"port."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:694
+msgid "The serial speed is set to 9600 baud."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:696
+msgid ""
+"Slave address is set to 12 (on my VFD I can set this from 1-31, meaning I "
+"can talk to 31 VFDs maximum on one system)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:699
+msgid ""
+"The first line is set up for 8 input bits starting at the first register "
+"number (register 1).  So register numbers 1-8 are mapped onto "
+"ClassicLadder's %B variables starting at %B1 and ending at %B8."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:701
+msgid ""
+"The second line is set for 2 output bits starting at the ninth register "
+"number (register 9) so register numbers 9-10 are mapped onto ClassicLadder's "
+"%Q variables starting at %Q9 ending at %Q10."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:704
+msgid ""
+"The third line is set to write 2 registers (16 bits each) starting at the "
+"0^th^ register number (register 0), so register numbers 0-1 are mapped onto "
+"ClassicLadder's %W variables starting at %W0 ending at %W1."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:707
+msgid ""
+"It's easy to make an off-by-one error as sometimes the modbus elements are "
+"referenced starting at one rather then 0 (actually by the standard that is "
+"the way it's supposed to be!).  You can use the modbus element offset radio "
+"button to help with this."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:709
+msgid ""
+"The documents for your modbus slave device will tell you how the registers "
+"are set up- there is no standard way."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:711
+msgid ""
+"The SERIAL PORT, PORT SPEED, PAUSE, and DEBUG level are editable for changes "
+"(when you close the config window values are applied, though Radio buttons "
+"apply immediately)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:714
+msgid ""
+"To use the echo function select the echo function and add the slave number "
+"you wish to test.  You don't need to specify any variables."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:717
+msgid ""
+"The number 257 will be sent to the slave number you specified and the slave "
+"should send it back.  You will need to have ClassicLadder running in a "
+"terminal to see the message."
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:718
+#, no-wrap
+msgid "MODBUS Settings"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:721
+msgid "Serial:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:723
+msgid "ClassicLadder uses RTU protocol (not ASCII)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:724
+msgid "8 data bits, No parity is used, and 1 stop bit is also known as 8-N-1."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:726
+msgid ""
+"Baud rate must be the same for slave and master.  ClassicLadder can only "
+"have one baud rate so all the slaves must be set to the same rate."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:727
+msgid "Pause inter frame is the time to pause after receiving an answer."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:728
+msgid ""
+"MODBUS_TIME_AFTER_TRANSMIT is the length of pause after sending a request "
+"and before receiving an answer (this apparently helps with USB converters "
+"which are slow)."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:729
+#, no-wrap
+msgid "MODBUS Info"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:732
+msgid ""
+"ClassicLadder can use distributed inputs/outputs on modules using the Modbus "
+"protocol (\"master\": polling slaves)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:733
+msgid "The slaves and theirs I/O can be configured in the config window."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:734
+msgid ""
+"2 exclusive modes are available : ethernet using Modbus/TCP and serial using "
+"Modbus/RTU."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:735
+msgid "No parity is used."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:736
+msgid "If no port name for serial is set, TCP/IP mode will be used..."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:737
+msgid "The slave address is the slave address (Modbus/RTU) or the IP address."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:738
+msgid ""
+"The IP address can be followed per the port number to use (xx.xx.xx.xx:pppp) "
+"else the port 9502 will be used per default."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:739
+msgid ""
+"2 products have been used for tests: a Modbus/TCP one (Adam-6051, "
+"https://www.advantech.com) and a serial Modbus/RTU one "
+"(https://www.ipac.ws)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:740
+msgid "See examples: adam-6051 and modbus_rtu_serial."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:741
+msgid ""
+"Web links: https://www.modbus.org and this interesting one: "
+"https://www.iatips.com/modbus.html"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:742
+msgid "MODBUS TCP SERVER INCLUDED"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:743
+msgid ""
+"ClassicLadder has a Modbus/TCP server integrated. Default port is 9502.  "
+"(the previous standard 502 requires that the application must be launched "
+"with root privileges)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:744
+msgid "List of Modbus functions code supported are: 1, 2, 3, 4, 5, 6, 15 and 16."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:745
+msgid ""
+"Modbus bits and words correspondence table is actually not parametric and "
+"correspond directly to the %B and %W variables."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:747
+msgid "More information on modbus protocol is available on the internet."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:749
+msgid "https://www.modbus.org/[https://www.modbus.org/]"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:750
+#, no-wrap
+msgid "Communication Errors"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:755
+msgid ""
+"If there is a communication error, a warning window will pop up (if the GUI "
+"is running) and %E0 will be true.  Modbus will continue to try to "
+"communicate. The %E0 could be used to make a decision based on the error.  A "
+"timer could be used to stop the machine if timed out, etc."
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:756
+#, no-wrap
+msgid "Debugging modbus problems"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:760
+msgid ""
+"A good reference for the protocol: "
+"https://www.modbus.org/docs/Modbus_Application_Protocol_V1_1b.pdf.  If you "
+"run linuxcnc/classicladder from a terminal, it will print the Modbus "
+"commands and slave responses."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:764
+msgid ""
+"Here we set ClassicLadder to request slave 1, to read holding registers "
+"(function code 3) starting at address 8448 (0x2100).  We ask for 1 (2 byte "
+"wide) data element to be returned.  We map it to a ClassicLadder variable "
+"starting at 2."
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:765
+#, no-wrap
+msgid "Modbus I/O Register Setup"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:766
+#, no-wrap
+msgid "Config I/O Register Setting"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:766
+#, no-wrap
+msgid "images/modbus_register_setting.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:770
+msgid ""
+"Note in this image we have set the debug level to 1 so modbus messages are "
+"printed to the terminal.  We have mapped our read and written holding "
+"registers to ClassicLadder's %W variables so our returned data will be in "
+"%W2 as in the other image we mapped the data starting at the 2nd element."
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:771
+#, no-wrap
+msgid "Modbus Communication Setup"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:772
+#, no-wrap
+msgid "Communication Setting"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:772
+#, no-wrap
+msgid "images/modbus_com_setting.png"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:774
+#, no-wrap
+msgid "Request"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:777
+msgid ""
+"Lets look at an example of reading one hold register at 8448 Decimal (0x2100 "
+"Hex)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:779
+msgid "Looking in the Modbus protocol reference:"
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:780
+#, no-wrap
+msgid "Read holding register request"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:783 src/ladder/classic-ladder.adoc:847
+#, no-wrap
+msgid "number of bytes"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:784 src/ladder/classic-ladder.adoc:815
+#: src/ladder/classic-ladder.adoc:848
+#, no-wrap
+msgid "Value (hex)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:784 src/ladder/classic-ladder.adoc:848
+#, no-wrap
+msgid "Function code"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:784
+#, no-wrap
+msgid "(1 Byte)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:785
+#, no-wrap
+msgid "3  (0x03)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:785
+#, no-wrap
+msgid "Starting Address"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:785 src/ladder/classic-ladder.adoc:786
+#, no-wrap
+msgid "(2 Bytes)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:786
+#, no-wrap
+msgid "0 - 65535 (0x0000 to 0xFFFF)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:786
+#, no-wrap
+msgid "Number of Registers"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:787
+#, no-wrap
+msgid "1 to 125 (0x7D)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:787 src/ladder/classic-ladder.adoc:817
+#: src/ladder/classic-ladder.adoc:851
+#, no-wrap
+msgid "Checksum"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:787 src/ladder/classic-ladder.adoc:817
+#: src/ladder/classic-ladder.adoc:851
+#, no-wrap
+msgid "(2 bytes)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:788 src/ladder/classic-ladder.adoc:818
+#, no-wrap
+msgid "Calculated automatically"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:791
+msgid "Here is an example sent command as printed in the terminal (all Hex):"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:794
+#, no-wrap
+msgid ""
+"INFO CLASSICLADDER-   Modbus I/O module to send: Lgt=8 <-  Slave address-1  "
+"Function code-3  Data-21 0 0 1 8E 36\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:797
+msgid "Meaning (Hex):"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:799
+msgid "Lgt = 8 = message is 8 bytes long including slave number and checksum number"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:800 src/ladder/classic-ladder.adoc:836
+#: src/ladder/classic-ladder.adoc:865
+msgid "Slave number = 1 (0x1) = Slave address 1"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:801
+msgid "Function code = 3 (0x3) = read holding register"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:802
+msgid ""
+"Start at address = highbyte 33 (0x21) lowbyte 0 (0x00) = combined address = "
+"8448 (0x2100)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:803
+msgid ""
+"Number of Registers = 1 (0x1) = return 1 2-byte register (holding and "
+"reading registers are always 2 bytes wide)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:804
+msgid "Checksum = high byte 0x8E lowbyte 0x36 = (0x8E36)"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:805
+#, no-wrap
+msgid "Error response"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:810
+msgid ""
+"If there is an error response, it sends the function code plus 0x80, an "
+"error code, and a checksum.  Getting an error response means the slave is "
+"seeing the request command but can not give valid data.  Looking in the "
+"Modbus protocol reference:"
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:811
+#, no-wrap
+msgid "Error returned for function code 3 (read holding register)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:814
+#, no-wrap
+msgid "Number of bytes"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:815
+#, no-wrap
+msgid "Error code"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:815 src/ladder/classic-ladder.adoc:816
+#: src/ladder/classic-ladder.adoc:848 src/ladder/classic-ladder.adoc:849
+#, no-wrap
+msgid "1 Byte"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:816
+#, no-wrap
+msgid "131 (0x83)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:816
+#, no-wrap
+msgid "Exception code"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:817
+#, no-wrap
+msgid "1-4 (0x01 to 0x04)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:821
+msgid "Exception code meaning:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:823
+msgid "1 - illegal Function"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:824
+msgid "2 - illegal data address"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:825
+msgid "3 - illegal data value"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:826
+msgid "4 - slave device failure"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:828 src/ladder/classic-ladder.adoc:857
+msgid "Here is an example received command as printed in the terminal (all Hex):"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:831
+#, no-wrap
+msgid ""
+"INFO CLASSICLADDER-   Modbus I/O module received: Lgt=5 ->   (Slave "
+"address-1  Function code-83 ) 2 C0 F1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:834
+msgid "Meaning (Hex): +"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:837
+msgid "Function code = 131 (0x83) = error while reading holding register"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:838
+msgid "Error code = 2 (0x2) = illegal data address requested"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:839
+msgid "Checksum = (0x8E36)"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:840
+#, no-wrap
+msgid "Data response"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:843
+msgid "Looking in the Modbus protocol reference for Response:"
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:844
+#, no-wrap
+msgid "Data response for function code 3 (read holding register)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:849
+#, no-wrap
+msgid "3 (0x03)"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:849
+#, no-wrap
+msgid "Byte count"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:850
+#, no-wrap
+msgid "2 x N*"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:850
+#, no-wrap
+msgid "Register value"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:850
+#, no-wrap
+msgid "N* x 2 Bytes"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:851
+#, no-wrap
+msgid "returned value of requested address"
+msgstr ""
+
+#. type: Table
+#: src/ladder/classic-ladder.adoc:852
+#, no-wrap
+msgid "calculated automatically"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:855
+#, no-wrap
+msgid "*N = Number of registers\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:860
+#, no-wrap
+msgid ""
+"INFO CLASSICLADDER-   Modbus I/O module received: Lgt=7 ->   (Slave "
+"address-1  Function code-3 2 0 0 B8 44)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:863
+msgid "meaning (Hex):"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:866
+msgid "Requested function code = 3 (0x3) = read holding register requested"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:867
+msgid ""
+"count of byte registers = 2 (0x1) = return 2 bytes (each register value is 2 "
+"bytes wide)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:868
+msgid "value of highbyte = 0 (0x0) = high byte value of address 8448 (0x2100)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:869
+msgid "value of lowbyte = 0 (0x0) = high byte value of address 8448 (0x2100)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:870
+msgid "Checksum = (0xB844)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:876
+msgid ""
+"(high and low bytes are combined to create a 16 bit value and then "
+"transferred to ClassicLadder's variable.)  Read Registers can be mapped to "
+"%W or %QW (internal memory or HAL out pins).  Write registers can be mapped "
+"from %W, %QW or %IW (internal memory, HAL out pins or HAL in pins).  The "
+"variable number will start at the number entered in the modbus I/O registry "
+"setup page's column: 'First variable mapped'.  If multiple registers are "
+"requested in one read/write then the variable number are sequential after "
+"the first one."
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:877
+#, no-wrap
+msgid "MODBUS Bugs"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:880
+msgid ""
+"In compare blocks the function %W=ABS(%W1-%W2) is accepted but does not "
+"compute properly. only %W0=ABS(%W1) is currently legal."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:882
+msgid ""
+"When loading a ladder program it will load Modbus info but will not tell "
+"ClassicLadder to initialize Modbus.  You must initialize Modbus when you "
+"first load the GUI by adding '--modmaster'."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:883
+msgid ""
+"If the section manager is placed on top of the section display, across the "
+"scroll bar and exit is clicked the non-realtime program crashes."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:884
+msgid ""
+"When using '--modmaster' you must load the ladder program at the same time "
+"or else only TCP will work."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:885
+msgid "reading/writing multiple registers in Modbus has checksum errors."
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/classic-ladder.adoc:886
+#, no-wrap
+msgid "Setting up ClassicLadder"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:890
+msgid ""
+"In this section we will cover the steps needed to add ClassicLadder to a "
+"StepConf Wizard generated config.  On the advanced Configuration Options "
+"page of StepConf Wizard check off \"Include ClassicLadder PLC\"."
+msgstr ""
+
+#. type: Block title
+#: src/ladder/classic-ladder.adoc:892
+#, no-wrap
+msgid "StepConf ClassicLadder"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:893
+#, no-wrap
+msgid "Stepconf ClassicLadder"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:893
+#, no-wrap
+msgid "images/stepconf_ladder.png"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:895
+#, no-wrap
+msgid "Add the Modules"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:898
+msgid "If you used the StepConf Wizard to add ClassicLadder you can skip this step."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:901
+msgid ""
+"To manually add ClassicLadder you must first add the modules.  This is done "
+"by adding a couple of lines to the custom.hal file."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:903
+msgid "This line loads the real time module:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:910
+msgid "This line adds the ClassicLadder function to the servo thread:"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:914
+#, no-wrap
+msgid "addf classicladder.0.refresh servo-thread\n"
+msgstr ""
+
+#. type: Title ===
+#: src/ladder/classic-ladder.adoc:916
+#, no-wrap
+msgid "Adding Ladder Logic"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:928
+msgid ""
+"Now start up your config and select \"File/Ladder Editor\" to open up the "
+"ClassicLadder GUI.  You should see a blank Section Display and Sections "
+"Manager window as shown above.  In the Section Display window open the "
+"Editor.  In the Editor window select Modify.  Now a Properties window pops "
+"up and the Section Display shows a grid.  The grid is one rung of ladder.  "
+"The rung can contain branches.  A simple rung has one input, a connector "
+"line and one output.  A rung can have up to six horizontal branches.  While "
+"it is possible to have more than one circuit in a run the results are not "
+"predictable."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:930 src/ladder/classic-ladder.adoc:931
+#, no-wrap
+msgid "Section Display with Grid"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:931
+#, no-wrap
+msgid "images/Section_Display_Grid.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:934
+msgid "Now click on the N.O. input in the Editor Window."
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:937
+#, no-wrap
+msgid "images/Editor_NO_Input.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:940
+msgid "Now click in the upper left grid to place the N.O. Input into the ladder."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:942 src/ladder/classic-ladder.adoc:943
+#, no-wrap
+msgid "Section Display with Input"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:943
+#, no-wrap
+msgid "images/Section_Display_Build01.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:947
+msgid ""
+"Repeat the above steps to add a N.O. output to the upper right grid and use "
+"the Horizontal Connection to connect the two.  It should look like the "
+"following. If not, use the Eraser to remove unwanted sections."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:949 src/ladder/classic-ladder.adoc:950
+#, no-wrap
+msgid "Section Display with Rung"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:950
+#, no-wrap
+msgid "images/Section_Display_Build02.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:954
+msgid ""
+"Now click on the OK button in the Editor window.  Now your Section Display "
+"should look like this:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:956 src/ladder/classic-ladder.adoc:957
+#, no-wrap
+msgid "Section Display Finished"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:957
+#, no-wrap
+msgid "images/Section_Display_Build03.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:962
+msgid ""
+"To save the new file select 'Save As' and give it a name.  The .clp "
+"extension will be added automatically.  It should default to the running "
+"config directory as the place to save it."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/classic-ladder.adoc:964 src/ladder/classic-ladder.adoc:965
+#, no-wrap
+msgid "Save As Dialog"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/classic-ladder.adoc:965
+#, no-wrap
+msgid "images/SaveAs.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:968
+msgid ""
+"Again if you used the StepConf Wizard to add ClassicLadder you can skip this "
+"step."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:971
+msgid ""
+"To manually add a ladder you need to add add a line to your custom.hal file "
+"that will load your ladder file.  Close your LinuxCNC session and add this "
+"line to your custom.hal file."
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/classic-ladder.adoc:975
+#, no-wrap
+msgid "loadusr -w classicladder --nogui MyLadder.clp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/classic-ladder.adoc:979
+msgid ""
+"Now if you start up your LinuxCNC config your ladder program will be running "
+"as well.  If you select \"File/Ladder Editor\", the program you created will "
+"show up in the Section Display window."
+msgstr ""
+
+#. type: Title =
+#: src/ladder/ladder-examples.adoc:5
+#, no-wrap
+msgid "ClassicLadder Examples"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/ladder-examples.adoc:13 src/ladder/ladder-examples.adoc:25
+#: src/ladder/ladder-examples.adoc:26
+#, no-wrap
+msgid "Wrapping Counter"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:24
+msgid ""
+"To have a counter that 'wraps around' you have to use the preset pin and the "
+"reset pin. When you create the counter set the preset at the number you wish "
+"to reach before wrapping around to 0. The logic is if the counter value is "
+"over the preset then reset the counter and if the underflow is on then set "
+"the counter value to the preset value. As you can see in the example when "
+"the counter value is greater than the counter preset the counter reset is "
+"triggered and the value is now 0.  The underflow output %Q2 will set the "
+"counter value at the preset when counting backwards."
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/ladder-examples.adoc:26
+#, no-wrap
+msgid "images/wrapping-counter.png"
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/ladder-examples.adoc:28
+#, no-wrap
+msgid "Reject Extra Pulses"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:38
+msgid ""
+"This example shows you how to reject extra pulses from an input.  Suppose "
+"the input pulse %I0 has an annoying habit of giving an extra pulse that "
+"spoils our logic. The TOF (Timer Off Delay) prevents the extra pulse from "
+"reaching our cleaned up output %Q0. How this works is when the timer gets an "
+"input the output of the timer is on for the duration of the time "
+"setting. Using a normally closed contact %TM0.Q the output of the timer "
+"blocks any further inputs from reaching our output until it times out."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/ladder-examples.adoc:39 src/ladder/ladder-examples.adoc:40
+#, no-wrap
+msgid "Reject Extra Pulse"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/ladder-examples.adoc:40
+#, no-wrap
+msgid "images/extra-pulse-reject.png"
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/ladder-examples.adoc:42
+#, no-wrap
+msgid "External E-Stop"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:46
+msgid ""
+"The External E-Stop example is in the /config/classicladder/cl-estop "
+"folder. It uses a PyVCP panel to simulate the external components."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:50
+msgid ""
+"To interface an external E-Stop to LinuxCNC and have the external E-Stop "
+"work together with the internal E-Stop requires a couple of connections "
+"through ClassicLadder."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:54
+msgid ""
+"First we have to open the E-Stop loop in the main HAL file by commenting out "
+"by adding the pound sign as shown or removing the following lines."
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:59
+#, no-wrap
+msgid ""
+"# net estop-out <= iocontrol.0.user-enable-out\n"
+"# net estop-out => iocontrol.0.emc-enable-in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:63
+msgid "Next we add ClassicLadder to our custom.hal file by adding these two lines:"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:71
+msgid "Next we run our config and build the ladder as shown here."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/ladder-examples.adoc:73 src/ladder/ladder-examples.adoc:74
+#, no-wrap
+msgid "E-Stop Section Display"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/ladder-examples.adoc:74
+#, no-wrap
+msgid "images/EStop_Section_Display.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:78
+msgid "After building the ladder select Save As and save the ladder as estop.clp"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:80
+msgid "Now add the following line to your custom.hal file."
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:85
+#, no-wrap
+msgid ""
+"# Load the ladder\n"
+"loadusr classicladder --nogui estop.clp\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:88
+msgid "I/O assignments"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:90
+msgid "%I0 = Input from the PyVCP panel simulated E-Stop (the checkbox)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:91
+msgid "%I1 = Input from LinuxCNC's E-Stop"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:92
+msgid "%I2 = Input from LinuxCNC's E-Stop Reset Pulse"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:93
+msgid "%I3 = Input from the PyVCP panel reset button"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:94
+msgid "%Q0 = Output to LinuxCNC to enable"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:96
+msgid ""
+"%Q1 = Output to external driver board enable pin (use a N/C output if your "
+"board had a disable pin)"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:98
+msgid "Next we add the following lines to the custom_postgui.hal file"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:102
+#, no-wrap
+msgid "# E-Stop example using PyVCP buttons to simulate external components\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:105
+#, no-wrap
+msgid ""
+"# The PyVCP checkbutton simulates a normally closed external E-Stop\n"
+"net ext-estop classicladder.0.in-00 <= pyvcp.py-estop\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:108
+#, no-wrap
+msgid ""
+"# Request E-Stop Enable from LinuxCNC\n"
+"net estop-all-ok iocontrol.0.emc-enable-in <= classicladder.0.out-00\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:111
+#, no-wrap
+msgid ""
+"# Request E-Stop Enable from PyVCP or external source\n"
+"net ext-estop-reset classicladder.0.in-03 <= pyvcp.py-reset\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:114
+#, no-wrap
+msgid ""
+"# This line resets the E-Stop from LinuxCNC\n"
+"net emc-reset-estop iocontrol.0.user-request-enable => "
+"classicladder.0.in-02\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:117
+#, no-wrap
+msgid ""
+"# This line enables LinuxCNC to unlatch the E-Stop in ClassicLadder\n"
+"net emc-estop iocontrol.0.user-enable-out => classicladder.0.in-01\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:120
+#, no-wrap
+msgid ""
+"# This line turns on the green indicator when out of E-Stop\n"
+"net estop-all-ok => pyvcp.py-es-status\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:124
+msgid ""
+"Next we add the following lines to the panel.xml file. Note you have to open "
+"it with the text editor not the default html viewer."
+msgstr ""
+
+#. type: delimited block -
+#: src/ladder/ladder-examples.adoc:146
+#, no-wrap
+msgid ""
+"<pyvcp>\n"
+"<vbox>\n"
+"<label><text>\"E-Stop Demo\"</text></label>\n"
+"<led>\n"
+"<halpin>\"py-es-status\"</halpin>\n"
+"<size>50</size>\n"
+"<on_color>\"green\"</on_color>\n"
+"<off_color>\"red\"</off_color>\n"
+"</led>\n"
+"<checkbutton>\n"
+"<halpin>\"py-estop\"</halpin>\n"
+"<text>\"E-Stop\"</text>\n"
+"</checkbutton>\n"
+"</vbox>\n"
+"<button>\n"
+"<halpin>\"py-reset\"</halpin>\n"
+"<text>\"Reset\"</text>\n"
+"</button>\n"
+"</pyvcp>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:149
+msgid "Now start up your config and it should look like this."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/ladder-examples.adoc:151 src/ladder/ladder-examples.adoc:152
+#, no-wrap
+msgid "AXIS E-Stop"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/ladder-examples.adoc:152
+#, no-wrap
+msgid "images/axis_cl-estop.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:159
+msgid ""
+"Note that in this example like in real life you must clear the remote E-Stop "
+"(simulated by the checkbox) before the AXIS E-Stop or the external Reset "
+"will put you in OFF mode. If the E-Stop in the AXIS screen was pressed, you "
+"must press it again to clear it. You cannot reset from the external after "
+"you do an E-Stop in AXIS."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/ladder/ladder-examples.adoc:160 src/ladder/ladder-examples.adoc:166
+#: src/ladder/ladder-examples.adoc:167
+#, no-wrap
+msgid "Timer/Operate Example"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:164
+msgid ""
+"In this example we are using the Operate block to assign a value to the "
+"timer preset based on if an input is on or off."
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/ladder-examples.adoc:167
+#, no-wrap
+msgid "images/Tmr_Section_Display.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-examples.adoc:171
+msgid ""
+"In this case %I0 is true so the timer preset value is 10. If %I0 was false "
+"the timer preset would be 5."
+msgstr ""
+
+#. type: Title =
+#: src/ladder/ladder-intro.adoc:5
+#, no-wrap
+msgid "ClassicLadder Introduction"
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/ladder-intro.adoc:7
+#, no-wrap
+msgid "History"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:11
+msgid ""
+"ClassicLadder is a free implementation of a ladder interpreter, released "
+"under the LGPL. It was written by Marc Le Douarain."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:13
+msgid "He describes the beginning of the project on his website:"
+msgstr ""
+
+#. type: delimited block _
+#: src/ladder/ladder-intro.adoc:23
+msgid ""
+"I decided to program a ladder language only for test purposes at the start, "
+"in February 2001. It was planned, that I would have to participate to a new "
+"product after leaving the enterprise in which I was working at that "
+"time. And I was thinking that to have a ladder language in those products "
+"could be a nice option to considerate. And so I started to code the first "
+"lines for calculating a rung with minimal elements and displaying "
+"dynamically it under Gtk, to see if my first idea to realize all this works."
+msgstr ""
+
+#. type: delimited block _
+#: src/ladder/ladder-intro.adoc:26
+msgid ""
+"And as quickly I've found that it advanced quite well, I've continued with "
+"more complex elements: timer, multiples rungs, etc..."
+msgstr ""
+
+#. type: delimited block _
+#: src/ladder/ladder-intro.adoc:29
+msgid ""
+"Voila, here is this work... and more: I've continued to add features since "
+"then."
+msgstr ""
+
+#. type: delimited block _
+#: src/ladder/ladder-intro.adoc:31
+msgid "Marc Le Douarain, from \"Genesis\" at the ClassicLadder website"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:36
+msgid ""
+"ClassicLadder has been adapted to work with LinuxCNC's HAL, and is currently "
+"being distributed along with LinuxCNC. If there are issues/problems/bugs "
+"please report them to the LinuxCNC project."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:48
+msgid ""
+"Ladder logic or the Ladder programming language is a method of drawing "
+"electrical logic schematics. It is now a graphical language very popular for "
+"programming Programmable Logic Controllers (PLCs). It was originally "
+"invented to describe logic made from relays. The name is based on the "
+"observation that programs in this language resemble ladders, with two "
+"vertical 'rails' and a series of horizontal 'rungs' between them. In Germany "
+"and elsewhere in Europe, the style is to draw the rails horizontally along "
+"the top and bottom of the page while the rungs are drawn vertically from "
+"left to right."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:53
+msgid ""
+"A program in ladder logic, also called a ladder diagram, is similar to a "
+"schematic for a set of relay circuits. Ladder logic is useful because a wide "
+"variety of engineers and technicians can understand and use it without much "
+"additional training because of the resemblance."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:59
+msgid ""
+"Ladder logic is widely used to program PLCs, where sequential control of a "
+"process or manufacturing operation is required. Ladder logic is useful for "
+"simple but critical control systems, or for reworking old hardwired relay "
+"circuits. As programmable logic controllers became more sophisticated it has "
+"also been used in very complex automation systems."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:68
+msgid ""
+"Ladder logic can be thought of as a rule-based language, rather than a "
+"procedural language. A 'rung' in the ladder represents a rule. When "
+"implemented with relays and other electromechanical devices, the various "
+"rules 'execute' simultaneously and immediately. When implemented in a "
+"programmable logic controller, the rules are typically executed sequentially "
+"by software, in a loop. By executing the loop fast enough, typically many "
+"times per second, the effect of simultaneous and immediate execution is "
+"obtained."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:70
+msgid "Ladder logic follows these general steps for operation."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:72
+msgid "Read Inputs"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:73
+msgid "Solve Logic"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:74
+msgid "Update Outputs"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:80
+msgid ""
+"The most common components of ladder are contacts (inputs), these usually "
+"are either NC (normally closed) or NO (normally open), and coils (outputs)."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:82
+msgid "the NO contact image:images/ladder_action_load.png[]"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:83
+msgid "the NC contact image:images/ladder_action_loadbar.png[]"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:84
+msgid "the coil (output) image:images/ladder_action_out.png[]"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:87
+msgid ""
+"Of course there are many more components to a full ladder language, but "
+"understanding these will help you grasp the overall concept."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:91
+msgid ""
+"The ladder consists of one or more rungs. These rungs are horizontal traces "
+"(representing wires), with components on them (inputs, outputs and other), "
+"which get evaluated left to right."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:93
+msgid "This example is the simplest rung:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/ladder-intro.adoc:94
+#, no-wrap
+msgid "images/example_link_contact_coil.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:104
+msgid ""
+"The input on the left, B0, a normally open contact, is connected to the coil "
+"(output) on the right, Q0. Now imagine a voltage gets applied to the "
+"leftmost end, because the input B0 turns true (e.g. the input is activated, "
+"or the user pushed the NO contact). The voltage has a direct path to reach "
+"the coil (output) on the right, Q0.  As a consequence, the Q0 coil (output) "
+"will turn from 0/off/false to 1/on/true.  If the user releases B0, the Q0 "
+"output quickly returns to 0/off/false."
+msgstr ""
+
+#. type: Title ==
+#: src/ladder/ladder-intro.adoc:105
+#, no-wrap
+msgid "Basic Latching On-Off Circuit"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:113
+msgid ""
+"Building on the above example, suppose we add a switch that closes whenever "
+"the coil Q0 is active. This would be the case in a relay, where the coil can "
+"activate the switch contacts; or in a contactor, where there are often "
+"several small auxiliary contacts in addition to the large 3-phase contacts "
+"that are the primary feature of the contactor."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:120
+msgid ""
+"Since this auxiliary switch is driven from coil Q0 in our earlier example, "
+"we will give it the same number as the coil that drives it.  This is the "
+"standard practice followed in all ladder programming, although it may seem "
+"strange at first to see a switch labeled the same as a coil. So let's call "
+"this auxiliary contact Q0 and connect it across the B0 'pushbutton' contact "
+"from our earlier example."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:122
+msgid "Let's take a look at it:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/ladder-intro.adoc:123
+#, no-wrap
+msgid "images/example_link_contact_coil2.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:132
+msgid ""
+"As before, when the user presses pushbutton B0, coil Q0 comes on.  And when "
+"coil Q0 comes on, switch Q0 comes on. Now the interesting part happens. When "
+"the user releases pushbutton B0, coil Q0 does not stop as it did "
+"before. This is because switch Q0 of this circuit is effectively holding the "
+"user's pushbutton pressed. So we see that switch Q0 is still holding coil Q0 "
+"on after the 'start' pushbutton has been released."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:138
+msgid ""
+"This type of contact on a coil or relay, used in this way, is often called a "
+"'holding contact', because it 'holds on' the coil that it is associated "
+"with. It is also occasionally called a 'seal' contact, and when it is active "
+"it is said that the circuit is 'sealed'."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:145
+msgid ""
+"Unfortunately, our circuit so far has little practical use, because, "
+"although we have an 'on' or 'start' button in the form of pushbutton B0, we "
+"have no way to shut this circuit off once it is started. But that's easy to "
+"fix. All we need is a way to interrupt the power to coil Q0. So let's add a "
+"normally-closed (NC) pushbutton just ahead of coil Q0."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:147
+msgid "Here's how that would look:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/ladder/ladder-intro.adoc:148
+#, no-wrap
+msgid "images/example_link_contact_coil3.png"
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:158
+msgid ""
+"Now we have added 'off' or 'stop' pushbutton B1. If the user pushes it, "
+"contact from the rung to the coil is broken.  When coil Q0 loses power, it "
+"drops to 0/off/false. When coil Q0 goes off, so does switch Q0, so the "
+"'holding contact' is broken, or the circuit is 'unsealed'. When the user "
+"releases the 'stop' pushbutton, contact is restored from the rung to coil "
+"Q0, but the rung has gone dead, so the coil doesn't come back on."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:165
+msgid ""
+"This circuit has been used for decades on virtually every machine that has a "
+"three-phase motor controlled by a contactor, so it was inevitable that it "
+"would be adopted by ladder/PLC programmers. It is also a very safe circuit, "
+"in that if 'start' and 'stop' are both pressed at the same time, the 'stop' "
+"function always wins."
+msgstr ""
+
+#. type: Plain text
+#: src/ladder/ladder-intro.adoc:169
+msgid ""
+"This is the basic building block of much of ladder programming, so if you "
+"are new to it, you would do well to make sure that you understand how this "
+"circuit operates."
+msgstr ""
+
+#. type: Title =
+#: src/lathe/lathe-user.adoc:5
+#, no-wrap
+msgid "Lathe User Information(((Lathe User Information)))"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:14
+msgid "This chapter will provide information specific to lathes."
+msgstr ""
+
+#. type: Title ==
+#: src/lathe/lathe-user.adoc:15
+#, no-wrap
+msgid "Lathe Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:18
+msgid ""
+"If your CNC machine is a lathe, there are some specific changes you will "
+"probably want to make to your INI file in order to get the best results from "
+"LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:21
+msgid ""
+"If you are using the AXIS display, have AXIS display your lathe tools "
+"properly.  See the <<cha:ini-configuration,INI Configuration>> section for "
+"more details."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:23
+msgid "To set up AXIS for Lathe Mode."
+msgstr ""
+
+#. type: delimited block -
+#: src/lathe/lathe-user.adoc:27 src/man/man1/linuxcncrsh.1.adoc:64
+#, no-wrap
+msgid "[DISPLAY]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/lathe/lathe-user.adoc:30
+#, no-wrap
+msgid ""
+"# Tell the AXIS GUI our machine is a lathe.\n"
+"LATHE = TRUE\n"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:34
+msgid ""
+"Lathe Mode in AXIS does not set your default plane to G18 (XZ).  You must "
+"program that in the preamble of each G-code file or (better) add it to your "
+"INI file, like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/lathe/lathe-user.adoc:42
+#, no-wrap
+msgid ""
+"# G-code modal codes (modes) that the interpreter is initialized with\n"
+"# on startup\n"
+"RS274NGC_STARTUP_CODE = G18 G20 G90\n"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:45
+msgid ""
+"If your using GMOCCAPY then see the <<gmoccapy:lathe-section,the GMOCCAPY "
+"Lathe>> section."
+msgstr ""
+
+#. type: Title ==
+#: src/lathe/lathe-user.adoc:47
+#, no-wrap
+msgid "Lathe Tool Table(((Lathe Tool Table)))"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:56
+msgid ""
+"The \"Tool Table\" is a text file that contains information about each "
+"tool.  The file is located in the same directory as your configuration and "
+"is called \"tool.tbl\" by default.  The tools might be in a tool changer or "
+"just changed manually.  The file can be edited with a text editor or be "
+"updated using G10 L1,L10,L11.  There is also a built-in tool table editor in "
+"the AXIS display.  The maximum number of entries in the tool table is 56.  "
+"The maximum tool and pocket number is 99999."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:60
+msgid ""
+"Earlier versions of LinuxCNC had two different tool table formats for mills "
+"and lathes, but since the 2.4.x release, one tool table format is used for "
+"all machines.  Just ignore the parts of the tool table that don't pertain to "
+"your machine, or which you don't need to use.  For more information on the "
+"specifics of the tool table format, see the <<sec:tool-table,Tool Table>> "
+"Section."
+msgstr ""
+
+#. type: Title ==
+#: src/lathe/lathe-user.adoc:62
+#, no-wrap
+msgid "Lathe Tool Orientation(((Lathe Tool Orientation)))"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:65
+msgid ""
+"The following figure shows the lathe tool orientations with the center line "
+"angle of each orientation and info on FRONTANGLE and BACKANGLE."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:67
+msgid ""
+"The FRONTANGLE and BACKANGLE are clockwise starting at a line parallel to "
+"Z+."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/lathe/lathe-user.adoc:68 src/lathe/lathe-user.adoc:69
+#, no-wrap
+msgid "Lathe Tool Orientations"
+msgstr ""
+
+#. type: Target for macro image
+#: src/lathe/lathe-user.adoc:69
+#, no-wrap
+msgid "images/tool-positions_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:72
+msgid ""
+"In AXIS the following figures show what the Tool Positions look like, as "
+"entered in the tool table."
+msgstr ""
+
+#. type: Block title
+#: src/lathe/lathe-user.adoc:74
+#, no-wrap
+msgid "Tool Positions 1, 2, 3 & 4(((Tool Positions 1, 2, 3 & 4)))"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:79
+msgid ""
+"image:images/tool-pos-1_en.svg[\"Tool Position 1\"] "
+"image:images/tool-pos-2_en.svg[\"Tool Position 2\"] "
+"image:images/tool-pos-3_en.svg[\"Tool Position 3\"] "
+"image:images/tool-pos-4_en.svg[\"Tool Position 4\"]"
+msgstr ""
+
+#. type: Block title
+#: src/lathe/lathe-user.adoc:81
+#, no-wrap
+msgid "Tool Positions 5, 6, 7 & 8(((Tool Positions 5, 6, 7 & 8)))"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:86
+msgid ""
+"image:images/tool-pos-5_en.svg[\"Tool Position 5\"] "
+"image:images/tool-pos-6_en.svg[\"Tool Position 6\"] "
+"image:images/tool-pos-7_en.svg[\"Tool Position 7\"] "
+"image:images/tool-pos-8_en.svg[\"Tool Position 8\"]"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:94
+msgid ""
+"When running in lathe mode in AXIS you can set the X and Z in the tool table "
+"using the Touch Off window.  If you have a tool turret you normally have "
+"'Touch off to fixture' selected when setting up your turret.  When setting "
+"the material Z zero you have 'Touch off to material' selected.  For more "
+"information on the G-codes used for tools see <<mcode:m6,M6>>, "
+"<<sec:select-tool,T__n__>>, and <<gcode:g43,G43>>.  For more information on "
+"tool touch off options in AXIS see <<sub:axis-machine-menu,Tool Touch Off>>."
+msgstr ""
+
+#. type: Title ===
+#: src/lathe/lathe-user.adoc:95
+#, no-wrap
+msgid "X Touch Off"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:98
+msgid ""
+"The X axis offset for each tool is normally an offset from the center line "
+"of the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:104
+msgid ""
+"One method is to take your normal turning tool and turn down some stock to a "
+"known diameter.  Using the Tool Touch Off window enter the measured diameter "
+"(or radius if in radius mode) for that tool.  Then using some layout fluid "
+"or a marker to coat the part bring each tool up till it just touches the dye "
+"and set its X offset to the diameter of the part used using the tool touch "
+"off.  Make sure any tools in the corner quadrants have the nose radius set "
+"properly in the tool table so the control point is correct.  Tool touch off "
+"automatically adds a G43 so the current tool is the current offset."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:106 src/lathe/lathe-user.adoc:126
+#: src/lathe/lathe-user.adoc:146
+msgid "A typical session might be:"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:108 src/lathe/lathe-user.adoc:128
+#: src/lathe/lathe-user.adoc:148
+msgid "Home each axis if not homed."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:109 src/lathe/lathe-user.adoc:130
+msgid "Set the current tool with 'T__n__ M6 G43' where _n_ is the tool number."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:110
+msgid "Select the X axis in the 'Manual Control window'."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:111
+msgid "Move the X to a known position or take a test cut and measure the diameter."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:112
+msgid ""
+"Select Touch Off and pick Tool Table then enter the position or the "
+"diameter."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:113
+msgid "Follow the same sequence to correct the Z axis."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:115
+msgid "Note: if you are in Radius Mode you must enter the radius, not the diameter."
+msgstr ""
+
+#. type: Title ===
+#: src/lathe/lathe-user.adoc:116
+#, no-wrap
+msgid "Z Touch Off"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:124
+msgid ""
+"The Z axis offsets can be a bit confusing at first because there are two "
+"elements to the Z offset.  There is the tool table offset, and the machine "
+"coordinate offset.  First we will look at the tool table offsets.  One "
+"method is to use a fixed point on your lathe and set the Z offset for all "
+"tools from this point.  Some use the spindle nose or chuck face.  This gives "
+"you the ability to change to a new tool and set its Z offset without having "
+"to reset all the tools."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:129
+msgid "Make sure no offsets are in effect for the current coordinate system."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:131
+msgid "Select the Z axis in the Manual Control window."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:132
+msgid "Bring the tool close to the control surface."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:133
+msgid ""
+"Using a cylinder move the Z away from the control surface until the cylinder "
+"just passes between the tool and the control surface."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:134
+msgid "Select Touch Off and pick Tool Table and set the position to 0.0."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:135
+msgid "Repeat for each tool using the same cylinder."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:140
+msgid ""
+"Now all the tools are offset the same distance from a standard position.  If "
+"you change a tool like a drill bit you repeat the above and it is now in "
+"sync with the rest of the tools for Z offset.  Some tools might require a "
+"bit of cyphering to determine the control point from the touch off point.  "
+"For example, if you have a 0.125\" wide parting tool and you touch the left "
+"side off but want the right to be Z0, then enter 0.125\" in the touch off "
+"window."
+msgstr ""
+
+#. type: Title ===
+#: src/lathe/lathe-user.adoc:141
+#, no-wrap
+msgid "The Z Machine Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:144
+msgid ""
+"Once all the tools have the Z offset entered into the tool table, you can "
+"use any tool to set the machine offset using the machine coordinate system."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:149
+msgid "Set the current tool with 'T__n__ M6' where _n_ is the tool number."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:150
+msgid "Issue a G43 so the current tool offset is in effect."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:151
+msgid "Bring the tool to the work piece and set the machine Z offset."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:154
+msgid ""
+"If you forget to set the G43 for the current tool when you set the machine "
+"coordinate system offset, you will not get what you expect, as the tool "
+"offset will be added to the current offset when the tool is used in your "
+"program."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:159
+msgid ""
+"Spindle synchronized motion requires a quadrature encoder connected to the "
+"spindle with one index pulse per revolution.  See the motion man page and "
+"the <<cha:spindle-control,Spindle Control Example>> for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:163
+msgid ""
+"The G76 threading cycle is used for both internal and external threads.  For "
+"more information see the <<gcode:g76,G76>> Section."
+msgstr ""
+
+#. type: Block title
+#: src/lathe/lathe-user.adoc:164
+#, no-wrap
+msgid "Constant Surface Speed"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:169
+msgid ""
+"CSS or Constant Surface Speed uses the machine X origin modified by the tool "
+"X offset to compute the spindle speed in RPM.  CSS will track changes in "
+"tool offsets.  The X <<sec:machine-coordinate-system,machine origin>> should "
+"be when the reference tool (the one with zero offset) is at the center of "
+"rotation.  For more information see the <<gcode:g96-g97,G96>> Section."
+msgstr ""
+
+#. type: Block title
+#: src/lathe/lathe-user.adoc:170
+#, no-wrap
+msgid "Feed per Revolution"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:174
+msgid ""
+"Feed per revolution will move the Z axis by the F amount per revolution.  "
+"This is not for threading, use G76 for threading.  For more information see "
+"the <<gcode:g93-g94-g95,G95>> Section."
+msgstr ""
+
+#. type: Title ==
+#: src/lathe/lathe-user.adoc:175
+#, no-wrap
+msgid "Arcs"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:181
+msgid ""
+"Calculating arcs can be mind challenging enough without considering radius "
+"and diameter mode on lathes as well as machine coordinate system "
+"orientation.  The following applies to center format arcs.  On a lathe you "
+"should include G18 in your preamble as the default is G17 even if you're in "
+"lathe mode, in the user interface AXIS.  Arcs in G18 XZ plane use I (X axis) "
+"and K (Z axis) offsets."
+msgstr ""
+
+#. type: Title ===
+#: src/lathe/lathe-user.adoc:182
+#, no-wrap
+msgid "Arcs and Lathe Design"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:186
+msgid ""
+"The typical lathe has the spindle on the left of the operator and the tools "
+"on the operator side of the spindle center line.  This is typically set up "
+"with the imaginary Y axis (+) pointing at the floor."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:188
+msgid "The following will be true on this type of setup:"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:190
+msgid "The Z axis (+) points to the right, away from the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:191
+msgid ""
+"The X axis (+) points toward the operator, and when on the operator side of "
+"the spindle the X values are positive."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:193
+msgid ""
+"Some lathes with tools on the back side have the imaginary Y axis (+) "
+"pointing up."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:197
+msgid ""
+"G2/G3 Arc directions are based on the axis they rotate around. In the case "
+"of lathes, it is the imaginary Y axis.  If the Y axis (+) points toward the "
+"floor, you have to look up for the arc to appear to go in the correct "
+"direction.  So looking from above you reverse the G2/G3 for the arc to "
+"appear to go in the correct direction."
+msgstr ""
+
+#. type: Title ===
+#: src/lathe/lathe-user.adoc:198
+#, no-wrap
+msgid "Radius & Diameter Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:201
+msgid ""
+"When calculating arcs in radius mode you only have to remember the direction "
+"of rotation as it applies to your lathe."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:203
+msgid ""
+"When calculating arcs in diameter mode X is diameter and the X offset (I) is "
+"radius even if you're in G7 diameter mode."
+msgstr ""
+
+#. type: Title ==
+#: src/lathe/lathe-user.adoc:204
+#, no-wrap
+msgid "Tool Path"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/lathe/lathe-user.adoc:206 src/lathe/lathe-user.adoc:214
+#: src/lathe/lathe-user.adoc:215
+#, no-wrap
+msgid "Control point"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:213
+msgid ""
+"The control point for the tool follows the programmed path.  The control "
+"point is the intersection of a line parallel to the X and Z axis and tangent "
+"to the tool tip diameter, as defined when you touch off the X and Z axes for "
+"that tool.  When turning or facing straight sided parts the cutting path and "
+"the tool edge follow the same path.  When turning radius and angles the edge "
+"of the tool tip will not follow the programmed path unless cutter comp is in "
+"effect.  In the following figures you can see how the control point does not "
+"follow the tool edge as you might assume."
+msgstr ""
+
+#. type: Target for macro image
+#: src/lathe/lathe-user.adoc:215
+#, no-wrap
+msgid "images/control-point_en.svg"
+msgstr ""
+
+#. type: Title ===
+#: src/lathe/lathe-user.adoc:217
+#, no-wrap
+msgid "Cutting Angles without Cutter Comp"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:222
+msgid ""
+"Now imagine we program a ramp without cutter comp.  The programmed path is "
+"shown in the following figure.  As you can see in the figure the programmed "
+"path and the desired cut path are one and the same as long as we are moving "
+"in an X or Z direction only."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/lathe/lathe-user.adoc:223 src/lathe/lathe-user.adoc:224
+#, no-wrap
+msgid "Ramp Entry"
+msgstr ""
+
+#. type: Target for macro image
+#: src/lathe/lathe-user.adoc:224
+#, no-wrap
+msgid "images/ramp-entry_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:228
+msgid ""
+"Now as the control point progresses along the programmed path the actual "
+"cutter edge does not follow the programmed path as shown in the following "
+"figure.  There are two ways to solve this, cutter comp and adjusting your "
+"programmed path to compensate for tip radius."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/lathe/lathe-user.adoc:229 src/lathe/lathe-user.adoc:230
+#, no-wrap
+msgid "Ramp Path"
+msgstr ""
+
+#. type: Target for macro image
+#: src/lathe/lathe-user.adoc:230
+#, no-wrap
+msgid "images/ramp-cut_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:233
+msgid ""
+"In the above example it is a simple exercise to adjust the programmed path "
+"to give the desired actual path by moving the programmed path for the ramp "
+"to the left the radius of the tool tip."
+msgstr ""
+
+#. type: Title ===
+#: src/lathe/lathe-user.adoc:234
+#, no-wrap
+msgid "Cutting a Radius"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:239
+msgid ""
+"In this example we will examine what happens during a radius cut without "
+"cutter comp.  In the next figure you see the tool turning the OD of the "
+"part.  The control point of the tool is following the programmed path and "
+"the tool is touching the OD of the part."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/lathe/lathe-user.adoc:240 src/lathe/lathe-user.adoc:241
+#, no-wrap
+msgid "Turning Cut"
+msgstr ""
+
+#. type: Target for macro image
+#: src/lathe/lathe-user.adoc:241
+#, no-wrap
+msgid "images/radius-1_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:245
+msgid ""
+"In this next figure you can see as the tool approaches the end of the part "
+"the control point still follows the path but the tool tip has left the part "
+"and is cutting air.  You can also see that even though a radius has been "
+"programmed the part will actually end up with a square corner."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/lathe/lathe-user.adoc:246 src/lathe/lathe-user.adoc:247
+#: src/lathe/lathe-user.adoc:251 src/lathe/lathe-user.adoc:252
+#, no-wrap
+msgid "Radius Cut"
+msgstr ""
+
+#. type: Target for macro image
+#: src/lathe/lathe-user.adoc:247
+#, no-wrap
+msgid "images/radius-2_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:250
+msgid ""
+"Now you can see as the control point follows the radius programmed the tool "
+"tip has left the part and is now cutting air."
+msgstr ""
+
+#. type: Target for macro image
+#: src/lathe/lathe-user.adoc:252
+#, no-wrap
+msgid "images/radius-3_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:257
+msgid ""
+"In the final figure we can see the tool tip will finish cutting the face but "
+"leave a square corner instead of a nice radius.  Notice also that if you "
+"program the cut to end at the center of the part a small amount of material "
+"will be left from the radius of the tool.  To finish a face cut to the "
+"center of a part you have to program the tool to go past center at least the "
+"nose radius of the tool."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/lathe/lathe-user.adoc:258 src/lathe/lathe-user.adoc:259
+#, no-wrap
+msgid "Face Cut"
+msgstr ""
+
+#. type: Target for macro image
+#: src/lathe/lathe-user.adoc:259
+#, no-wrap
+msgid "images/radius-4_en.svg"
+msgstr ""
+
+#. type: Title ===
+#: src/lathe/lathe-user.adoc:261
+#, no-wrap
+msgid "Using Cutter Comp"
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:264
+msgid ""
+"When using cutter comp on a lathe think of the tool tip radius as the radius "
+"of a round cutter."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:265
+msgid ""
+"When using cutter comp the path must be large enough for a round tool that "
+"will not gouge into the next line."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:267
+msgid ""
+"When cutting straight lines on the lathe you might not want to use cutter "
+"comp.  For example boring a hole with a tight fitting boring bar you may not "
+"have enough room to do the exit move."
+msgstr ""
+
+#. type: Plain text
+#: src/lathe/lathe-user.adoc:268
+msgid ""
+"The entry move into a cutter comp arc is important to get the correct "
+"results."
+msgstr ""
+
+#.  vim: set syntax=asciidoc:
+#. type: Title =
+#: src/man/man1/5axisgui.1.adoc:1
+#, no-wrap
+msgid "5axisgui(1)"
+msgstr ""
+
+#. type: SH
+#: src/man/man1/5axisgui.1.adoc:3 src/man/man1/axis-remote.1.adoc:3
+#: src/man/man1/axis.1.adoc:3 src/man/man1/debuglevel.1.adoc:3
+#: src/man/man1/elbpcom.1.adoc:3 src/man/man1/gladevcp.1.adoc:3
+#: src/man/man1/gladevcp_demo.1.adoc:3 src/man/man1/gmoccapy.1.adoc:3
+#: src/man/man1/gremlin_view.1.adoc:3 src/man/man1/gs2_vfd.1.adoc:3
+#: src/man/man1/gscreen.1.adoc:3 src/man/man1/hal-histogram.1.adoc:3
+#: src/man/man1/hal_input.1.adoc:3 src/man/man1/hal_manualtoolchange.1.adoc:3
+#: src/man/man1/halcmd.1.adoc:3 src/man/man1/halcmd_twopass.1.adoc:3
+#: src/man/man1/halcompile.1.adoc:3 src/man/man1/halmeter.1.adoc:3
+#: src/man/man1/halreport.1.adoc:3 src/man/man1/halrmt.1.adoc:3
+#: src/man/man1/halrun.1.adoc:3 src/man/man1/halsampler.1.adoc:3
+#: src/man/man1/halscope.1.adoc:3 src/man/man1/halshow.1.adoc:3
+#: src/man/man1/halstreamer.1.adoc:3 src/man/man1/haltcl.1.adoc:3
+#: src/man/man1/halui.1.adoc:3 src/man/man1/hbmgui.1.adoc:3
+#: src/man/man1/hexagui.1.adoc:3 src/man/man1/hy_gt_vfd.1.adoc:4
+#: src/man/man1/hy_vfd.1.adoc:3 src/man/man1/image-to-gcode.1.adoc:3
+#: src/man/man1/inivar.1.adoc:5 src/man/man1/io.1.adoc:3
+#: src/man/man1/iocontrol.1.adoc:3 src/man/man1/iov2.1.adoc:3
+#: src/man/man1/latency-histogram.1.adoc:3 src/man/man1/latency-plot.1.adoc:3
+#: src/man/man1/latency-test.1.adoc:3 src/man/man1/lineardelta.1.adoc:3
+#: src/man/man1/linuxcnc_info.1.adoc:3
+#: src/man/man1/linuxcnc_module_helper.1.adoc:3
+#: src/man/man1/linuxcnc_var.1.adoc:3 src/man/man1/linuxcnclcd.1.adoc:3
+#: src/man/man1/linuxcncmkdesktop.1.adoc:3 src/man/man1/linuxcncrsh.1.adoc:3
+#: src/man/man1/linuxcncsvr.1.adoc:3 src/man/man1/linuxcnctop.1.adoc:3
+#: src/man/man1/maho600gui.1.adoc:3 src/man/man1/max5gui.1.adoc:3
+#: src/man/man1/mb2hal.1.adoc:3 src/man/man1/mdi.1.adoc:3
+#: src/man/man1/melfagui.1.adoc:3 src/man/man1/milltask.1.adoc:3
+#: src/man/man1/millturn.1.adoc:3 src/man/man1/mitsub_vfd.1.adoc:3
+#: src/man/man1/modcompile.1.adoc:3 src/man/man1/monitor-xhc-hb04.1.adoc:3
+#: src/man/man1/motion-logger.1.adoc:3 src/man/man1/moveoff_gui.1.adoc:3
+#: src/man/man1/ngcgui.1.adoc:3 src/man/man1/panelui.1.adoc:3
+#: src/man/man1/pmx485-test.1.adoc:3 src/man/man1/pmx485.1.adoc:3
+#: src/man/man1/pncconf.1.adoc:3 src/man/man1/puma560gui.1.adoc:3
+#: src/man/man1/pumagui.1.adoc:3 src/man/man1/pyngcgui.1.adoc:3
+#: src/man/man1/pyui.1.adoc:3 src/man/man1/pyvcp.1.adoc:3
+#: src/man/man1/pyvcp_demo.1.adoc:3 src/man/man1/qtplasmac-materials.1.adoc:3
+#: src/man/man1/qtplasmac_gcode.1.adoc:3 src/man/man1/qtvcp.1.adoc:3
+#: src/man/man1/rotarydelta.1.adoc:3 src/man/man1/rs274.1.adoc:3
+#: src/man/man1/rtapi_app.1.adoc:3 src/man/man1/scaragui.1.adoc:3
+#: src/man/man1/schedrmt.1.adoc:3 src/man/man1/scorbot-er-3.1.adoc:3
+#: src/man/man1/sendkeys.1.adoc:3 src/man/man1/setup_designer.1.adoc:3
+#: src/man/man1/shuttle.1.adoc:3 src/man/man1/sim_pin.1.adoc:3
+#: src/man/man1/simulate_probe.1.adoc:3 src/man/man1/stepconf.1.adoc:3
+#: src/man/man1/svd-ps_vfd.1.adoc:3 src/man/man1/teach-in.1.adoc:3
+#: src/man/man1/tool_mmap_read.1.adoc:3 src/man/man1/tool_watch.1.adoc:3
+#: src/man/man1/tooledit.1.adoc:3 src/man/man1/touchy.1.adoc:3
+#: src/man/man1/update_ini.1.adoc:3 src/man/man1/vfdb_vfd.1.adoc:3
+#: src/man/man1/vfs11_vfd.1.adoc:3 src/man/man1/xhc-hb04-accels.1.adoc:3
+#: src/man/man1/xhc-hb04.1.adoc:3 src/man/man1/xhc-whb04b-6.1.adoc:3
+#: src/man/man1/xyzab-tdr-gui.1.adoc:3 src/man/man1/xyzac-trt-gui.1.adoc:3
+#: src/man/man1/xyzbc-trt-gui.1.adoc:3 src/man/man3/PM_ROTATION_VECTOR.3.adoc:3
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:5
+#: src/man/man3/hal_create_thread.3hal.adoc:3 src/man/man3/hal_exit.3hal.adoc:3
+#: src/man/man3/hal_export_funct.3.adoc:5 src/man/man3/hal_init.3hal.adoc:3
+#: src/man/man3/hal_malloc.3hal.adoc:3 src/man/man3/hal_param_alias.3hal.adoc:3
+#: src/man/man3/hal_param_new.3.adoc:5 src/man/man3/hal_parport.3hal.adoc:3
+#: src/man/man3/hal_pin_alias.3hal.adoc:3 src/man/man3/hal_pin_new.3.adoc:5
+#: src/man/man3/hal_port.3hal.adoc:3 src/man/man3/hal_ready.3hal.adoc:3
+#: src/man/man3/hal_set_constructor.3hal.adoc:3
+#: src/man/man3/hal_set_lock.3.adoc:5 src/man/man3/hal_signal_new.3.adoc:5
+#: src/man/man3/hal_start_threads.3hal.adoc:3
+#: src/man/man3/hal_stream.3hal.adoc:3 src/man/man3/hal_type_t.3.adoc:5
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:3
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:3
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:3
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:3
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:3
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:3
+#: src/man/man3/hm2_pktuart_send.3hm2.adoc:3
+#: src/man/man3/hm2_pktuart_setup.3hm2.adoc:3
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:3
+#: src/man/man3/hm2_uart_read.3hm2.adoc:3
+#: src/man/man3/hm2_uart_send.3hm2.adoc:3
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:3 src/man/man3/hal.3hal.adoc:3
+#: src/man/man3/rtapi.3rtapi.adoc:3 src/man/man3/rtapi_app_exit.3rtapi.adoc:3
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:3
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:3
+#: src/man/man3/rtapi_bool.3rtapi.adoc:3
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:3
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:3
+#: src/man/man3/rtapi_delay.3.adoc:5 src/man/man3/rtapi_device.3rtapi.adoc:3
+#: src/man/man3/rtapi_div_u64.3.adoc:5 src/man/man3/rtapi_exit.3rtapi.adoc:3
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:3
+#: src/man/man3/rtapi_get_time.3.adoc:5 src/man/man3/rtapi_gfp.3rtapi.adoc:3
+#: src/man/man3/rtapi_init.3rtapi.adoc:3 src/man/man3/rtapi_io.3rtapi.adoc:3
+#: src/man/man3/rtapi_is.3rtapi.adoc:3 src/man/man3/rtapi_list.3rtapi.adoc:3
+#: src/man/man3/rtapi_get_msg_level.3.adoc:5
+#: src/man/man3/rtapi_module_param.3.adoc:5
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:3
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:3
+#: src/man/man3/rtapi_outb.3.adoc:5 src/man/man3/rtapi_parport.3rtapi.adoc:3
+#: src/man/man3/rtapi_pci.3rtapi.adoc:3 src/man/man3/rtapi_print.3.adoc:5
+#: src/man/man3/rtapi_prio.3.adoc:5 src/man/man3/rtapi_region.3.adoc:5
+#: src/man/man3/rtapi_shmem.3.adoc:5 src/man/man3/rtapi_slab.3rtapi.adoc:3
+#: src/man/man3/rtapi_snprintf.3.adoc:5 src/man/man3/rtapi_stdint.3rtapi.adoc:3
+#: src/man/man3/rtapi_string.3rtapi.adoc:3
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:3
+#: src/man/man3/rtapi_task_new.3.adoc:5 src/man/man3/rtapi_task_pause.3.adoc:5
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:3
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:3
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:3
+#: src/man/man3/undocumented.3hal.adoc:3
+#: src/man/man3/undocumented.3rtapi.adoc:3 src/man/man9/at_pid.9.adoc:3
+#: src/man/man9/classicladder.9.adoc:3 src/man/man9/counter.9.adoc:3
+#: src/man/man9/debounce.9.adoc:3 src/man/man9/encoder.9.adoc:3
+#: src/man/man9/encoder_ratio.9.adoc:3 src/man/man9/gantrykins.9.adoc:3
+#: src/man/man9/gladevcp.9.adoc:3 src/man/man9/hal_bb_gpio.9.adoc:3
+#: src/man/man9/hal_parport.9.adoc:3 src/man/man9/hm2_7i43.9.adoc:3
+#: src/man/man9/hm2_7i90.9.adoc:3 src/man/man9/hm2_eth.9.adoc:3
+#: src/man/man9/hm2_pci.9.adoc:3 src/man/man9/hm2_rpspi.9.adoc:3
+#: src/man/man9/hm2_spi.9.adoc:3 src/man/man9/hostmot2.9.adoc:3
+#: src/man/man9/kins.9.adoc:3 src/man/man9/lcd.9.adoc:3
+#: src/man/man9/lineardeltakins.9.adoc:3 src/man/man9/motion.9.adoc:3
+#: src/man/man9/opto_ac5.9.adoc:3 src/man/man9/rosekins.9.adoc:3
+#: src/man/man9/sampler.9.adoc:3 src/man/man9/setsserial.9.adoc:3
+#: src/man/man9/siggen.9.adoc:3 src/man/man9/sserial.9.adoc:3
+#: src/man/man9/stepgen.9.adoc:3 src/man/man9/streamer.9.adoc:3
+#: src/man/man9/supply.9.adoc:3 src/man/man9/threads.9.adoc:3
+#: src/man/man9/watchdog.9.adoc:3 src/man/man9/weighted_sum.9.adoc:3
+#: src/plasma/qtplasmac.adoc:1371 man/man1/pi500_vfd.1:10
+#: man/man1/thermistor.1:10 man/man1/wj200_vfd.1:10 man/man9/abs.9:10
+#: man/man9/abs_s32.9:10 man/man9/and2.9:10 man/man9/axistest.9:10
+#: man/man9/bin2gray.9:10 man/man9/biquad.9:10 man/man9/bitslice.9:10
+#: man/man9/bitwise.9:10 man/man9/bldc.9:10 man/man9/blend.9:10
+#: man/man9/carousel.9:10 man/man9/charge_pump.9:10 man/man9/clarke2.9:10
+#: man/man9/clarke3.9:10 man/man9/clarkeinv.9:10 man/man9/comp.9:10
+#: man/man9/constant.9:10 man/man9/conv_bit_float.9:10
+#: man/man9/conv_bit_s32.9:10 man/man9/conv_bit_u32.9:10
+#: man/man9/conv_float_s32.9:10 man/man9/conv_float_u32.9:10
+#: man/man9/conv_s32_bit.9:10 man/man9/conv_s32_float.9:10
+#: man/man9/conv_s32_u32.9:10 man/man9/conv_u32_bit.9:10
+#: man/man9/conv_u32_float.9:10 man/man9/conv_u32_s32.9:10
+#: man/man9/corexy_by_hal.9:10 man/man9/dbounce.9:10 man/man9/ddt.9:10
+#: man/man9/deadzone.9:10 man/man9/demux.9:10 man/man9/differential.9:10
+#: man/man9/edge.9:10 man/man9/eoffset_per_angle.9:10 man/man9/estop_latch.9:10
+#: man/man9/feedcomp.9:10 man/man9/filter_kalman.9:10 man/man9/flipflop.9:10
+#: man/man9/gantry.9:10 man/man9/gearchange.9:10 man/man9/gray2bin.9:10
+#: man/man9/histobins.9:10 man/man9/hypot.9:10 man/man9/ilowpass.9:10
+#: man/man9/integ.9:10 man/man9/invert.9:10 man/man9/joyhandle.9:10
+#: man/man9/knob2float.9:10 man/man9/latencybins.9:10 man/man9/limit1.9:10
+#: man/man9/limit2.9:10 man/man9/limit3.9:10 man/man9/lincurve.9:10
+#: man/man9/logic.9:10 man/man9/lowpass.9:10 man/man9/lut5.9:10
+#: man/man9/maj3.9:10 man/man9/match8.9:10 man/man9/matrix_kb.9:30
+#: man/man9/max31855.9:10 man/man9/mesa_7i65.9:10
+#: man/man9/mesa_pktgyro_test.9:10 man/man9/message.9:10 man/man9/millturn.9:10
+#: man/man9/minmax.9:10 man/man9/moveoff.9:10 man/man9/mult2.9:10
+#: man/man9/multiclick.9:10 man/man9/multiswitch.9:10 man/man9/mux16.9:10
+#: man/man9/mux2.9:10 man/man9/mux4.9:10 man/man9/mux8.9:10
+#: man/man9/mux_generic.9:30 man/man9/near.9:10 man/man9/not.9:10
+#: man/man9/offset.9:10 man/man9/ohmic.9:10 man/man9/oneshot.9:10
+#: man/man9/or2.9:10 man/man9/orient.9:10 man/man9/pid.9:30
+#: man/man9/plasmac.9:10 man/man9/pwmgen.9:30 man/man9/sample_hold.9:10
+#: man/man9/scale.9:10 man/man9/select8.9:10 man/man9/serport.9:10
+#: man/man9/sim_axis_hardware.9:10 man/man9/sim_encoder.9:30
+#: man/man9/sim_home_switch.9:10 man/man9/sim_matrix_kb.9:10
+#: man/man9/sim_parport.9:10 man/man9/simple_tp.9:10 man/man9/sim_spindle.9:10
+#: man/man9/sphereprobe.9:10 man/man9/spindle.9:10
+#: man/man9/spindle_monitor.9:10 man/man9/steptest.9:10 man/man9/sum2.9:10
+#: man/man9/thc.9:10 man/man9/thcud.9:10 man/man9/threadtest.9:10
+#: man/man9/time.9:10 man/man9/timedelay.9:10 man/man9/timedelta.9:10
+#: man/man9/toggle2nist.9:10 man/man9/toggle.9:10 man/man9/tristate_bit.9:10
+#: man/man9/tristate_float.9:10 man/man9/updown.9:10 man/man9/userkins.9:10
+#: man/man9/wcomp.9:10 man/man9/xhc_hb04_util.9:10 man/man9/xor2.9:10
+#, no-wrap
+msgid "NAME"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:6
+msgid "5axisgui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: SH
+#: src/man/man1/5axisgui.1.adoc:7 src/man/man1/axis-remote.1.adoc:11
+#: src/man/man1/axis.1.adoc:11 src/man/man1/debuglevel.1.adoc:11
+#: src/man/man1/elbpcom.1.adoc:39 src/man/man1/gladevcp_demo.1.adoc:11
+#: src/man/man1/gmoccapy.1.adoc:11 src/man/man1/gremlin_view.1.adoc:11
+#: src/man/man1/gs2_vfd.1.adoc:11 src/man/man1/gscreen.1.adoc:11
+#: src/man/man1/hal-histogram.1.adoc:11 src/man/man1/hal_input.1.adoc:12
+#: src/man/man1/hal_manualtoolchange.1.adoc:11 src/man/man1/halcmd.1.adoc:11
+#: src/man/man1/halcmd_twopass.1.adoc:11 src/man/man1/halcompile.1.adoc:36
+#: src/man/man1/halmeter.1.adoc:11 src/man/man1/halreport.1.adoc:11
+#: src/man/man1/halrmt.1.adoc:22 src/man/man1/halrun.1.adoc:17
+#: src/man/man1/halsampler.1.adoc:11 src/man/man1/halscope.1.adoc:11
+#: src/man/man1/halshow.1.adoc:22 src/man/man1/halstreamer.1.adoc:13
+#: src/man/man1/haltcl.1.adoc:11 src/man/man1/halui.1.adoc:11
+#: src/man/man1/hbmgui.1.adoc:7 src/man/man1/hexagui.1.adoc:7
+#: src/man/man1/hy_gt_vfd.1.adoc:14 src/man/man1/hy_vfd.1.adoc:11
+#: src/man/man1/image-to-gcode.1.adoc:11 src/man/man1/inivar.1.adoc:13
+#: src/man/man1/io.1.adoc:12 src/man/man1/iocontrol.1.adoc:14
+#: src/man/man1/iov2.1.adoc:12 src/man/man1/latency-histogram.1.adoc:11
+#: src/man/man1/latency-plot.1.adoc:11 src/man/man1/latency-test.1.adoc:11
+#: src/man/man1/lineardelta.1.adoc:7 src/man/man1/linuxcnc_info.1.adoc:11
+#: src/man/man1/linuxcnc_module_helper.1.adoc:11
+#: src/man/man1/linuxcnc_var.1.adoc:11 src/man/man1/linuxcnclcd.1.adoc:11
+#: src/man/man1/linuxcncmkdesktop.1.adoc:11 src/man/man1/linuxcncrsh.1.adoc:11
+#: src/man/man1/linuxcncsvr.1.adoc:11 src/man/man1/linuxcnctop.1.adoc:11
+#: src/man/man1/maho600gui.1.adoc:7 src/man/man1/max5gui.1.adoc:7
+#: src/man/man1/mb2hal.1.adoc:14 src/man/man1/mdi.1.adoc:12
+#: src/man/man1/melfagui.1.adoc:7 src/man/man1/milltask.1.adoc:7
+#: src/man/man1/millturn.1.adoc:7 src/man/man1/mitsub_vfd.1.adoc:20
+#: src/man/man1/modcompile.1.adoc:7 src/man/man1/monitor-xhc-hb04.1.adoc:11
+#: src/man/man1/motion-logger.1.adoc:11 src/man/man1/moveoff_gui.1.adoc:13
+#: src/man/man1/ngcgui.1.adoc:12 src/man/man1/panelui.1.adoc:11
+#: src/man/man1/pmx485-test.1.adoc:11 src/man/man1/pmx485.1.adoc:11
+#: src/man/man1/pncconf.1.adoc:11 src/man/man1/puma560gui.1.adoc:7
+#: src/man/man1/pumagui.1.adoc:7 src/man/man1/pyngcgui.1.adoc:11
+#: src/man/man1/pyui.1.adoc:11 src/man/man1/pyvcp_demo.1.adoc:11
+#: src/man/man1/qtplasmac-materials.1.adoc:11
+#: src/man/man1/qtplasmac_gcode.1.adoc:7 src/man/man1/qtvcp.1.adoc:11
+#: src/man/man1/rotarydelta.1.adoc:7 src/man/man1/rs274.1.adoc:11
+#: src/man/man1/rtapi_app.1.adoc:11 src/man/man1/scaragui.1.adoc:7
+#: src/man/man1/schedrmt.1.adoc:11 src/man/man1/scorbot-er-3.1.adoc:7
+#: src/man/man1/sendkeys.1.adoc:11 src/man/man1/setup_designer.1.adoc:7
+#: src/man/man1/shuttle.1.adoc:12 src/man/man1/sim_pin.1.adoc:16
+#: src/man/man1/simulate_probe.1.adoc:11 src/man/man1/stepconf.1.adoc:11
+#: src/man/man1/svd-ps_vfd.1.adoc:12 src/man/man1/teach-in.1.adoc:11
+#: src/man/man1/tool_mmap_read.1.adoc:7 src/man/man1/tool_watch.1.adoc:8
+#: src/man/man1/tooledit.1.adoc:11 src/man/man1/touchy.1.adoc:11
+#: src/man/man1/update_ini.1.adoc:11 src/man/man1/vfdb_vfd.1.adoc:11
+#: src/man/man1/vfs11_vfd.1.adoc:11 src/man/man1/xhc-hb04-accels.1.adoc:11
+#: src/man/man1/xhc-hb04.1.adoc:7 src/man/man1/xhc-whb04b-6.1.adoc:11
+#: src/man/man1/xyzab-tdr-gui.1.adoc:7 src/man/man1/xyzac-trt-gui.1.adoc:7
+#: src/man/man1/xyzbc-trt-gui.1.adoc:7
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:32
+#: src/man/man3/hal_create_thread.3hal.adoc:22
+#: src/man/man3/hal_exit.3hal.adoc:16 src/man/man3/hal_export_funct.3.adoc:32
+#: src/man/man3/hal_init.3hal.adoc:16 src/man/man3/hal_malloc.3hal.adoc:16
+#: src/man/man3/hal_param_alias.3hal.adoc:18
+#: src/man/man3/hal_param_new.3.adoc:47 src/man/man3/hal_parport.3hal.adoc:33
+#: src/man/man3/hal_pin_alias.3hal.adoc:19 src/man/man3/hal_pin_new.3.adoc:57
+#: src/man/man3/hal_port.3hal.adoc:29 src/man/man3/hal_ready.3hal.adoc:16
+#: src/man/man3/hal_set_constructor.3hal.adoc:20
+#: src/man/man3/hal_signal_new.3.adoc:29
+#: src/man/man3/hal_start_threads.3hal.adoc:13
+#: src/man/man3/hal_stream.3hal.adoc:36 src/man/man3/hal_type_t.3.adoc:9
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:14
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:15
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:16
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:16
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:15
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:16
+#: src/man/man3/hm2_pktuart_send.3hm2.adoc:16
+#: src/man/man3/hm2_pktuart_setup.3hm2.adoc:16
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:14
+#: src/man/man3/hm2_uart_read.3hm2.adoc:14
+#: src/man/man3/hm2_uart_send.3hm2.adoc:14
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:15 src/man/man3/hal.3hal.adoc:7
+#: src/man/man3/rtapi.3rtapi.adoc:7 src/man/man3/rtapi_app_exit.3rtapi.adoc:19
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:19
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:31
+#: src/man/man3/rtapi_bool.3rtapi.adoc:14
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:21
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:19
+#: src/man/man3/rtapi_delay.3.adoc:22 src/man/man3/rtapi_device.3rtapi.adoc:18
+#: src/man/man3/rtapi_div_u64.3.adoc:29 src/man/man3/rtapi_exit.3rtapi.adoc:19
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:18
+#: src/man/man3/rtapi_get_time.3.adoc:17 src/man/man3/rtapi_gfp.3rtapi.adoc:17
+#: src/man/man3/rtapi_init.3rtapi.adoc:19 src/man/man3/rtapi_io.3rtapi.adoc:22
+#: src/man/man3/rtapi_is.3rtapi.adoc:15 src/man/man3/rtapi_list.3rtapi.adoc:23
+#: src/man/man3/rtapi_get_msg_level.3.adoc:22
+#: src/man/man3/rtapi_module_param.3.adoc:43
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:23
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:26
+#: src/man/man3/rtapi_outb.3.adoc:24 src/man/man3/rtapi_parport.3rtapi.adoc:38
+#: src/man/man3/rtapi_pci.3rtapi.adoc:34 src/man/man3/rtapi_print.3.adoc:30
+#: src/man/man3/rtapi_prio.3.adoc:24 src/man/man3/rtapi_region.3.adoc:26
+#: src/man/man3/rtapi_shmem.3.adoc:31 src/man/man3/rtapi_slab.3rtapi.adoc:19
+#: src/man/man3/rtapi_snprintf.3.adoc:21
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:28
+#: src/man/man3/rtapi_string.3rtapi.adoc:17
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:19
+#: src/man/man3/rtapi_task_new.3.adoc:31
+#: src/man/man3/rtapi_task_pause.3.adoc:22
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:14
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:21
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:14 src/man/man9/at_pid.9.adoc:7
+#: src/man/man9/classicladder.9.adoc:13 src/man/man9/counter.9.adoc:11
+#: src/man/man9/debounce.9.adoc:23 src/man/man9/encoder.9.adoc:11
+#: src/man/man9/encoder_ratio.9.adoc:11 src/man/man9/gladevcp.9.adoc:11
+#: src/man/man9/hal_parport.9.adoc:12 src/man/man9/hm2_7i43.9.adoc:32
+#: src/man/man9/hm2_7i90.9.adoc:33 src/man/man9/hm2_eth.9.adoc:20
+#: src/man/man9/hm2_pci.9.adoc:17 src/man/man9/hm2_rpspi.9.adoc:63
+#: src/man/man9/hm2_spi.9.adoc:23 src/man/man9/hostmot2.9.adoc:31
+#: src/man/man9/kins.9.adoc:45 src/man/man9/lcd.9.adoc:38
+#: src/man/man9/motion.9.adoc:71 src/man/man9/opto_ac5.9.adoc:11
+#: src/man/man9/sampler.9.adoc:11 src/man/man9/siggen.9.adoc:11
+#: src/man/man9/stepgen.9.adoc:11 src/man/man9/streamer.9.adoc:9
+#: src/man/man9/supply.9.adoc:11 src/man/man9/threads.9.adoc:11
+#: src/man/man9/weighted_sum.9.adoc:13 man/man1/thermistor.1:15
+#: man/man9/bin2gray.9:16 man/man9/biquad.9:16 man/man9/bitslice.9:16
+#: man/man9/bldc.9:15 man/man9/carousel.9:37 man/man9/charge_pump.9:16
+#: man/man9/clarke2.9:16 man/man9/clarke3.9:16 man/man9/clarkeinv.9:16
+#: man/man9/corexy_by_hal.9:16 man/man9/ddt.9:16 man/man9/demux.9:16
+#: man/man9/eoffset_per_angle.9:16 man/man9/estop_latch.9:16
+#: man/man9/filter_kalman.9:16 man/man9/gantry.9:16 man/man9/gray2bin.9:16
+#: man/man9/ilowpass.9:16 man/man9/joyhandle.9:16 man/man9/lincurve.9:16
+#: man/man9/logic.9:29 man/man9/lut5.9:16 man/man9/matrix_kb.9:43
+#: man/man9/max31855.9:16 man/man9/mesa_7i65.9:16
+#: man/man9/mesa_pktgyro_test.9:16 man/man9/message.9:26 man/man9/millturn.9:16
+#: man/man9/moveoff.9:16 man/man9/multiclick.9:16 man/man9/mux_generic.9:81
+#: man/man9/ohmic.9:16 man/man9/oneshot.9:16 man/man9/orient.9:16
+#: man/man9/pid.9:35 man/man9/plasmac.9:16 man/man9/pwmgen.9:35
+#: man/man9/sim_axis_hardware.9:16 man/man9/sim_encoder.9:35
+#: man/man9/sim_home_switch.9:16 man/man9/sim_parport.9:16
+#: man/man9/spindle.9:16 man/man9/thc.9:16 man/man9/thcud.9:16
+#: man/man9/time.9:16 man/man9/toggle2nist.9:16 man/man9/toggle.9:16
+#: man/man9/userkins.9:16 man/man9/xhc_hb04_util.9:16
+#, no-wrap
+msgid "DESCRIPTION"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:10
+#, no-wrap
+msgid "*5axisgui* is one of the sample *Vismach* GUIs for LinuxCNC\n"
+msgstr ""
+
+#. type: SH
+#: src/man/man1/5axisgui.1.adoc:11 src/man/man1/axis-remote.1.adoc:34
+#: src/man/man1/axis.1.adoc:26 src/man/man1/debuglevel.1.adoc:16
+#: src/man/man1/elbpcom.1.adoc:89 src/man/man1/gladevcp.1.adoc:49
+#: src/man/man1/gladevcp_demo.1.adoc:15 src/man/man1/gmoccapy.1.adoc:26
+#: src/man/man1/gremlin_view.1.adoc:39 src/man/man1/gs2_vfd.1.adoc:153
+#: src/man/man1/gscreen.1.adoc:26 src/man/man1/hal-histogram.1.adoc:17
+#: src/man/man1/hal_input.1.adoc:169
+#: src/man/man1/hal_manualtoolchange.1.adoc:90 src/man/man1/halcmd.1.adoc:342
+#: src/man/man1/halcmd_twopass.1.adoc:16 src/man/man1/halcompile.1.adoc:60
+#: src/man/man1/halreport.1.adoc:30 src/man/man1/halrmt.1.adoc:204
+#: src/man/man1/halrun.1.adoc:79 src/man/man1/halsampler.1.adoc:78
+#: src/man/man1/halscope.1.adoc:17 src/man/man1/halshow.1.adoc:28
+#: src/man/man1/halstreamer.1.adoc:74 src/man/man1/haltcl.1.adoc:81
+#: src/man/man1/halui.1.adoc:431 src/man/man1/hbmgui.1.adoc:15
+#: src/man/man1/hexagui.1.adoc:15 src/man/man1/image-to-gcode.1.adoc:16
+#: src/man/man1/iocontrol.1.adoc:27 src/man/man1/latency-histogram.1.adoc:55
+#: src/man/man1/latency-plot.1.adoc:37 src/man/man1/latency-test.1.adoc:17
+#: src/man/man1/lineardelta.1.adoc:13 src/man/man1/linuxcnc_info.1.adoc:16
+#: src/man/man1/linuxcnc_module_helper.1.adoc:16
+#: src/man/man1/linuxcnc_var.1.adoc:22 src/man/man1/linuxcnclcd.1.adoc:27
+#: src/man/man1/linuxcncmkdesktop.1.adoc:15 src/man/man1/linuxcncsvr.1.adoc:15
+#: src/man/man1/linuxcnctop.1.adoc:19 src/man/man1/maho600gui.1.adoc:16
+#: src/man/man1/max5gui.1.adoc:16 src/man/man1/mdi.1.adoc:33
+#: src/man/man1/melfagui.1.adoc:16 src/man/man1/millturn.1.adoc:16
+#: src/man/man1/modcompile.1.adoc:15 src/man/man1/monitor-xhc-hb04.1.adoc:22
+#: src/man/man1/motion-logger.1.adoc:18 src/man/man1/moveoff_gui.1.adoc:157
+#: src/man/man1/ngcgui.1.adoc:16 src/man/man1/panelui.1.adoc:22
+#: src/man/man1/pmx485.1.adoc:16 src/man/man1/pncconf.1.adoc:17
+#: src/man/man1/puma560gui.1.adoc:16 src/man/man1/pumagui.1.adoc:16
+#: src/man/man1/pyngcgui.1.adoc:16 src/man/man1/pyui.1.adoc:18
+#: src/man/man1/pyvcp.1.adoc:21 src/man/man1/pyvcp_demo.1.adoc:21
+#: src/man/man1/qtplasmac-materials.1.adoc:18
+#: src/man/man1/qtplasmac_gcode.1.adoc:14 src/man/man1/qtvcp.1.adoc:56
+#: src/man/man1/rotarydelta.1.adoc:15 src/man/man1/rs274.1.adoc:61
+#: src/man/man1/rtapi_app.1.adoc:17 src/man/man1/scaragui.1.adoc:15
+#: src/man/man1/schedrmt.1.adoc:139 src/man/man1/scorbot-er-3.1.adoc:20
+#: src/man/man1/setup_designer.1.adoc:14 src/man/man1/simulate_probe.1.adoc:16
+#: src/man/man1/stepconf.1.adoc:17 src/man/man1/teach-in.1.adoc:20
+#: src/man/man1/tool_mmap_read.1.adoc:11 src/man/man1/tool_watch.1.adoc:16
+#: src/man/man1/tooledit.1.adoc:17 src/man/man1/touchy.1.adoc:24
+#: src/man/man1/update_ini.1.adoc:19 src/man/man1/xhc-hb04-accels.1.adoc:16
+#: src/man/man1/xhc-whb04b-6.1.adoc:560 src/man/man1/xyzab-tdr-gui.1.adoc:12
+#: src/man/man1/xyzac-trt-gui.1.adoc:14 src/man/man1/xyzbc-trt-gui.1.adoc:14
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:47
+#: src/man/man3/hal_create_thread.3hal.adoc:44
+#: src/man/man3/hal_export_funct.3.adoc:49
+#: src/man/man3/hal_param_alias.3hal.adoc:31
+#: src/man/man3/hal_param_new.3.adoc:58 src/man/man3/hal_pin_alias.3hal.adoc:32
+#: src/man/man3/hal_pin_new.3.adoc:72 src/man/man3/hal_port.3hal.adoc:133
+#: src/man/man3/hal_set_constructor.3hal.adoc:30
+#: src/man/man3/hal_signal_new.3.adoc:55
+#: src/man/man3/hal_start_threads.3hal.adoc:25
+#: src/man/man3/hal_stream.3hal.adoc:172 src/man/man3/hal_type_t.3.adoc:65
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:36
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:49
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:49
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:65
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:38
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:38
+#: src/man/man3/hm2_uart_read.3hm2.adoc:34
+#: src/man/man3/hm2_uart_send.3hm2.adoc:32
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:54 src/man/man3/hal.3hal.adoc:77
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:37
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:36
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:67 src/man/man3/rtapi_delay.3.adoc:41
+#: src/man/man3/rtapi_io.3rtapi.adoc:43
+#: src/man/man3/rtapi_get_msg_level.3.adoc:36
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:47
+#: src/man/man3/rtapi_outb.3.adoc:42 src/man/man3/rtapi_print.3.adoc:56
+#: src/man/man3/rtapi_prio.3.adoc:50 src/man/man3/rtapi_snprintf.3.adoc:38
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:42
+#: src/man/man3/rtapi_task_new.3.adoc:48
+#: src/man/man3/rtapi_task_pause.3.adoc:53
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:27
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:34
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:27
+#: src/man/man3/undocumented.3hal.adoc:7
+#: src/man/man3/undocumented.3rtapi.adoc:7 src/man/man9/at_pid.9.adoc:12
+#: src/man/man9/classicladder.9.adoc:72 src/man/man9/counter.9.adoc:65
+#: src/man/man9/encoder_ratio.9.adoc:77 src/man/man9/gantrykins.9.adoc:14
+#: src/man/man9/hal_parport.9.adoc:224 src/man/man9/hm2_7i43.9.adoc:83
+#: src/man/man9/hm2_7i90.9.adoc:69 src/man/man9/hm2_eth.9.adoc:178
+#: src/man/man9/hm2_pci.9.adoc:31 src/man/man9/hm2_rpspi.9.adoc:147
+#: src/man/man9/hm2_spi.9.adoc:55 src/man/man9/hostmot2.9.adoc:1561
+#: src/man/man9/kins.9.adoc:391 src/man/man9/motion.9.adoc:552
+#: src/man/man9/opto_ac5.9.adoc:67 src/man/man9/sampler.9.adoc:77
+#: src/man/man9/stepgen.9.adoc:194 src/man/man9/streamer.9.adoc:70
+#: src/man/man9/weighted_sum.9.adoc:46 man/man9/and2.9:43 man/man9/clarke2.9:49
+#: man/man9/clarke3.9:53 man/man9/clarkeinv.9:50 man/man9/demux.9:44
+#: man/man9/invert.9:32 man/man9/logic.9:109 man/man9/lut5.9:173
+#: man/man9/moveoff.9:167 man/man9/mult2.9:32 man/man9/mux16.9:75
+#: man/man9/mux2.9:34 man/man9/mux4.9:61 man/man9/mux8.9:93
+#: man/man9/mux_generic.9:86 man/man9/not.9:27 man/man9/or2.9:42
+#: man/man9/sample_hold.9:31 man/man9/select8.9:30 man/man9/spindle.9:84
+#: man/man9/sum2.9:43 man/man9/xor2.9:42
+#, no-wrap
+msgid "SEE ALSO"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:14 src/man/man1/axis.1.adoc:29
+#: src/man/man1/gmoccapy.1.adoc:29 src/man/man1/gscreen.1.adoc:29
+#: src/man/man1/hal-histogram.1.adoc:20 src/man/man1/halreport.1.adoc:33
+#: src/man/man1/halrmt.1.adoc:207 src/man/man1/halscope.1.adoc:20
+#: src/man/man1/halshow.1.adoc:31 src/man/man1/hbmgui.1.adoc:18
+#: src/man/man1/hexagui.1.adoc:18 src/man/man1/image-to-gcode.1.adoc:19
+#: src/man/man1/latency-test.1.adoc:20 src/man/man1/lineardelta.1.adoc:16
+#: src/man/man1/linuxcnc_info.1.adoc:19
+#: src/man/man1/linuxcnc_module_helper.1.adoc:19
+#: src/man/man1/linuxcnc_var.1.adoc:25 src/man/man1/linuxcnclcd.1.adoc:30
+#: src/man/man1/linuxcncmkdesktop.1.adoc:18 src/man/man1/linuxcncsvr.1.adoc:18
+#: src/man/man1/linuxcnctop.1.adoc:22 src/man/man1/maho600gui.1.adoc:19
+#: src/man/man1/max5gui.1.adoc:19 src/man/man1/motion-logger.1.adoc:21
+#: src/man/man1/panelui.1.adoc:25 src/man/man1/pncconf.1.adoc:20
+#: src/man/man1/puma560gui.1.adoc:19 src/man/man1/pumagui.1.adoc:19
+#: src/man/man1/pyui.1.adoc:21 src/man/man1/pyvcp_demo.1.adoc:24
+#: src/man/man1/qtvcp.1.adoc:59 src/man/man1/rotarydelta.1.adoc:18
+#: src/man/man1/rs274.1.adoc:64 src/man/man1/rtapi_app.1.adoc:20
+#: src/man/man1/scaragui.1.adoc:18 src/man/man1/schedrmt.1.adoc:142
+#: src/man/man1/scorbot-er-3.1.adoc:23 src/man/man1/simulate_probe.1.adoc:19
+#: src/man/man1/stepconf.1.adoc:20 src/man/man1/teach-in.1.adoc:23
+#: src/man/man1/tooledit.1.adoc:20 src/man/man1/touchy.1.adoc:27
+#: src/man/man1/update_ini.1.adoc:22 src/man/man1/xhc-hb04-accels.1.adoc:19
+#: src/man/man1/xyzac-trt-gui.1.adoc:17 src/man/man1/xyzbc-trt-gui.1.adoc:17
+msgid "linuxcnc(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:17 src/man/man1/lineardelta.1.adoc:19
+#: src/man/man1/rotarydelta.1.adoc:14
+msgid ""
+"See the main LinuxCNC documentation for more details.  "
+"https://linuxcnc.org/docs/html/gui/vismach.html"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:20 src/man/man1/axis.1.adoc:32
+#: src/man/man1/debuglevel.1.adoc:22 src/man/man1/gladevcp_demo.1.adoc:21
+#: src/man/man1/gmoccapy.1.adoc:32 src/man/man1/gremlin_view.1.adoc:45
+#: src/man/man1/gscreen.1.adoc:32 src/man/man1/hal-histogram.1.adoc:23
+#: src/man/man1/halcmd_twopass.1.adoc:22 src/man/man1/halreport.1.adoc:36
+#: src/man/man1/halrmt.1.adoc:210 src/man/man1/halscope.1.adoc:23
+#: src/man/man1/halshow.1.adoc:34 src/man/man1/hbmgui.1.adoc:21
+#: src/man/man1/hexagui.1.adoc:21 src/man/man1/image-to-gcode.1.adoc:24
+#: src/man/man1/latency-test.1.adoc:25 src/man/man1/linuxcnc_info.1.adoc:22
+#: src/man/man1/linuxcnc_module_helper.1.adoc:22
+#: src/man/man1/linuxcnc_var.1.adoc:28 src/man/man1/linuxcnclcd.1.adoc:33
+#: src/man/man1/linuxcncmkdesktop.1.adoc:21 src/man/man1/linuxcncsvr.1.adoc:21
+#: src/man/man1/linuxcnctop.1.adoc:27 src/man/man1/maho600gui.1.adoc:22
+#: src/man/man1/max5gui.1.adoc:22 src/man/man1/mdi.1.adoc:39
+#: src/man/man1/melfagui.1.adoc:22 src/man/man1/millturn.1.adoc:22
+#: src/man/man1/modcompile.1.adoc:21 src/man/man1/monitor-xhc-hb04.1.adoc:28
+#: src/man/man1/motion-logger.1.adoc:24 src/man/man1/ngcgui.1.adoc:22
+#: src/man/man1/panelui.1.adoc:28 src/man/man1/pncconf.1.adoc:23
+#: src/man/man1/puma560gui.1.adoc:22 src/man/man1/pumagui.1.adoc:22
+#: src/man/man1/pyngcgui.1.adoc:22 src/man/man1/pyui.1.adoc:24
+#: src/man/man1/pyvcp_demo.1.adoc:27 src/man/man1/qtplasmac_gcode.1.adoc:20
+#: src/man/man1/qtvcp.1.adoc:62 src/man/man1/rotarydelta.1.adoc:21
+#: src/man/man1/rs274.1.adoc:67 src/man/man1/rtapi_app.1.adoc:23
+#: src/man/man1/scaragui.1.adoc:21 src/man/man1/schedrmt.1.adoc:145
+#: src/man/man1/scorbot-er-3.1.adoc:26 src/man/man1/setup_designer.1.adoc:20
+#: src/man/man1/simulate_probe.1.adoc:22 src/man/man1/stepconf.1.adoc:23
+#: src/man/man1/teach-in.1.adoc:26 src/man/man1/tool_mmap_read.1.adoc:20
+#: src/man/man1/tool_watch.1.adoc:22 src/man/man1/tooledit.1.adoc:23
+#: src/man/man1/touchy.1.adoc:30 src/man/man1/update_ini.1.adoc:25
+#: src/man/man1/xhc-hb04-accels.1.adoc:22 src/man/man1/xyzab-tdr-gui.1.adoc:21
+#: src/man/man1/xyzac-trt-gui.1.adoc:20 src/man/man1/xyzbc-trt-gui.1.adoc:20
+msgid ""
+"Much more information about LinuxCNC and HAL is available in the LinuxCNC "
+"and HAL User Manuals, found at /usr/share/doc/LinuxCNC/."
+msgstr ""
+
+#. type: SH
+#: src/man/man1/5axisgui.1.adoc:21 src/man/man1/axis-remote.1.adoc:41
+#: src/man/man1/axis.1.adoc:33 src/man/man1/debuglevel.1.adoc:23
+#: src/man/man1/gladevcp_demo.1.adoc:22 src/man/man1/gmoccapy.1.adoc:33
+#: src/man/man1/gremlin_view.1.adoc:46 src/man/man1/gscreen.1.adoc:33
+#: src/man/man1/hal-histogram.1.adoc:24 src/man/man1/hal_input.1.adoc:163
+#: src/man/man1/halcmd.1.adoc:321 src/man/man1/halcmd_twopass.1.adoc:23
+#: src/man/man1/halreport.1.adoc:37 src/man/man1/halrmt.1.adoc:211
+#: src/man/man1/halrun.1.adoc:57 src/man/man1/halscope.1.adoc:24
+#: src/man/man1/halshow.1.adoc:42 src/man/man1/halui.1.adoc:435
+#: src/man/man1/hbmgui.1.adoc:22 src/man/man1/hexagui.1.adoc:22
+#: src/man/man1/image-to-gcode.1.adoc:25 src/man/man1/inivar.1.adoc:53
+#: src/man/man1/latency-histogram.1.adoc:62 src/man/man1/latency-plot.1.adoc:44
+#: src/man/man1/latency-test.1.adoc:26 src/man/man1/lineardelta.1.adoc:20
+#: src/man/man1/linuxcnc_info.1.adoc:23
+#: src/man/man1/linuxcnc_module_helper.1.adoc:23
+#: src/man/man1/linuxcnc_var.1.adoc:29 src/man/man1/linuxcnclcd.1.adoc:34
+#: src/man/man1/linuxcncmkdesktop.1.adoc:22 src/man/man1/linuxcncsvr.1.adoc:22
+#: src/man/man1/linuxcnctop.1.adoc:28 src/man/man1/maho600gui.1.adoc:23
+#: src/man/man1/max5gui.1.adoc:23 src/man/man1/mdi.1.adoc:40
+#: src/man/man1/melfagui.1.adoc:23 src/man/man1/millturn.1.adoc:23
+#: src/man/man1/modcompile.1.adoc:22 src/man/man1/monitor-xhc-hb04.1.adoc:29
+#: src/man/man1/motion-logger.1.adoc:25 src/man/man1/ngcgui.1.adoc:23
+#: src/man/man1/panelui.1.adoc:29 src/man/man1/pncconf.1.adoc:24
+#: src/man/man1/puma560gui.1.adoc:23 src/man/man1/pumagui.1.adoc:23
+#: src/man/man1/pyngcgui.1.adoc:23 src/man/man1/pyui.1.adoc:25
+#: src/man/man1/pyvcp_demo.1.adoc:28 src/man/man1/qtplasmac_gcode.1.adoc:21
+#: src/man/man1/qtvcp.1.adoc:63 src/man/man1/rotarydelta.1.adoc:22
+#: src/man/man1/rs274.1.adoc:68 src/man/man1/rtapi_app.1.adoc:24
+#: src/man/man1/scaragui.1.adoc:22 src/man/man1/schedrmt.1.adoc:146
+#: src/man/man1/scorbot-er-3.1.adoc:27 src/man/man1/setup_designer.1.adoc:21
+#: src/man/man1/simulate_probe.1.adoc:23 src/man/man1/stepconf.1.adoc:24
+#: src/man/man1/teach-in.1.adoc:27 src/man/man1/tool_mmap_read.1.adoc:21
+#: src/man/man1/tool_watch.1.adoc:23 src/man/man1/tooledit.1.adoc:24
+#: src/man/man1/touchy.1.adoc:31 src/man/man1/update_ini.1.adoc:26
+#: src/man/man1/xhc-hb04-accels.1.adoc:23 src/man/man1/xyzab-tdr-gui.1.adoc:22
+#: src/man/man1/xyzac-trt-gui.1.adoc:21 src/man/man1/xyzbc-trt-gui.1.adoc:21
+#: src/man/man3/hal_stream.3hal.adoc:164 src/man/man9/classicladder.9.adoc:68
+#: src/man/man9/hm2_eth.9.adoc:160 src/man/man9/motion.9.adoc:546
+#: src/man/man9/opto_ac5.9.adoc:63 src/man/man9/streamer.9.adoc:75
+#: src/man/man9/threads.9.adoc:47 man/man9/pid.9:419
+#, no-wrap
+msgid "BUGS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:24 src/man/man1/axis-remote.1.adoc:44
+#: src/man/man1/axis.1.adoc:36 src/man/man1/debuglevel.1.adoc:26
+#: src/man/man1/gladevcp_demo.1.adoc:25 src/man/man1/gmoccapy.1.adoc:36
+#: src/man/man1/gremlin_view.1.adoc:49 src/man/man1/gscreen.1.adoc:36
+#: src/man/man1/hal-histogram.1.adoc:27 src/man/man1/halcmd.1.adoc:324
+#: src/man/man1/halcmd_twopass.1.adoc:26 src/man/man1/halreport.1.adoc:40
+#: src/man/man1/halrun.1.adoc:60 src/man/man1/halscope.1.adoc:27
+#: src/man/man1/halshow.1.adoc:45 src/man/man1/halui.1.adoc:438
+#: src/man/man1/hbmgui.1.adoc:25 src/man/man1/hexagui.1.adoc:25
+#: src/man/man1/image-to-gcode.1.adoc:28 src/man/man1/inivar.1.adoc:56
+#: src/man/man1/latency-histogram.1.adoc:65 src/man/man1/latency-plot.1.adoc:47
+#: src/man/man1/latency-test.1.adoc:29 src/man/man1/lineardelta.1.adoc:23
+#: src/man/man1/linuxcnc_module_helper.1.adoc:26
+#: src/man/man1/linuxcnc_var.1.adoc:32 src/man/man1/linuxcnclcd.1.adoc:37
+#: src/man/man1/linuxcncmkdesktop.1.adoc:25 src/man/man1/linuxcncsvr.1.adoc:25
+#: src/man/man1/linuxcnctop.1.adoc:31 src/man/man1/maho600gui.1.adoc:26
+#: src/man/man1/max5gui.1.adoc:26 src/man/man1/mdi.1.adoc:43
+#: src/man/man1/melfagui.1.adoc:26 src/man/man1/millturn.1.adoc:26
+#: src/man/man1/modcompile.1.adoc:25 src/man/man1/monitor-xhc-hb04.1.adoc:32
+#: src/man/man1/motion-logger.1.adoc:28 src/man/man1/ngcgui.1.adoc:26
+#: src/man/man1/panelui.1.adoc:32 src/man/man1/pncconf.1.adoc:27
+#: src/man/man1/puma560gui.1.adoc:26 src/man/man1/pumagui.1.adoc:26
+#: src/man/man1/pyngcgui.1.adoc:26 src/man/man1/pyui.1.adoc:28
+#: src/man/man1/pyvcp_demo.1.adoc:31 src/man/man1/qtplasmac_gcode.1.adoc:24
+#: src/man/man1/qtvcp.1.adoc:66 src/man/man1/rotarydelta.1.adoc:25
+#: src/man/man1/rs274.1.adoc:71 src/man/man1/rtapi_app.1.adoc:27
+#: src/man/man1/scaragui.1.adoc:25 src/man/man1/schedrmt.1.adoc:149
+#: src/man/man1/scorbot-er-3.1.adoc:30 src/man/man1/setup_designer.1.adoc:24
+#: src/man/man1/simulate_probe.1.adoc:26 src/man/man1/stepconf.1.adoc:27
+#: src/man/man1/teach-in.1.adoc:30 src/man/man1/tool_mmap_read.1.adoc:24
+#: src/man/man1/tool_watch.1.adoc:26 src/man/man1/tooledit.1.adoc:27
+#: src/man/man1/touchy.1.adoc:34 src/man/man1/update_ini.1.adoc:29
+#: src/man/man1/xhc-hb04-accels.1.adoc:26 src/man/man1/xyzab-tdr-gui.1.adoc:25
+#: src/man/man1/xyzac-trt-gui.1.adoc:24 src/man/man1/xyzbc-trt-gui.1.adoc:24
+msgid "None known at this time."
+msgstr ""
+
+#. type: SH
+#: src/man/man1/5axisgui.1.adoc:25 src/man/man1/axis-remote.1.adoc:45
+#: src/man/man1/axis.1.adoc:37 src/man/man1/debuglevel.1.adoc:27
+#: src/man/man1/gladevcp_demo.1.adoc:26 src/man/man1/gmoccapy.1.adoc:37
+#: src/man/man1/gremlin_view.1.adoc:50 src/man/man1/gs2_vfd.1.adoc:161
+#: src/man/man1/gscreen.1.adoc:37 src/man/man1/hal-histogram.1.adoc:28
+#: src/man/man1/halcmd.1.adoc:325 src/man/man1/halcmd_twopass.1.adoc:27
+#: src/man/man1/halmeter.1.adoc:78 src/man/man1/halreport.1.adoc:41
+#: src/man/man1/halrmt.1.adoc:215 src/man/man1/halrun.1.adoc:61
+#: src/man/man1/halsampler.1.adoc:82 src/man/man1/halscope.1.adoc:28
+#: src/man/man1/halshow.1.adoc:46 src/man/man1/halstreamer.1.adoc:79
+#: src/man/man1/halui.1.adoc:439 src/man/man1/hbmgui.1.adoc:26
+#: src/man/man1/hexagui.1.adoc:26 src/man/man1/hy_gt_vfd.1.adoc:215
+#: src/man/man1/hy_vfd.1.adoc:295 src/man/man1/image-to-gcode.1.adoc:29
+#: src/man/man1/inivar.1.adoc:57 src/man/man1/io.1.adoc:67
+#: src/man/man1/iov2.1.adoc:96 src/man/man1/latency-histogram.1.adoc:66
+#: src/man/man1/latency-plot.1.adoc:48 src/man/man1/latency-test.1.adoc:30
+#: src/man/man1/lineardelta.1.adoc:24 src/man/man1/linuxcnc_info.1.adoc:27
+#: src/man/man1/linuxcnc_module_helper.1.adoc:27
+#: src/man/man1/linuxcnc_var.1.adoc:33 src/man/man1/linuxcnclcd.1.adoc:38
+#: src/man/man1/linuxcncmkdesktop.1.adoc:26 src/man/man1/linuxcncsvr.1.adoc:26
+#: src/man/man1/linuxcnctop.1.adoc:32 src/man/man1/maho600gui.1.adoc:27
+#: src/man/man1/max5gui.1.adoc:27 src/man/man1/mb2hal.1.adoc:83
+#: src/man/man1/mdi.1.adoc:44 src/man/man1/melfagui.1.adoc:27
+#: src/man/man1/millturn.1.adoc:27 src/man/man1/modcompile.1.adoc:26
+#: src/man/man1/monitor-xhc-hb04.1.adoc:33 src/man/man1/motion-logger.1.adoc:29
+#: src/man/man1/ngcgui.1.adoc:27 src/man/man1/panelui.1.adoc:33
+#: src/man/man1/pmx485-test.1.adoc:27 src/man/man1/pmx485.1.adoc:21
+#: src/man/man1/pncconf.1.adoc:28 src/man/man1/puma560gui.1.adoc:27
+#: src/man/man1/pumagui.1.adoc:27 src/man/man1/pyngcgui.1.adoc:27
+#: src/man/man1/pyui.1.adoc:29 src/man/man1/pyvcp_demo.1.adoc:32
+#: src/man/man1/qtplasmac-materials.1.adoc:25
+#: src/man/man1/qtplasmac_gcode.1.adoc:25 src/man/man1/qtvcp.1.adoc:67
+#: src/man/man1/rotarydelta.1.adoc:26 src/man/man1/rs274.1.adoc:72
+#: src/man/man1/rtapi_app.1.adoc:28 src/man/man1/scaragui.1.adoc:26
+#: src/man/man1/schedrmt.1.adoc:150 src/man/man1/scorbot-er-3.1.adoc:31
+#: src/man/man1/sendkeys.1.adoc:123 src/man/man1/setup_designer.1.adoc:25
+#: src/man/man1/simulate_probe.1.adoc:27 src/man/man1/stepconf.1.adoc:28
+#: src/man/man1/svd-ps_vfd.1.adoc:125 src/man/man1/teach-in.1.adoc:31
+#: src/man/man1/tool_mmap_read.1.adoc:25 src/man/man1/tool_watch.1.adoc:27
+#: src/man/man1/tooledit.1.adoc:28 src/man/man1/touchy.1.adoc:35
+#: src/man/man1/update_ini.1.adoc:30 src/man/man1/vfdb_vfd.1.adoc:201
+#: src/man/man1/vfs11_vfd.1.adoc:176 src/man/man1/xhc-hb04-accels.1.adoc:27
+#: src/man/man1/xhc-hb04.1.adoc:306 src/man/man1/xhc-whb04b-6.1.adoc:568
+#: src/man/man1/xyzab-tdr-gui.1.adoc:26 src/man/man1/xyzac-trt-gui.1.adoc:25
+#: src/man/man1/xyzbc-trt-gui.1.adoc:25 src/man/man3/rtapi_io.3rtapi.adoc:47
+#: src/man/man9/hal_parport.9.adoc:229 src/man/man9/lcd.9.adoc:165
+#: src/man/man9/sampler.9.adoc:81 src/man/man9/streamer.9.adoc:79
+#: man/man9/abs.9:36 man/man9/abs_s32.9:36 man/man9/and2.9:52
+#: man/man9/axistest.9:78 man/man9/bin2gray.9:30 man/man9/biquad.9:68
+#: man/man9/bitslice.9:32 man/man9/bitwise.9:45 man/man9/bldc.9:431
+#: man/man9/blend.9:37 man/man9/carousel.9:240 man/man9/charge_pump.9:42
+#: man/man9/clarke2.9:53 man/man9/clarke3.9:57 man/man9/clarkeinv.9:53
+#: man/man9/comp.9:43 man/man9/constant.9:26 man/man9/conv_bit_float.9:27
+#: man/man9/conv_bit_s32.9:27 man/man9/conv_bit_u32.9:27
+#: man/man9/conv_float_s32.9:36 man/man9/conv_float_u32.9:36
+#: man/man9/conv_s32_bit.9:36 man/man9/conv_s32_float.9:27
+#: man/man9/conv_s32_u32.9:36 man/man9/conv_u32_bit.9:36
+#: man/man9/conv_u32_float.9:27 man/man9/conv_u32_s32.9:36
+#: man/man9/corexy_by_hal.9:79 man/man9/dbounce.9:37 man/man9/ddt.9:44
+#: man/man9/deadzone.9:34 man/man9/demux.9:47 man/man9/differential.9:45
+#: man/man9/edge.9:47 man/man9/eoffset_per_angle.9:133
+#: man/man9/estop_latch.9:109 man/man9/feedcomp.9:40
+#: man/man9/filter_kalman.9:69 man/man9/flipflop.9:39 man/man9/gantry.9:71
+#: man/man9/gearchange.9:61 man/man9/gray2bin.9:30 man/man9/histobins.9:141
+#: man/man9/hypot.9:36 man/man9/ilowpass.9:56 man/man9/integ.9:41
+#: man/man9/invert.9:35 man/man9/joyhandle.9:67 man/man9/knob2float.9:40
+#: man/man9/latencybins.9:101 man/man9/limit1.9:35 man/man9/limit2.9:42
+#: man/man9/limit3.9:59 man/man9/lincurve.9:62 man/man9/logic.9:118
+#: man/man9/lowpass.9:67 man/man9/lut5.9:182 man/man9/maj3.9:38
+#: man/man9/match8.9:91 man/man9/max31855.9:72 man/man9/mesa_7i65.9:54
+#: man/man9/mesa_pktgyro_test.9:60 man/man9/message.9:58 man/man9/millturn.9:53
+#: man/man9/minmax.9:34 man/man9/moveoff.9:172 man/man9/mult2.9:35
+#: man/man9/multiclick.9:92 man/man9/multiswitch.9:43 man/man9/mux16.9:78
+#: man/man9/mux2.9:37 man/man9/mux4.9:64 man/man9/mux8.9:96
+#: man/man9/mux_generic.9:89 man/man9/near.9:43 man/man9/not.9:36
+#: man/man9/offset.9:39 man/man9/ohmic.9:110 man/man9/oneshot.9:57
+#: man/man9/or2.9:47 man/man9/orient.9:91 man/man9/plasmac.9:612
+#: man/man9/sample_hold.9:34 man/man9/scale.9:36 man/man9/select8.9:33
+#: man/man9/sim_axis_hardware.9:511 man/man9/sim_home_switch.9:48
+#: man/man9/sim_matrix_kb.9:48 man/man9/sim_parport.9:405
+#: man/man9/simple_tp.9:41 man/man9/sim_spindle.9:38 man/man9/sphereprobe.9:48
+#: man/man9/spindle.9:142 man/man9/spindle_monitor.9:45 man/man9/steptest.9:81
+#: man/man9/sum2.9:46 man/man9/thc.9:129 man/man9/thcud.9:126
+#: man/man9/threadtest.9:26 man/man9/time.9:121 man/man9/timedelay.9:40
+#: man/man9/timedelta.9:48 man/man9/toggle2nist.9:64 man/man9/toggle.9:42
+#: man/man9/tristate_bit.9:30 man/man9/tristate_float.9:30 man/man9/updown.9:46
+#: man/man9/userkins.9:73 man/man9/wcomp.9:42 man/man9/xhc_hb04_util.9:133
+#: man/man9/xor2.9:51
+#, no-wrap
+msgid "AUTHOR"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:28 src/man/man1/debuglevel.1.adoc:30
+#: src/man/man1/gladevcp_demo.1.adoc:29 src/man/man1/gmoccapy.1.adoc:40
+#: src/man/man1/gremlin_view.1.adoc:53 src/man/man1/gscreen.1.adoc:40
+#: src/man/man1/hal-histogram.1.adoc:31 src/man/man1/halcmd_twopass.1.adoc:30
+#: src/man/man1/halreport.1.adoc:44 src/man/man1/halrmt.1.adoc:218
+#: src/man/man1/halscope.1.adoc:31 src/man/man1/hbmgui.1.adoc:29
+#: src/man/man1/hexagui.1.adoc:29 src/man/man1/image-to-gcode.1.adoc:32
+#: src/man/man1/inivar.1.adoc:60 src/man/man1/latency-histogram.1.adoc:69
+#: src/man/man1/latency-plot.1.adoc:51 src/man/man1/latency-test.1.adoc:33
+#: src/man/man1/lineardelta.1.adoc:27 src/man/man1/linuxcnc_info.1.adoc:30
+#: src/man/man1/linuxcnc_module_helper.1.adoc:30
+#: src/man/man1/linuxcnc_var.1.adoc:36 src/man/man1/linuxcnclcd.1.adoc:41
+#: src/man/man1/linuxcncmkdesktop.1.adoc:29 src/man/man1/linuxcncsvr.1.adoc:29
+#: src/man/man1/linuxcnctop.1.adoc:35 src/man/man1/maho600gui.1.adoc:30
+#: src/man/man1/max5gui.1.adoc:30 src/man/man1/mdi.1.adoc:47
+#: src/man/man1/melfagui.1.adoc:30 src/man/man1/millturn.1.adoc:30
+#: src/man/man1/modcompile.1.adoc:29 src/man/man1/monitor-xhc-hb04.1.adoc:36
+#: src/man/man1/motion-logger.1.adoc:32 src/man/man1/ngcgui.1.adoc:30
+#: src/man/man1/panelui.1.adoc:36 src/man/man1/pncconf.1.adoc:31
+#: src/man/man1/puma560gui.1.adoc:30 src/man/man1/pumagui.1.adoc:30
+#: src/man/man1/pyngcgui.1.adoc:30 src/man/man1/pyui.1.adoc:32
+#: src/man/man1/pyvcp_demo.1.adoc:35 src/man/man1/qtplasmac_gcode.1.adoc:28
+#: src/man/man1/qtvcp.1.adoc:70 src/man/man1/rotarydelta.1.adoc:29
+#: src/man/man1/rs274.1.adoc:75 src/man/man1/rtapi_app.1.adoc:31
+#: src/man/man1/scaragui.1.adoc:29 src/man/man1/schedrmt.1.adoc:153
+#: src/man/man1/scorbot-er-3.1.adoc:34 src/man/man1/setup_designer.1.adoc:28
+#: src/man/man1/simulate_probe.1.adoc:30 src/man/man1/stepconf.1.adoc:31
+#: src/man/man1/teach-in.1.adoc:34 src/man/man1/tool_mmap_read.1.adoc:28
+#: src/man/man1/tool_watch.1.adoc:30 src/man/man1/tooledit.1.adoc:31
+#: src/man/man1/touchy.1.adoc:38 src/man/man1/update_ini.1.adoc:33
+#: src/man/man1/xhc-hb04-accels.1.adoc:30 src/man/man1/xyzab-tdr-gui.1.adoc:29
+#: src/man/man1/xyzac-trt-gui.1.adoc:28 src/man/man1/xyzbc-trt-gui.1.adoc:28
+msgid "This man page written by Andy Pugh, as part of the LinuxCNC project."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/5axisgui.1.adoc:29 src/man/man1/axis-remote.1.adoc:49
+#: src/man/man1/axis.1.adoc:41 src/man/man1/debuglevel.1.adoc:31
+#: src/man/man1/gladevcp_demo.1.adoc:30 src/man/man1/gmoccapy.1.adoc:41
+#: src/man/man1/gremlin_view.1.adoc:54 src/man/man1/gscreen.1.adoc:41
+#: src/man/man1/hal-histogram.1.adoc:32 src/man/man1/halcmd.1.adoc:330
+#: src/man/man1/halcmd_twopass.1.adoc:31 src/man/man1/halmeter.1.adoc:83
+#: src/man/man1/halreport.1.adoc:45 src/man/man1/halrmt.1.adoc:219
+#: src/man/man1/halrun.1.adoc:67 src/man/man1/halsampler.1.adoc:87
+#: src/man/man1/halscope.1.adoc:32 src/man/man1/halshow.1.adoc:50
+#: src/man/man1/halstreamer.1.adoc:85 src/man/man1/haltcl.1.adoc:71
+#: src/man/man1/halui.1.adoc:444 src/man/man1/hbmgui.1.adoc:30
+#: src/man/man1/hexagui.1.adoc:30 src/man/man1/image-to-gcode.1.adoc:33
+#: src/man/man1/inivar.1.adoc:61 src/man/man1/io.1.adoc:63
+#: src/man/man1/iov2.1.adoc:92 src/man/man1/latency-histogram.1.adoc:70
+#: src/man/man1/latency-plot.1.adoc:52 src/man/man1/latency-test.1.adoc:34
+#: src/man/man1/lineardelta.1.adoc:28 src/man/man1/linuxcnc_info.1.adoc:31
+#: src/man/man1/linuxcnc_module_helper.1.adoc:31
+#: src/man/man1/linuxcnc_var.1.adoc:37 src/man/man1/linuxcnclcd.1.adoc:42
+#: src/man/man1/linuxcncmkdesktop.1.adoc:30 src/man/man1/linuxcncsvr.1.adoc:30
+#: src/man/man1/linuxcnctop.1.adoc:36 src/man/man1/maho600gui.1.adoc:31
+#: src/man/man1/max5gui.1.adoc:31 src/man/man1/mdi.1.adoc:48
+#: src/man/man1/melfagui.1.adoc:31 src/man/man1/millturn.1.adoc:31
+#: src/man/man1/modcompile.1.adoc:30 src/man/man1/monitor-xhc-hb04.1.adoc:37
+#: src/man/man1/motion-logger.1.adoc:33 src/man/man1/ngcgui.1.adoc:31
+#: src/man/man1/panelui.1.adoc:37 src/man/man1/pncconf.1.adoc:32
+#: src/man/man1/puma560gui.1.adoc:31 src/man/man1/pumagui.1.adoc:31
+#: src/man/man1/pyngcgui.1.adoc:31 src/man/man1/pyui.1.adoc:33
+#: src/man/man1/pyvcp_demo.1.adoc:36 src/man/man1/qtplasmac_gcode.1.adoc:29
+#: src/man/man1/qtvcp.1.adoc:71 src/man/man1/rotarydelta.1.adoc:30
+#: src/man/man1/rs274.1.adoc:76 src/man/man1/rtapi_app.1.adoc:32
+#: src/man/man1/scaragui.1.adoc:30 src/man/man1/schedrmt.1.adoc:154
+#: src/man/man1/scorbot-er-3.1.adoc:35 src/man/man1/setup_designer.1.adoc:29
+#: src/man/man1/simulate_probe.1.adoc:31 src/man/man1/stepconf.1.adoc:32
+#: src/man/man1/teach-in.1.adoc:35 src/man/man1/tool_mmap_read.1.adoc:29
+#: src/man/man1/tool_watch.1.adoc:31 src/man/man1/tooledit.1.adoc:32
+#: src/man/man1/touchy.1.adoc:39 src/man/man1/update_ini.1.adoc:34
+#: src/man/man1/xhc-hb04-accels.1.adoc:31 src/man/man1/xyzab-tdr-gui.1.adoc:30
+#: src/man/man1/xyzac-trt-gui.1.adoc:29 src/man/man1/xyzbc-trt-gui.1.adoc:29
+#: src/man/man9/sampler.9.adoc:86 src/man/man9/streamer.9.adoc:84
+#, no-wrap
+msgid "REPORTING BUGS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:32 src/man/man1/axis-remote.1.adoc:52
+#: src/man/man1/axis.1.adoc:44 src/man/man1/debuglevel.1.adoc:34
+#: src/man/man1/gladevcp_demo.1.adoc:33 src/man/man1/gmoccapy.1.adoc:44
+#: src/man/man1/gremlin_view.1.adoc:57 src/man/man1/gscreen.1.adoc:44
+#: src/man/man1/hal-histogram.1.adoc:35 src/man/man1/halcmd.1.adoc:333
+#: src/man/man1/halcmd_twopass.1.adoc:34 src/man/man1/halmeter.1.adoc:86
+#: src/man/man1/halreport.1.adoc:48 src/man/man1/halrmt.1.adoc:222
+#: src/man/man1/halrun.1.adoc:70 src/man/man1/halsampler.1.adoc:90
+#: src/man/man1/halscope.1.adoc:35 src/man/man1/halshow.1.adoc:53
+#: src/man/man1/halstreamer.1.adoc:88 src/man/man1/haltcl.1.adoc:74
+#: src/man/man1/hbmgui.1.adoc:33 src/man/man1/image-to-gcode.1.adoc:36
+#: src/man/man1/inivar.1.adoc:64 src/man/man1/io.1.adoc:66
+#: src/man/man1/iov2.1.adoc:95 src/man/man1/latency-histogram.1.adoc:73
+#: src/man/man1/latency-plot.1.adoc:55 src/man/man1/latency-test.1.adoc:37
+#: src/man/man1/lineardelta.1.adoc:31 src/man/man1/linuxcnc_info.1.adoc:34
+#: src/man/man1/linuxcnc_module_helper.1.adoc:34
+#: src/man/man1/linuxcnc_var.1.adoc:40 src/man/man1/linuxcnclcd.1.adoc:45
+#: src/man/man1/linuxcncmkdesktop.1.adoc:33 src/man/man1/linuxcncsvr.1.adoc:33
+#: src/man/man1/linuxcnctop.1.adoc:39 src/man/man1/maho600gui.1.adoc:34
+#: src/man/man1/max5gui.1.adoc:34 src/man/man1/mdi.1.adoc:51
+#: src/man/man1/monitor-xhc-hb04.1.adoc:40 src/man/man1/motion-logger.1.adoc:36
+#: src/man/man1/ngcgui.1.adoc:34 src/man/man1/panelui.1.adoc:40
+#: src/man/man1/pncconf.1.adoc:35 src/man/man1/puma560gui.1.adoc:34
+#: src/man/man1/pumagui.1.adoc:34 src/man/man1/pyngcgui.1.adoc:34
+#: src/man/man1/pyui.1.adoc:36 src/man/man1/pyvcp_demo.1.adoc:39
+#: src/man/man1/qtvcp.1.adoc:74 src/man/man1/rotarydelta.1.adoc:33
+#: src/man/man1/rs274.1.adoc:79 src/man/man1/rtapi_app.1.adoc:35
+#: src/man/man1/scaragui.1.adoc:33 src/man/man1/schedrmt.1.adoc:157
+#: src/man/man1/scorbot-er-3.1.adoc:38 src/man/man1/simulate_probe.1.adoc:34
+#: src/man/man1/stepconf.1.adoc:35 src/man/man1/teach-in.1.adoc:38
+#: src/man/man1/tool_mmap_read.1.adoc:32 src/man/man1/tooledit.1.adoc:35
+#: src/man/man1/touchy.1.adoc:42 src/man/man1/update_ini.1.adoc:37
+#: src/man/man1/xhc-hb04-accels.1.adoc:34 src/man/man1/xyzac-trt-gui.1.adoc:32
+#: src/man/man1/xyzbc-trt-gui.1.adoc:32 src/man/man9/sampler.9.adoc:89
+#: src/man/man9/streamer.9.adoc:87
+msgid "Report bugs at https://github.com/LinuxCNC/linuxcnc/issues."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/5axisgui.1.adoc:33 src/man/man1/axis-remote.1.adoc:53
+#: src/man/man1/axis.1.adoc:45 src/man/man1/debuglevel.1.adoc:35
+#: src/man/man1/gladevcp_demo.1.adoc:34 src/man/man1/gmoccapy.1.adoc:45
+#: src/man/man1/gremlin_view.1.adoc:58 src/man/man1/gscreen.1.adoc:45
+#: src/man/man1/hal-histogram.1.adoc:36 src/man/man1/halcmd.1.adoc:334
+#: src/man/man1/halcmd_twopass.1.adoc:35 src/man/man1/halmeter.1.adoc:87
+#: src/man/man1/halreport.1.adoc:49 src/man/man1/halrmt.1.adoc:223
+#: src/man/man1/halrun.1.adoc:71 src/man/man1/halsampler.1.adoc:91
+#: src/man/man1/halscope.1.adoc:36 src/man/man1/halshow.1.adoc:54
+#: src/man/man1/halstreamer.1.adoc:89 src/man/man1/haltcl.1.adoc:75
+#: src/man/man1/halui.1.adoc:448 src/man/man1/hbmgui.1.adoc:34
+#: src/man/man1/hexagui.1.adoc:34 src/man/man1/image-to-gcode.1.adoc:37
+#: src/man/man1/inivar.1.adoc:65 src/man/man1/io.1.adoc:71
+#: src/man/man1/iov2.1.adoc:101 src/man/man1/latency-histogram.1.adoc:74
+#: src/man/man1/latency-plot.1.adoc:56 src/man/man1/latency-test.1.adoc:38
+#: src/man/man1/lineardelta.1.adoc:32 src/man/man1/linuxcnc_info.1.adoc:35
+#: src/man/man1/linuxcnc_module_helper.1.adoc:35
+#: src/man/man1/linuxcnc_var.1.adoc:41 src/man/man1/linuxcnclcd.1.adoc:46
+#: src/man/man1/linuxcncmkdesktop.1.adoc:34 src/man/man1/linuxcncsvr.1.adoc:34
+#: src/man/man1/linuxcnctop.1.adoc:40 src/man/man1/maho600gui.1.adoc:35
+#: src/man/man1/max5gui.1.adoc:35 src/man/man1/mdi.1.adoc:52
+#: src/man/man1/melfagui.1.adoc:35 src/man/man1/millturn.1.adoc:35
+#: src/man/man1/modcompile.1.adoc:34 src/man/man1/monitor-xhc-hb04.1.adoc:41
+#: src/man/man1/motion-logger.1.adoc:37 src/man/man1/ngcgui.1.adoc:35
+#: src/man/man1/panelui.1.adoc:41 src/man/man1/pncconf.1.adoc:36
+#: src/man/man1/puma560gui.1.adoc:35 src/man/man1/pumagui.1.adoc:35
+#: src/man/man1/pyngcgui.1.adoc:35 src/man/man1/pyui.1.adoc:37
+#: src/man/man1/pyvcp_demo.1.adoc:40 src/man/man1/qtplasmac_gcode.1.adoc:33
+#: src/man/man1/qtvcp.1.adoc:75 src/man/man1/rotarydelta.1.adoc:34
+#: src/man/man1/rs274.1.adoc:80 src/man/man1/rtapi_app.1.adoc:36
+#: src/man/man1/scaragui.1.adoc:34 src/man/man1/schedrmt.1.adoc:158
+#: src/man/man1/scorbot-er-3.1.adoc:39 src/man/man1/setup_designer.1.adoc:33
+#: src/man/man1/simulate_probe.1.adoc:35 src/man/man1/stepconf.1.adoc:36
+#: src/man/man1/teach-in.1.adoc:39 src/man/man1/tool_mmap_read.1.adoc:33
+#: src/man/man1/tool_watch.1.adoc:35 src/man/man1/tooledit.1.adoc:36
+#: src/man/man1/touchy.1.adoc:43 src/man/man1/update_ini.1.adoc:38
+#: src/man/man1/xhc-hb04-accels.1.adoc:35 src/man/man1/xhc-whb04b-6.1.adoc:578
+#: src/man/man1/xyzab-tdr-gui.1.adoc:34 src/man/man1/xyzac-trt-gui.1.adoc:33
+#: src/man/man1/xyzbc-trt-gui.1.adoc:33 src/man/man9/sampler.9.adoc:90
+#: src/man/man9/streamer.9.adoc:88
+#, no-wrap
+msgid "COPYRIGHT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:36 src/man/man1/debuglevel.1.adoc:38
+#: src/man/man1/gladevcp_demo.1.adoc:37 src/man/man1/gmoccapy.1.adoc:48
+#: src/man/man1/gremlin_view.1.adoc:61 src/man/man1/gscreen.1.adoc:48
+#: src/man/man1/hal-histogram.1.adoc:39 src/man/man1/halcmd_twopass.1.adoc:38
+#: src/man/man1/halreport.1.adoc:52 src/man/man1/halrmt.1.adoc:226
+#: src/man/man1/halscope.1.adoc:39 src/man/man1/halshow.1.adoc:57
+#: src/man/man1/hbmgui.1.adoc:37 src/man/man1/image-to-gcode.1.adoc:40
+#: src/man/man1/latency-plot.1.adoc:59 src/man/man1/latency-test.1.adoc:41
+#: src/man/man1/lineardelta.1.adoc:35 src/man/man1/linuxcnc_info.1.adoc:38
+#: src/man/man1/linuxcnc_module_helper.1.adoc:38
+#: src/man/man1/linuxcnc_var.1.adoc:44 src/man/man1/linuxcnclcd.1.adoc:49
+#: src/man/man1/linuxcncmkdesktop.1.adoc:37 src/man/man1/linuxcncsvr.1.adoc:37
+#: src/man/man1/linuxcnctop.1.adoc:43 src/man/man1/maho600gui.1.adoc:38
+#: src/man/man1/max5gui.1.adoc:38 src/man/man1/mdi.1.adoc:55
+#: src/man/man1/monitor-xhc-hb04.1.adoc:44 src/man/man1/motion-logger.1.adoc:40
+#: src/man/man1/ngcgui.1.adoc:38 src/man/man1/panelui.1.adoc:44
+#: src/man/man1/pncconf.1.adoc:39 src/man/man1/puma560gui.1.adoc:38
+#: src/man/man1/pumagui.1.adoc:38 src/man/man1/pyngcgui.1.adoc:38
+#: src/man/man1/pyui.1.adoc:40 src/man/man1/pyvcp_demo.1.adoc:43
+#: src/man/man1/qtvcp.1.adoc:78 src/man/man1/rotarydelta.1.adoc:37
+#: src/man/man1/rs274.1.adoc:83 src/man/man1/rtapi_app.1.adoc:39
+#: src/man/man1/scaragui.1.adoc:37 src/man/man1/schedrmt.1.adoc:161
+#: src/man/man1/scorbot-er-3.1.adoc:42 src/man/man1/simulate_probe.1.adoc:38
+#: src/man/man1/stepconf.1.adoc:39 src/man/man1/teach-in.1.adoc:42
+#: src/man/man1/tooledit.1.adoc:39 src/man/man1/touchy.1.adoc:46
+#: src/man/man1/update_ini.1.adoc:41 src/man/man1/xhc-hb04-accels.1.adoc:38
+#: src/man/man1/xyzac-trt-gui.1.adoc:36 src/man/man1/xyzbc-trt-gui.1.adoc:36
+msgid "Copyright © 2020 Andy Pugh."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/5axisgui.1.adoc:39 src/man/man1/axis-remote.1.adoc:59
+#: src/man/man1/axis.1.adoc:51 src/man/man1/debuglevel.1.adoc:41
+#: src/man/man1/gladevcp_demo.1.adoc:40 src/man/man1/gmoccapy.1.adoc:51
+#: src/man/man1/gremlin_view.1.adoc:64 src/man/man1/gscreen.1.adoc:51
+#: src/man/man1/hal-histogram.1.adoc:42 src/man/man1/halcmd.1.adoc:341
+#: src/man/man1/halcmd_twopass.1.adoc:41 src/man/man1/halmeter.1.adoc:93
+#: src/man/man1/halreport.1.adoc:55 src/man/man1/halrmt.1.adoc:229
+#: src/man/man1/halrun.1.adoc:78 src/man/man1/halsampler.1.adoc:97
+#: src/man/man1/halscope.1.adoc:42 src/man/man1/halshow.1.adoc:60
+#: src/man/man1/haltcl.1.adoc:80 src/man/man1/halui.1.adoc:454
+#: src/man/man1/hbmgui.1.adoc:40 src/man/man1/image-to-gcode.1.adoc:43
+#: src/man/man1/io.1.adoc:77 src/man/man1/iov2.1.adoc:107
+#: src/man/man1/latency-histogram.1.adoc:80 src/man/man1/latency-plot.1.adoc:62
+#: src/man/man1/latency-test.1.adoc:44 src/man/man1/lineardelta.1.adoc:38
+#: src/man/man1/linuxcnc_info.1.adoc:41
+#: src/man/man1/linuxcnc_module_helper.1.adoc:41
+#: src/man/man1/linuxcnc_var.1.adoc:47 src/man/man1/linuxcnclcd.1.adoc:52
+#: src/man/man1/linuxcncmkdesktop.1.adoc:40 src/man/man1/linuxcncsvr.1.adoc:40
+#: src/man/man1/linuxcnctop.1.adoc:46 src/man/man1/maho600gui.1.adoc:41
+#: src/man/man1/max5gui.1.adoc:41 src/man/man1/mdi.1.adoc:58
+#: src/man/man1/melfagui.1.adoc:41 src/man/man1/millturn.1.adoc:41
+#: src/man/man1/modcompile.1.adoc:40 src/man/man1/monitor-xhc-hb04.1.adoc:47
+#: src/man/man1/motion-logger.1.adoc:43 src/man/man1/ngcgui.1.adoc:41
+#: src/man/man1/panelui.1.adoc:47 src/man/man1/pncconf.1.adoc:42
+#: src/man/man1/puma560gui.1.adoc:41 src/man/man1/pumagui.1.adoc:41
+#: src/man/man1/pyngcgui.1.adoc:41 src/man/man1/pyui.1.adoc:43
+#: src/man/man1/pyvcp_demo.1.adoc:46 src/man/man1/qtplasmac_gcode.1.adoc:39
+#: src/man/man1/qtvcp.1.adoc:81 src/man/man1/rotarydelta.1.adoc:40
+#: src/man/man1/rs274.1.adoc:86 src/man/man1/rtapi_app.1.adoc:42
+#: src/man/man1/scaragui.1.adoc:40 src/man/man1/schedrmt.1.adoc:164
+#: src/man/man1/scorbot-er-3.1.adoc:45 src/man/man1/setup_designer.1.adoc:39
+#: src/man/man1/simulate_probe.1.adoc:41 src/man/man1/stepconf.1.adoc:42
+#: src/man/man1/teach-in.1.adoc:45 src/man/man1/tool_mmap_read.1.adoc:39
+#: src/man/man1/tool_watch.1.adoc:41 src/man/man1/tooledit.1.adoc:42
+#: src/man/man1/touchy.1.adoc:49 src/man/man1/update_ini.1.adoc:44
+#: src/man/man1/xhc-hb04-accels.1.adoc:41 src/man/man1/xhc-whb04b-6.1.adoc:585
+#: src/man/man1/xyzab-tdr-gui.1.adoc:40 src/man/man1/xyzac-trt-gui.1.adoc:39
+#: src/man/man1/xyzbc-trt-gui.1.adoc:39 src/man/man9/sampler.9.adoc:96
+msgid ""
+"This is free software; see the source for copying conditions. There is NO "
+"warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/axis-remote.1.adoc:1
+#, no-wrap
+msgid "axis-remote(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:6
+msgid "axis-remote - AXIS Remote Interface"
+msgstr ""
+
+#. type: SH
+#: src/man/man1/axis-remote.1.adoc:7 src/man/man1/axis.1.adoc:7
+#: src/man/man1/debuglevel.1.adoc:7 src/man/man1/elbpcom.1.adoc:7
+#: src/man/man1/gladevcp.1.adoc:8 src/man/man1/gladevcp_demo.1.adoc:7
+#: src/man/man1/gmoccapy.1.adoc:7 src/man/man1/gremlin_view.1.adoc:7
+#: src/man/man1/gs2_vfd.1.adoc:7 src/man/man1/gscreen.1.adoc:7
+#: src/man/man1/hal-histogram.1.adoc:7 src/man/man1/hal_input.1.adoc:8
+#: src/man/man1/hal_manualtoolchange.1.adoc:7 src/man/man1/halcmd.1.adoc:7
+#: src/man/man1/halcmd_twopass.1.adoc:7 src/man/man1/halcompile.1.adoc:7
+#: src/man/man1/halmeter.1.adoc:7 src/man/man1/halreport.1.adoc:7
+#: src/man/man1/halrmt.1.adoc:7 src/man/man1/halrun.1.adoc:7
+#: src/man/man1/halsampler.1.adoc:7 src/man/man1/halscope.1.adoc:7
+#: src/man/man1/halshow.1.adoc:7 src/man/man1/halstreamer.1.adoc:8
+#: src/man/man1/haltcl.1.adoc:7 src/man/man1/halui.1.adoc:7
+#: src/man/man1/hy_gt_vfd.1.adoc:9 src/man/man1/hy_vfd.1.adoc:7
+#: src/man/man1/image-to-gcode.1.adoc:7 src/man/man1/inivar.1.adoc:9
+#: src/man/man1/io.1.adoc:7 src/man/man1/iocontrol.1.adoc:7
+#: src/man/man1/iov2.1.adoc:7 src/man/man1/latency-histogram.1.adoc:7
+#: src/man/man1/latency-plot.1.adoc:7 src/man/man1/latency-test.1.adoc:7
+#: src/man/man1/linuxcnc_info.1.adoc:7
+#: src/man/man1/linuxcnc_module_helper.1.adoc:7
+#: src/man/man1/linuxcnc_var.1.adoc:7 src/man/man1/linuxcnclcd.1.adoc:7
+#: src/man/man1/linuxcncmkdesktop.1.adoc:7 src/man/man1/linuxcncrsh.1.adoc:7
+#: src/man/man1/linuxcncsvr.1.adoc:7 src/man/man1/linuxcnctop.1.adoc:7
+#: src/man/man1/mb2hal.1.adoc:7 src/man/man1/mdi.1.adoc:8
+#: src/man/man1/mitsub_vfd.1.adoc:10 src/man/man1/monitor-xhc-hb04.1.adoc:7
+#: src/man/man1/motion-logger.1.adoc:7 src/man/man1/moveoff_gui.1.adoc:7
+#: src/man/man1/ngcgui.1.adoc:8 src/man/man1/panelui.1.adoc:7
+#: src/man/man1/pmx485-test.1.adoc:7 src/man/man1/pmx485.1.adoc:7
+#: src/man/man1/pncconf.1.adoc:7 src/man/man1/pyngcgui.1.adoc:7
+#: src/man/man1/pyui.1.adoc:7 src/man/man1/pyvcp.1.adoc:7
+#: src/man/man1/pyvcp_demo.1.adoc:7 src/man/man1/qtplasmac-materials.1.adoc:7
+#: src/man/man1/qtvcp.1.adoc:7 src/man/man1/rs274.1.adoc:7
+#: src/man/man1/rtapi_app.1.adoc:7 src/man/man1/schedrmt.1.adoc:7
+#: src/man/man1/sendkeys.1.adoc:7 src/man/man1/shuttle.1.adoc:8
+#: src/man/man1/sim_pin.1.adoc:7 src/man/man1/simulate_probe.1.adoc:7
+#: src/man/man1/stepconf.1.adoc:7 src/man/man1/svd-ps_vfd.1.adoc:8
+#: src/man/man1/teach-in.1.adoc:7 src/man/man1/tooledit.1.adoc:7
+#: src/man/man1/touchy.1.adoc:7 src/man/man1/update_ini.1.adoc:7
+#: src/man/man1/vfdb_vfd.1.adoc:7 src/man/man1/vfs11_vfd.1.adoc:7
+#: src/man/man1/xhc-hb04-accels.1.adoc:7 src/man/man1/xhc-whb04b-6.1.adoc:7
+#: src/man/man3/hal_port.3hal.adoc:8 src/man/man3/hal_stream.3hal.adoc:7
+#: src/man/man9/classicladder.9.adoc:7 src/man/man9/counter.9.adoc:7
+#: src/man/man9/debounce.9.adoc:7 src/man/man9/encoder.9.adoc:7
+#: src/man/man9/encoder_ratio.9.adoc:7 src/man/man9/gantrykins.9.adoc:7
+#: src/man/man9/gladevcp.9.adoc:7 src/man/man9/hal_bb_gpio.9.adoc:7
+#: src/man/man9/hal_parport.9.adoc:8 src/man/man9/hm2_7i43.9.adoc:8
+#: src/man/man9/hm2_7i90.9.adoc:8 src/man/man9/hm2_eth.9.adoc:8
+#: src/man/man9/hm2_pci.9.adoc:8 src/man/man9/hm2_rpspi.9.adoc:8
+#: src/man/man9/hm2_spi.9.adoc:8 src/man/man9/hostmot2.9.adoc:7
+#: src/man/man9/kins.9.adoc:7 src/man/man9/lcd.9.adoc:7
+#: src/man/man9/lineardeltakins.9.adoc:7 src/man/man9/motion.9.adoc:7
+#: src/man/man9/opto_ac5.9.adoc:7 src/man/man9/rosekins.9.adoc:7
+#: src/man/man9/sampler.9.adoc:7 src/man/man9/setsserial.9.adoc:7
+#: src/man/man9/siggen.9.adoc:7 src/man/man9/sserial.9.adoc:7
+#: src/man/man9/stepgen.9.adoc:7 src/man/man9/streamer.9.adoc:6
+#: src/man/man9/supply.9.adoc:7 src/man/man9/threads.9.adoc:7
+#: src/man/man9/watchdog.9.adoc:7 src/man/man9/weighted_sum.9.adoc:7
+#: man/man1/pi500_vfd.1:13 man/man1/thermistor.1:13 man/man1/wj200_vfd.1:13
+#: man/man9/abs.9:13 man/man9/abs_s32.9:13 man/man9/and2.9:13
+#: man/man9/axistest.9:13 man/man9/bin2gray.9:13 man/man9/biquad.9:13
+#: man/man9/bitslice.9:13 man/man9/bitwise.9:13 man/man9/bldc.9:13
+#: man/man9/blend.9:13 man/man9/carousel.9:13 man/man9/charge_pump.9:13
+#: man/man9/clarke2.9:13 man/man9/clarke3.9:13 man/man9/clarkeinv.9:13
+#: man/man9/comp.9:13 man/man9/constant.9:13 man/man9/conv_bit_float.9:13
+#: man/man9/conv_bit_s32.9:13 man/man9/conv_bit_u32.9:13
+#: man/man9/conv_float_s32.9:13 man/man9/conv_float_u32.9:13
+#: man/man9/conv_s32_bit.9:13 man/man9/conv_s32_float.9:13
+#: man/man9/conv_s32_u32.9:13 man/man9/conv_u32_bit.9:13
+#: man/man9/conv_u32_float.9:13 man/man9/conv_u32_s32.9:13
+#: man/man9/corexy_by_hal.9:13 man/man9/dbounce.9:13 man/man9/ddt.9:13
+#: man/man9/deadzone.9:13 man/man9/demux.9:13 man/man9/differential.9:13
+#: man/man9/edge.9:13 man/man9/eoffset_per_angle.9:13 man/man9/estop_latch.9:13
+#: man/man9/feedcomp.9:13 man/man9/filter_kalman.9:13 man/man9/flipflop.9:13
+#: man/man9/gantry.9:13 man/man9/gearchange.9:13 man/man9/gray2bin.9:13
+#: man/man9/histobins.9:13 man/man9/hypot.9:13 man/man9/ilowpass.9:13
+#: man/man9/integ.9:13 man/man9/invert.9:13 man/man9/joyhandle.9:13
+#: man/man9/knob2float.9:13 man/man9/latencybins.9:13 man/man9/limit1.9:13
+#: man/man9/limit2.9:13 man/man9/limit3.9:13 man/man9/lincurve.9:13
+#: man/man9/logic.9:13 man/man9/lowpass.9:13 man/man9/lut5.9:13
+#: man/man9/maj3.9:13 man/man9/match8.9:13 man/man9/matrix_kb.9:32
+#: man/man9/max31855.9:13 man/man9/mesa_7i65.9:13
+#: man/man9/mesa_pktgyro_test.9:13 man/man9/message.9:13 man/man9/millturn.9:13
+#: man/man9/minmax.9:13 man/man9/moveoff.9:13 man/man9/mult2.9:13
+#: man/man9/multiclick.9:13 man/man9/multiswitch.9:13 man/man9/mux16.9:13
+#: man/man9/mux2.9:13 man/man9/mux4.9:13 man/man9/mux8.9:13
+#: man/man9/mux_generic.9:32 man/man9/near.9:13 man/man9/not.9:13
+#: man/man9/offset.9:13 man/man9/ohmic.9:13 man/man9/oneshot.9:13
+#: man/man9/or2.9:13 man/man9/orient.9:13 man/man9/pid.9:32
+#: man/man9/plasmac.9:13 man/man9/pwmgen.9:32 man/man9/sample_hold.9:13
+#: man/man9/scale.9:13 man/man9/select8.9:13 man/man9/serport.9:13
+#: man/man9/sim_axis_hardware.9:13 man/man9/sim_encoder.9:32
+#: man/man9/sim_home_switch.9:13 man/man9/sim_matrix_kb.9:13
+#: man/man9/sim_parport.9:13 man/man9/simple_tp.9:13 man/man9/sim_spindle.9:13
+#: man/man9/sphereprobe.9:13 man/man9/spindle.9:13
+#: man/man9/spindle_monitor.9:13 man/man9/steptest.9:13 man/man9/sum2.9:13
+#: man/man9/thc.9:13 man/man9/thcud.9:13 man/man9/threadtest.9:13
+#: man/man9/time.9:13 man/man9/timedelay.9:13 man/man9/timedelta.9:13
+#: man/man9/toggle2nist.9:13 man/man9/toggle.9:13 man/man9/tristate_bit.9:13
+#: man/man9/tristate_float.9:13 man/man9/updown.9:13 man/man9/userkins.9:13
+#: man/man9/wcomp.9:13 man/man9/xhc_hb04_util.9:13 man/man9/xor2.9:13
+#, no-wrap
+msgid "SYNOPSIS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:10
+#, no-wrap
+msgid "*axis-remote __OPTIONS__|__FILENAME__*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:14
+#, no-wrap
+msgid ""
+"*axis-remote* is a small script that triggers commands in a running AXIS "
+"GUI.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis-remote.1.adoc:15
+#, no-wrap
+msgid "Use *axis-remote --help* for further information."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/axis-remote.1.adoc:17 src/man/man1/axis.1.adoc:16
+#: src/man/man1/gladevcp.1.adoc:12 src/man/man1/gmoccapy.1.adoc:16
+#: src/man/man1/gs2_vfd.1.adoc:18 src/man/man1/gscreen.1.adoc:16
+#: src/man/man1/halcmd.1.adoc:22 src/man/man1/halmeter.1.adoc:17
+#: src/man/man1/halrmt.1.adoc:11 src/man/man1/halrun.1.adoc:40
+#: src/man/man1/halsampler.1.adoc:20 src/man/man1/halshow.1.adoc:11
+#: src/man/man1/halstreamer.1.adoc:20 src/man/man1/haltcl.1.adoc:18
+#: src/man/man1/halui.1.adoc:16 src/man/man1/hy_gt_vfd.1.adoc:91
+#: src/man/man1/hy_vfd.1.adoc:81 src/man/man1/inivar.1.adoc:22
+#: src/man/man1/latency-histogram.1.adoc:26 src/man/man1/latency-plot.1.adoc:21
+#: src/man/man1/linuxcnc_var.1.adoc:15 src/man/man1/linuxcnclcd.1.adoc:17
+#: src/man/man1/linuxcncrsh.1.adoc:25 src/man/man1/moveoff_gui.1.adoc:23
+#: src/man/man1/pyvcp.1.adoc:11 src/man/man1/qtvcp.1.adoc:17
+#: src/man/man1/rs274.1.adoc:17 src/man/man1/svd-ps_vfd.1.adoc:44
+#: src/man/man1/touchy.1.adoc:16 src/man/man1/vfdb_vfd.1.adoc:35
+#: src/man/man1/vfs11_vfd.1.adoc:18 src/man/man1/xhc-whb04b-6.1.adoc:34
+#: src/man/man9/hal_parport.9.adoc:21 src/man/man9/sampler.9.adoc:21
+#: src/man/man9/streamer.9.adoc:15
+#, no-wrap
+msgid "OPTIONS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis-remote.1.adoc:19
+#, no-wrap
+msgid "*--ping*, *-p*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:21
+msgid "Check whether AXIS is running."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis-remote.1.adoc:21
+#, no-wrap
+msgid "*--reload*, *-r*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:23
+msgid "Make AXIS reload the currently loaded file."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis-remote.1.adoc:23
+#, no-wrap
+msgid "*--clear*, *-c*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:25
+msgid "Make AXIS clear the backplot."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis-remote.1.adoc:25
+#, no-wrap
+msgid "*--quit*, *-q*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:27
+msgid "Make AXIS quit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis-remote.1.adoc:27
+#, no-wrap
+msgid "*--help*, *-h*, *-?*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:29
+msgid "Display a list of valid parameters for *axis-remote*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis-remote.1.adoc:29
+#, no-wrap
+msgid "*--mdi* _COMMAND_, *-m* COMMAND"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:31
+msgid "Run the MDI command _COMMAND_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis-remote.1.adoc:31 src/man/man1/halsampler.1.adoc:33
+#: src/man/man1/halstreamer.1.adoc:27
+#, no-wrap
+msgid "_FILENAME_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:33
+msgid "Load the G-code file _FILENAME_."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/axis-remote.1.adoc:37 src/man/man1/axis.1.adoc:1
+#, no-wrap
+msgid "axis(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:40
+msgid ""
+"Much more information about LinuxCNC and HAL is available in the LinuxCNC "
+"and HAL User Manuals, found at /usr/share/doc/linuxcnc/."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:48 src/man/man1/axis.1.adoc:40
+msgid "This man page written by Alex Joni, as part of the LinuxCNC project."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis-remote.1.adoc:56 src/man/man1/axis.1.adoc:48
+msgid "Copyright © 2007 Alex Joni."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis.1.adoc:6
+msgid "axis - AXIS LinuxCNC Graphical User Interface"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis.1.adoc:10
+#, no-wrap
+msgid "*axis* _-ini_ _INIFILE_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis.1.adoc:15
+#, no-wrap
+msgid ""
+"*axis* is one of the Graphical User Interfaces (GUI) for LinuxCNC. It\n"
+"gets run by the runscript usually.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/axis.1.adoc:18 src/man/man1/gscreen.1.adoc:18
+#, no-wrap
+msgid "_INIFILE_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/axis.1.adoc:25
+msgid ""
+"The INI file is the main piece of an LinuxCNC configuration. It is not the "
+"entire configuration; there are various other files that go with it (NML "
+"files, HAL files, TBL files, VAR files). It is, however, the most important "
+"one, because it is the file that holds the configuration together. It can "
+"adjust a lot of parameters itself, but it also tells *LinuxCNC* which other "
+"files to load and use."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/debuglevel.1.adoc:1
+#, no-wrap
+msgid "debuglevel(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/debuglevel.1.adoc:6
+msgid "debuglevel - sets the debug level for the non-realtime part of LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/debuglevel.1.adoc:10
+#, no-wrap
+msgid "*debuglevel* *-ini* _INIFILE_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/debuglevel.1.adoc:15
+#, no-wrap
+msgid ""
+"*debuglevel* displays a checkbox to select the current debug level\n"
+"of some parts of LinuxCNC.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/debuglevel.1.adoc:19
+msgid "halcmd(1) - debug subcommand linuxcnc(1)*"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/elbpcom.1.adoc:1
+#, no-wrap
+msgid "elbpcom(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:6
+msgid "elbpcom - Communicate with Mesa ethernet cards"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:10
+msgid "Common options:"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:13
+#, no-wrap
+msgid ""
+"*elbpcom* [**--ip=**_IP_] [**--port=**_PORT_] [**--timeout=**_TIMEOUT_] "
+"[**--space=**_MEMSPACE_] [**--size=**_TRANSFER_SIZE_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:16
+msgid "Reading data:"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:19
+#, no-wrap
+msgid ""
+"*elbpcom* [_common options_]* [*--info*] **--address=**_ADDRESS_ "
+"**--read=**_LENGTH_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:22
+msgid "Writing data:"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:25
+#, no-wrap
+msgid "*elbpcom* [_common options_] **--address=**_ADDRESS_ **--write=**_HEXDATA_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:28
+msgid "Read and decode memory space info area:"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:31
+#, no-wrap
+msgid "*elbpcom* [**--space=**_MEMSPACE_] *--read-info*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:34
+msgid "Sending arbitrary packets:"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:37
+#, no-wrap
+msgid "*elbpcom* [_common options_] _HEXDATA_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:44
+msgid ""
+"Read or write data from a Mesa ethernet card that uses the LBP16 protocol, "
+"such as the 7I80. This can be useful for performing certain low-level tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:51
+msgid ""
+"For more information about the meaning of each address space, see the card "
+"documentation. Incorrect use of this utility can have negative effects such "
+"as changing the board's IP address or even corrupting the FPGA bitfile in "
+"the eeprom. For some tasks, such as updating FPGA bitfiles and setting IP "
+"addresses, *mesaflash*(1) is a more appropriate tool."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:53
+msgid "If not specified, the default values are"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:56
+#, no-wrap
+msgid ""
+"*--ip=*_192.168.1.121_ *--port=*_27181_ *--timeout=*_.2_ *--space=*_0_ "
+"*--size=*_0_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:60
+msgid ""
+"If the *--size* argument _TRANSFER_SIZE_ is 0, elbpcom will look up the "
+"preferred transfer size of the space in the space's info area."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/elbpcom.1.adoc:63
+msgid ""
+"This example demonstrates reading the HOSTMOT2 identifying string from the "
+"IDROM in space 0:"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/elbpcom.1.adoc:70
+#, no-wrap
+msgid ""
+"$ elbpcom --address 0x104 --read 8\n"
+"> 82420401\n"
+"< 484f53544d4f5432\n"
+"      HOSTMOT2\n"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:77
+msgid ""
+"First the request is shown in hex. Then the response (if any) is shown in "
+"hex. Finally, the response is shown in ASCII, with \".\" replacing any "
+"non-ASCII characters. This is similar to the following invocations of "
+"mesaflash:"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/elbpcom.1.adoc:84
+#, no-wrap
+msgid ""
+"$ ./mesaflash  --device 7i80 --rpo 0x104\n"
+"54534F48\n"
+"$ ./mesaflash  --device 7i80 --rpo 0x108\n"
+"32544F4D\n"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:88
+msgid "but notice its different treatment of byte order."
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/elbpcom.1.adoc:92
+msgid ""
+"mesaflash(1), hostmot2(9), hm2_eth(9), https://www.mesanet.com[Mesa's "
+"documentation for the Anything I/O boards]."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/gladevcp.1.adoc:1
+#, no-wrap
+msgid "gladevcp(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:7
+msgid ""
+"gladevcp - Virtual Control Panel for LinuxCNC based on Glade, Gtk and HAL "
+"widgets"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:11
+#, no-wrap
+msgid ""
+"*gladevcp* [*-g* _WxH+X+Y_] [*-c* _component-name_] [*-u* _handler_] [*-U* "
+"_useroption_] [*-H* _HAL-file_] [*-d*] _myfile.ui_\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:14 src/man/man1/pyvcp.1.adoc:13
+#, no-wrap
+msgid "*-g* _WxH+X+Y_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:18
+msgid ""
+"This sets the initial geometry of the root window. Use 'WxH' for just size, "
+"'+X+Y' for just position, or 'WxH+X+Y' for both. Size / position use pixel "
+"units. Position is referenced from top left."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:18 src/man/man1/pyvcp.1.adoc:17
+#, no-wrap
+msgid "*-c* _component-name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:21
+msgid ""
+"Use _component-name_ as the HAL component name. If the component name is not "
+"specified, the basename of the ui file is used."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:21
+#, no-wrap
+msgid "*-u* _handler_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:24
+msgid ""
+"Instructs GladeVCP to inspect the Python script _handler_ for event "
+"handlers, and connect them to signals in the ui file."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:24
+#, no-wrap
+msgid "*-U* _useroption_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:27
+msgid ""
+"GladeVCP collects all _useroption_ strings and passes them to the handler "
+"init() method as a list of strings without further inspection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:27
+#, no-wrap
+msgid "*-x* _XID_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:30
+msgid ""
+"Reparent GladeVCP into an existing window _XID_ instead of creating a new "
+"top level window."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:30
+#, no-wrap
+msgid "*-H* _halfile_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:33
+msgid ""
+"GladeVCP runs _HAL file_ - a list of HAL commands - by executing _halcmd -c "
+"filename_ after the HAL component is finalized."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:33 src/man/man1/qtvcp.1.adoc:25
+#, no-wrap
+msgid "*-d*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:35
+msgid "enable debug output."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:35
+#, no-wrap
+msgid "*-R* _gtkrcfile_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:37
+msgid "explicitly load a gtkrc file."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:37
+#, no-wrap
+msgid "*-t* _THEME_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:40
+msgid ""
+"set gtk theme. Default is the _system_ theme.  Different panels can have "
+"different themes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:40
+#, no-wrap
+msgid "*-m* _MAXIMUM_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:44
+msgid ""
+"force panel window to maximize. Together with the _-g geometry_ option one "
+"can move the panel to a second monitor and force it to use all of the screen"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gladevcp.1.adoc:44 src/man/man1/halcmd.1.adoc:50
+#, no-wrap
+msgid "*-R*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:48
+msgid ""
+"explicitly deactivate workaround for a GTK bug which makes matches of widget "
+"and widget_class matches in GTK theme and gtkrc files fail.  Normally not "
+"needed."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp.1.adoc:52
+msgid ""
+"_GladeVCP_ in the LinuxCNC documentation for a description of GladeVCP's "
+"capabilities and the associated HAL widget set, along with examples."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/gladevcp_demo.1.adoc:1
+#, no-wrap
+msgid "gladevcp_demo(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp_demo.1.adoc:6
+msgid "gladevcp_demo - used by sample configs to deonstrate Glade Virtual_demo"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp_demo.1.adoc:10
+#, no-wrap
+msgid "*gladevcp_demo* Control Panels\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp_demo.1.adoc:14
+#, no-wrap
+msgid "*gladevcp_demo* is a sample GladeVCP handler\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gladevcp_demo.1.adoc:18
+msgid "linuxcnc(1), https://linuxcnc.org/docs/html/gui/gladevcp.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/gmoccapy.1.adoc:1
+#, no-wrap
+msgid "gmoccapy(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gmoccapy.1.adoc:6
+msgid "gmoccapy - TOUCHY LinuxCNC Graphical User Interface"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gmoccapy.1.adoc:10
+#, no-wrap
+msgid "*gmoccapy* _-ini_ _<INI file>_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gmoccapy.1.adoc:15
+#, no-wrap
+msgid ""
+"*GMOCCAPY* is one of the Graphical User Interfaces (GUI) for LinuxCNC.\n"
+"It gets run by the runscript usually.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gmoccapy.1.adoc:18 src/man/man1/touchy.1.adoc:18
+#, no-wrap
+msgid "*INI file*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gmoccapy.1.adoc:25
+msgid ""
+"The _INI file_ is the main piece of an LinuxCNC configuration. It is not the "
+"entire configuration; there are various other files that go with it (NML "
+"files, HAL files, TBL files, VAR files). It is, however, the most important "
+"one, because it is the file that holds the configuration together. It can "
+"adjust a lot of parameters itself, but it also tells *LinuxCNC* which other "
+"files to load and use."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/gremlin_view.1.adoc:1
+#, no-wrap
+msgid "gremlin_view(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:6
+msgid "gremlin_view - G-code graphical preview"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:10
+#, no-wrap
+msgid "*gremlin_view*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:14
+#, no-wrap
+msgid ""
+"*gremlin_view* is a Python wrapper for the gremlin G-code graphical "
+"preview.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:20
+msgid ""
+"PGremlinView for gremlin with buttons for simpler embedding Standalone "
+"functionality if linuxcnc running A default ui file (gremlin_view.ui) is "
+"provided for a default button arrangement but a user may provide their own "
+"by supplying the glade_file argument. The following objects are mandatory:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gremlin_view.1.adoc:20
+#, no-wrap
+msgid "`gremlin_view_window`"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:21
+msgid "toplevel window"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gremlin_view.1.adoc:21
+#, no-wrap
+msgid "`gremlin_view_hal_gremlin`"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:22
+msgid "hal_gremlin"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gremlin_view.1.adoc:22
+#, no-wrap
+msgid "`gremlin_view_box`"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:23
+msgid "HBox or VBox containing hal_gremlin"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gremlin_view.1.adoc:24
+#, no-wrap
+msgid "Optional radiobutton group names"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:26
+msgid ""
+"'select_p_view' 'select_x_view' 'select_y_view' 'select_z_view' "
+"'select_z2_view'"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gremlin_view.1.adoc:26
+#, no-wrap
+msgid "Optional checkbuttons names"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:29
+msgid ""
+"'enable_dro' 'show_machine_speed 'show_distance_to_go' 'show_limits' "
+"'show_extents' 'show_tool' 'show_metric'"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gremlin_view.1.adoc:29
+#, no-wrap
+msgid "Callbacks are provided for the following button actions"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:38
+msgid ""
+"on_clear_live_plotter_clicked on_enable_dro_clicked on_zoomin_pressed "
+"on_zoomout_pressed on_pan_x_minus_pressed on_pan_x_plus_pressed "
+"on_pan_y_minus_pressed on_pan_y_plus_pressed on_show_tool_clicked "
+"on_show_metric_clicked on_show_extents_clicked on_select_p_view_clicked "
+"on_select_x_view_clicked on_select_y_view_clicked on_select_z_view_clicked "
+"on_select_z2_view_clicked on_show_distance_to_go_clicked "
+"on_show_machine_speed_clicked on_show_limits_clicked"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gremlin_view.1.adoc:42
+msgid "linuxcnc(1), https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Gremlin"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/gs2_vfd.1.adoc:1
+#, no-wrap
+msgid "gs2_vfd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:6
+msgid "gs2_vfd - HAL non-realtime component for Automation Direct GS2 VFDs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:10
+#, no-wrap
+msgid "*gs2_vfd* [OPTIONS]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:15
+msgid ""
+"This manual page explains the *gs2_vfd* component. This component reads and "
+"writes to the GS2 via a modbus connection."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:17
+#, no-wrap
+msgid "*gs2_vfd* is for use with LinuxCNC\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:20 src/man/man1/hy_vfd.1.adoc:99
+#, no-wrap
+msgid "-b, --bits _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:22
+msgid ""
+"Set number of data bits to _<n>_, where n must be from 5 to 8 inclusive "
+"(default 8)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:23 src/man/man1/hy_vfd.1.adoc:83
+#, no-wrap
+msgid "-d, --device _<path>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:25
+msgid ""
+"Set the path to the file representing the serial device to use. (default "
+"/dev/ttyS0)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:26
+#, no-wrap
+msgid "-v, --verbose"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:28 src/man/man1/hy_gt_vfd.1.adoc:122
+#: src/man/man1/svd-ps_vfd.1.adoc:67
+msgid "Turn on verbose mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:29 src/man/man1/hy_vfd.1.adoc:86
+#, no-wrap
+msgid "-g, --debug"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:32
+msgid ""
+"Turn on debug messages. Note that if there are serial errors, this may "
+"become annoying.  Debug mode will cause all modbus messages to be printed in "
+"hex on the terminal."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:33
+#, no-wrap
+msgid "-n, --name <string>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:36
+msgid ""
+"Set the name of the HAL module. The HAL comp name will be set to <string>, "
+"and all pin and parameter names will begin with <string>. (default gs2_vfd)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:37 src/man/man1/hy_vfd.1.adoc:104
+#, no-wrap
+msgid "-p, --parity [even,odd,none]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:39
+msgid "Set serial parity to even, odd, or none. (default odd)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:40
+#, no-wrap
+msgid "-r, --rate <n>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:44
+msgid ""
+"Set baud rate to _<n>_. It is an error if the rate is not one of the "
+"following: 110, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, "
+"115200 (default 38400)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:45 src/man/man1/hy_vfd.1.adoc:114
+#, no-wrap
+msgid "-s, --stopbits [1,2]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:47
+msgid "Set serial stop bits to 1 or 2 (default 1)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:48
+#, no-wrap
+msgid "-t, --target <n>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:51
+msgid ""
+"Set MODBUS target (slave) number.  This must match the device number you set "
+"on the GS2. (default 1)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:52
+#, no-wrap
+msgid "-A, --accel-seconds <n>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:54
+msgid "Seconds to accelerate the spindle from 0 to Max RPM. (default 10.0)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:55
+#, no-wrap
+msgid "-D, --decel-seconds <n>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:59
+msgid ""
+"Seconds to decelerate the spindle from Max RPM to 0.  If set to 0.0 the "
+"spindle will be allowed to coast to a stop without controlled "
+"deceleration. (default 0.0)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:60
+#, no-wrap
+msgid "-R, --braking-resistor"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:67
+msgid ""
+"This argument should be used when a braking resistor is installed on the GS2 "
+"VFD (see Appendix A of the GS2 manual). It disables deceleration "
+"over-voltage stall prevention (see GS2 modbus Parameter 6.05), allowing the "
+"VFD to keep braking even in situations where the motor is regenerating high "
+"voltage. The regenerated voltage gets safely dumped into the braking "
+"resistor."
+msgstr ""
+
+#. type: SH
+#: src/man/man1/gs2_vfd.1.adoc:68 src/man/man1/hal_manualtoolchange.1.adoc:35
+#: src/man/man1/halui.1.adoc:32 src/man/man1/hy_gt_vfd.1.adoc:135
+#: src/man/man1/hy_vfd.1.adoc:174 src/man/man1/io.1.adoc:28
+#: src/man/man1/mb2hal.1.adoc:21 src/man/man1/milltask.1.adoc:24
+#: src/man/man1/mitsub_vfd.1.adoc:75 src/man/man1/sendkeys.1.adoc:74
+#: src/man/man1/svd-ps_vfd.1.adoc:74 src/man/man1/vfdb_vfd.1.adoc:98
+#: src/man/man1/vfs11_vfd.1.adoc:40 src/man/man9/classicladder.9.adoc:28
+#: src/man/man9/counter.9.adoc:37 src/man/man9/debounce.9.adoc:40
+#: src/man/man9/encoder.9.adoc:61 src/man/man9/encoder_ratio.9.adoc:40
+#: src/man/man9/hal_bb_gpio.9.adoc:18 src/man/man9/hal_bb_gpio.9.adoc:36
+#: src/man/man9/hal_bb_gpio.9.adoc:53 src/man/man9/hal_parport.9.adoc:47
+#: src/man/man9/hm2_eth.9.adoc:95 src/man/man9/lcd.9.adoc:16
+#: src/man/man9/lineardeltakins.9.adoc:23 src/man/man9/opto_ac5.9.adoc:32
+#: src/man/man9/rosekins.9.adoc:18 src/man/man9/sampler.9.adoc:49
+#: src/man/man9/setsserial.9.adoc:18 src/man/man9/siggen.9.adoc:42
+#: src/man/man9/stepgen.9.adoc:97 src/man/man9/streamer.9.adoc:38
+#: src/man/man9/supply.9.adoc:35 src/man/man9/threads.9.adoc:39
+#: src/man/man9/watchdog.9.adoc:27 src/man/man9/weighted_sum.9.adoc:31
+#: man/man1/pi500_vfd.1:15 man/man1/thermistor.1:22 man/man1/wj200_vfd.1:15
+#: man/man9/abs.9:20 man/man9/abs_s32.9:20 man/man9/and2.9:20
+#: man/man9/axistest.9:20 man/man9/bin2gray.9:23 man/man9/biquad.9:24
+#: man/man9/bitslice.9:26 man/man9/bitwise.9:20 man/man9/bldc.9:103
+#: man/man9/blend.9:20 man/man9/carousel.9:121 man/man9/charge_pump.9:29
+#: man/man9/clarke2.9:34 man/man9/clarke3.9:31 man/man9/clarkeinv.9:25
+#: man/man9/comp.9:20 man/man9/constant.9:20 man/man9/conv_bit_float.9:20
+#: man/man9/conv_bit_s32.9:20 man/man9/conv_bit_u32.9:20
+#: man/man9/conv_float_s32.9:20 man/man9/conv_float_u32.9:20
+#: man/man9/conv_s32_bit.9:20 man/man9/conv_s32_float.9:20
+#: man/man9/conv_s32_u32.9:20 man/man9/conv_u32_bit.9:20
+#: man/man9/conv_u32_float.9:20 man/man9/conv_u32_s32.9:20
+#: man/man9/corexy_by_hal.9:54 man/man9/dbounce.9:26 man/man9/ddt.9:27
+#: man/man9/deadzone.9:20 man/man9/demux.9:31 man/man9/differential.9:20
+#: man/man9/edge.9:20 man/man9/eoffset_per_angle.9:49 man/man9/estop_latch.9:86
+#: man/man9/feedcomp.9:20 man/man9/filter_kalman.9:45 man/man9/flipflop.9:20
+#: man/man9/gantry.9:43 man/man9/gearchange.9:24 man/man9/gray2bin.9:23
+#: man/man9/histobins.9:54 man/man9/hypot.9:20 man/man9/ilowpass.9:35
+#: man/man9/integ.9:20 man/man9/invert.9:21 man/man9/joyhandle.9:41
+#: man/man9/knob2float.9:20 man/man9/latencybins.9:46 man/man9/limit1.9:20
+#: man/man9/limit2.9:20 man/man9/limit3.9:22 man/man9/lincurve.9:45
+#: man/man9/logic.9:57 man/man9/lowpass.9:20 man/man9/lut5.9:147
+#: man/man9/maj3.9:20 man/man9/match8.9:20 man/man9/matrix_kb.9:60
+#: man/man9/max31855.9:47 man/man9/mesa_7i65.9:27
+#: man/man9/mesa_pktgyro_test.9:56 man/man9/message.9:45 man/man9/millturn.9:49
+#: man/man9/minmax.9:20 man/man9/moveoff.9:85 man/man9/mult2.9:20
+#: man/man9/multiclick.9:41 man/man9/multiswitch.9:26 man/man9/mux16.9:20
+#: man/man9/mux2.9:20 man/man9/mux4.9:20 man/man9/mux8.9:20
+#: man/man9/mux_generic.9:38 man/man9/near.9:20 man/man9/not.9:20
+#: man/man9/offset.9:23 man/man9/ohmic.9:43 man/man9/oneshot.9:28
+#: man/man9/or2.9:20 man/man9/orient.9:66 man/man9/pid.9:140
+#: man/man9/plasmac.9:44 man/man9/pwmgen.9:57 man/man9/sample_hold.9:20
+#: man/man9/scale.9:20 man/man9/select8.9:20 man/man9/serport.9:37
+#: man/man9/sim_axis_hardware.9:28 man/man9/sim_encoder.9:64
+#: man/man9/sim_home_switch.9:29 man/man9/sim_matrix_kb.9:20
+#: man/man9/sim_parport.9:55 man/man9/simple_tp.9:19 man/man9/sim_spindle.9:20
+#: man/man9/sphereprobe.9:20 man/man9/spindle.9:32
+#: man/man9/spindle_monitor.9:20 man/man9/steptest.9:20 man/man9/sum2.9:20
+#: man/man9/thc.9:70 man/man9/thcud.9:79 man/man9/threadtest.9:23
+#: man/man9/time.9:105 man/man9/timedelay.9:20 man/man9/timedelta.9:20
+#: man/man9/toggle2nist.9:49 man/man9/toggle.9:31 man/man9/tristate_bit.9:20
+#: man/man9/tristate_float.9:20 man/man9/updown.9:20 man/man9/userkins.9:69
+#: man/man9/wcomp.9:20 man/man9/xhc_hb04_util.9:30 man/man9/xor2.9:20
+#, no-wrap
+msgid "PINS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:70
+#, no-wrap
+msgid "<name>.DC-bus-volts (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:72 src/man/man1/gs2_vfd.1.adoc:81
+#: src/man/man1/gs2_vfd.1.adoc:84 src/man/man1/gs2_vfd.1.adoc:87
+#: src/man/man1/gs2_vfd.1.adoc:93 src/man/man1/gs2_vfd.1.adoc:96
+#: src/man/man1/gs2_vfd.1.adoc:99 src/man/man1/gs2_vfd.1.adoc:102
+#: src/man/man1/gs2_vfd.1.adoc:105 src/man/man1/gs2_vfd.1.adoc:108
+#: src/man/man1/vfs11_vfd.1.adoc:108 src/man/man1/vfs11_vfd.1.adoc:111
+#: src/man/man1/vfs11_vfd.1.adoc:114
+msgid "from the VFD"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:73 src/man/man1/vfdb_vfd.1.adoc:100
+#: src/man/man1/vfs11_vfd.1.adoc:51
+#, no-wrap
+msgid "<name>.at-speed (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:75
+msgid "when drive is at commanded speed"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:76 src/man/man1/vfs11_vfd.1.adoc:64
+#, no-wrap
+msgid "<name>.err-reset (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:78
+msgid "reset errors sent to VFD"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:79
+#, no-wrap
+msgid "<name>.firmware-revision (s32, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:82 src/man/man1/vfdb_vfd.1.adoc:106
+#: src/man/man1/vfs11_vfd.1.adoc:72
+#, no-wrap
+msgid "<name>.frequency-command (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:85 src/man/man1/vfdb_vfd.1.adoc:109
+#: src/man/man1/vfs11_vfd.1.adoc:75
+#, no-wrap
+msgid "<name>.frequency-out (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:88 src/man/man1/vfdb_vfd.1.adoc:118
+#: src/man/man1/vfs11_vfd.1.adoc:85
+#, no-wrap
+msgid "<name>.is-stopped (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:90
+msgid "when the VFD reports 0 Hz output"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:91
+#, no-wrap
+msgid "<name>.load-percentage (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:94 src/man/man1/vfdb_vfd.1.adoc:135
+#: src/man/man1/vfs11_vfd.1.adoc:103
+#, no-wrap
+msgid "<name>.motor-RPM (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:97 src/man/man1/vfdb_vfd.1.adoc:144
+#, no-wrap
+msgid "<name>.output-current (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:100 src/man/man1/vfdb_vfd.1.adoc:141
+#: src/man/man1/vfs11_vfd.1.adoc:112
+#, no-wrap
+msgid "<name>.output-voltage (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:103
+#, no-wrap
+msgid "<name>.power-factor (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:106
+#, no-wrap
+msgid "<name>.scale-frequency (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:109 src/man/man1/vfdb_vfd.1.adoc:147
+#: src/man/man1/vfs11_vfd.1.adoc:115
+#, no-wrap
+msgid "<name>.speed-command (float, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:112
+msgid ""
+"speed sent to VFD in RPM It is an error to send a speed faster than the "
+"Motor Max RPM as set in the VFD"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:113 src/man/man1/vfs11_vfd.1.adoc:118
+#, no-wrap
+msgid "<name>.spindle-fwd (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:115
+msgid "1 for FWD and 0 for REV sent to VFD"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:116 src/man/man1/vfdb_vfd.1.adoc:151
+#: src/man/man1/vfs11_vfd.1.adoc:121
+#, no-wrap
+msgid "<name>.spindle-on (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:118 src/man/man1/vfs11_vfd.1.adoc:123
+msgid "1 for ON and 0 for OFF sent to VFD, only on when running"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:119 src/man/man1/vfs11_vfd.1.adoc:124
+#, no-wrap
+msgid "<name>.spindle-rev (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:121 src/man/man1/vfs11_vfd.1.adoc:126
+msgid "1 for ON and 0 for OFF, only on when running"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:122
+#, no-wrap
+msgid "<name>.status-1 (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:124
+msgid "Drive Status of the VFD (see the GS2 manual)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:125
+#, no-wrap
+msgid "<name>.status-2 (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:130
+msgid ""
+"Drive Status of the VFD (see the GS2 manual) Note that the value is a sum of "
+"all the bits that are on. So a 163 which means the drive is in the run mode "
+"is the sum of 3 (run) + 32 (freq set by serial) + 128 (operation set by "
+"serial)."
+msgstr ""
+
+#. type: SH
+#: src/man/man1/gs2_vfd.1.adoc:131 src/man/man1/sendkeys.1.adoc:85
+#: src/man/man1/vfdb_vfd.1.adoc:170 src/man/man1/vfs11_vfd.1.adoc:140
+#: src/man/man9/classicladder.9.adoc:52 src/man/man9/encoder.9.adoc:144
+#: src/man/man9/encoder_ratio.9.adoc:66 src/man/man9/hal_bb_gpio.9.adoc:60
+#: src/man/man9/hal_parport.9.adoc:83 src/man/man9/hm2_eth.9.adoc:111
+#: src/man/man9/lcd.9.adoc:31 src/man/man9/opto_ac5.9.adoc:50
+#: src/man/man9/sampler.9.adoc:65 src/man/man9/siggen.9.adoc:75
+#: src/man/man9/stepgen.9.adoc:125 src/man/man9/threads.9.adoc:43
+#: src/man/man9/watchdog.9.adoc:41 man/man1/pi500_vfd.1:46
+#: man/man1/wj200_vfd.1:58 man/man9/axistest.9:70 man/man9/biquad.9:52
+#: man/man9/bldc.9:260 man/man9/blend.9:33 man/man9/carousel.9:216
+#: man/man9/comp.9:33 man/man9/constant.9:23 man/man9/conv_float_s32.9:32
+#: man/man9/conv_float_u32.9:32 man/man9/conv_s32_bit.9:32
+#: man/man9/conv_s32_u32.9:32 man/man9/conv_u32_bit.9:32
+#: man/man9/conv_u32_s32.9:32 man/man9/deadzone.9:27 man/man9/demux.9:41
+#: man/man9/edge.9:31 man/man9/feedcomp.9:33 man/man9/filter_kalman.9:62
+#: man/man9/gearchange.9:40 man/man9/ilowpass.9:44 man/man9/invert.9:28
+#: man/man9/joyhandle.9:48 man/man9/knob2float.9:33 man/man9/lincurve.9:55
+#: man/man9/lowpass.9:31 man/man9/lut5.9:170 man/man9/maj3.9:35
+#: man/man9/matrix_kb.9:81 man/man9/mesa_7i65.9:45 man/man9/message.9:53
+#: man/man9/multiclick.9:75 man/man9/multiswitch.9:36 man/man9/mux16.9:66
+#: man/man9/mux_generic.9:70 man/man9/near.9:36 man/man9/oneshot.9:47
+#: man/man9/pid.9:383 man/man9/serport.9:71 man/man9/sim_encoder.9:86
+#: man/man9/sim_parport.9:310 man/man9/sim_spindle.9:30
+#: man/man9/spindle_monitor.9:39 man/man9/steptest.9:73 man/man9/sum2.9:32
+#: man/man9/thc.9:113 man/man9/thcud.9:122 man/man9/toggle.9:38
+#: man/man9/updown.9:33
+#, no-wrap
+msgid "PARAMETERS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:133 src/man/man1/vfs11_vfd.1.adoc:137
+#, no-wrap
+msgid "<name>.error-count (s32, RW)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:135 src/man/man1/vfdb_vfd.1.adoc:172
+#: src/man/man1/vfs11_vfd.1.adoc:145
+#, no-wrap
+msgid "<name>.loop-time (float, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:137
+msgid "how often the modbus is polled (default 0.1)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:138 src/man/man1/vfdb_vfd.1.adoc:175
+#: src/man/man1/vfs11_vfd.1.adoc:148
+#, no-wrap
+msgid "<name>.nameplate-HZ (float, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:140
+msgid "Nameplate Hz of motor (default 60)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:141 src/man/man1/vfdb_vfd.1.adoc:180
+#: src/man/man1/vfs11_vfd.1.adoc:152
+#, no-wrap
+msgid "<name>.nameplate-RPM (float, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:143
+msgid "Nameplate RPM of motor (default 1730)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:144
+#, no-wrap
+msgid "<name>.retval (s32, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:146
+msgid "the return value of an error in HAL"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:147 src/man/man1/vfdb_vfd.1.adoc:186
+#: src/man/man1/vfs11_vfd.1.adoc:158
+#, no-wrap
+msgid "<name>.tolerance (float, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:149
+msgid "speed tolerance (default 0.01)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/gs2_vfd.1.adoc:150
+#, no-wrap
+msgid "<name>.ack-delay (s32, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:152
+msgid "number of read/write cycles before checking at-speed (default 2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:157
+msgid ""
+"_GS2 Driver_ in the LinuxCNC documentation for a full description of the "
+"*GS2* syntax"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:160
+msgid ""
+"_GS2 Examples_ in the LinuxCNC documentation for examples using the *GS2* "
+"component"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:164 man/man9/thc.9:132 man/man9/thcud.9:129
+msgid "John Thornton"
+msgstr ""
+
+#. type: SH
+#: src/man/man1/gs2_vfd.1.adoc:165 src/man/man1/hy_gt_vfd.1.adoc:219
+#: src/man/man1/hy_vfd.1.adoc:299 src/man/man1/mb2hal.1.adoc:87
+#: src/man/man1/pmx485-test.1.adoc:31 src/man/man1/pmx485.1.adoc:25
+#: src/man/man1/qtplasmac-materials.1.adoc:29 src/man/man1/sendkeys.1.adoc:127
+#: src/man/man1/svd-ps_vfd.1.adoc:129 src/man/man1/vfdb_vfd.1.adoc:205
+#: src/man/man1/vfs11_vfd.1.adoc:180 src/man/man9/hal_bb_gpio.9.adoc:71
+#: src/man/man9/hm2_7i43.9.adoc:87 src/man/man9/hm2_7i90.9.adoc:73
+#: src/man/man9/hm2_eth.9.adoc:182 src/man/man9/hm2_pci.9.adoc:35
+#: src/man/man9/hm2_rpspi.9.adoc:151 src/man/man9/hm2_spi.9.adoc:59
+#: src/man/man9/hostmot2.9.adoc:1567 src/man/man9/lcd.9.adoc:169
+#: src/man/man9/setsserial.9.adoc:106 src/man/man9/watchdog.9.adoc:49
+#: man/man1/pi500_vfd.1:50 man/man1/thermistor.1:64 man/man1/wj200_vfd.1:65
+#: man/man9/abs.9:39 man/man9/abs_s32.9:39 man/man9/and2.9:55
+#: man/man9/axistest.9:81 man/man9/bin2gray.9:33 man/man9/biquad.9:71
+#: man/man9/bitslice.9:35 man/man9/bitwise.9:48 man/man9/bldc.9:434
+#: man/man9/blend.9:40 man/man9/carousel.9:243 man/man9/charge_pump.9:45
+#: man/man9/clarke2.9:56 man/man9/clarke3.9:60 man/man9/clarkeinv.9:56
+#: man/man9/comp.9:46 man/man9/constant.9:29 man/man9/conv_bit_float.9:30
+#: man/man9/conv_bit_s32.9:30 man/man9/conv_bit_u32.9:30
+#: man/man9/conv_float_s32.9:39 man/man9/conv_float_u32.9:39
+#: man/man9/conv_s32_bit.9:39 man/man9/conv_s32_float.9:30
+#: man/man9/conv_s32_u32.9:39 man/man9/conv_u32_bit.9:39
+#: man/man9/conv_u32_float.9:30 man/man9/conv_u32_s32.9:39
+#: man/man9/corexy_by_hal.9:82 man/man9/dbounce.9:40 man/man9/ddt.9:47
+#: man/man9/deadzone.9:37 man/man9/demux.9:50 man/man9/differential.9:48
+#: man/man9/edge.9:50 man/man9/eoffset_per_angle.9:136
+#: man/man9/estop_latch.9:112 man/man9/feedcomp.9:43
+#: man/man9/filter_kalman.9:72 man/man9/flipflop.9:42 man/man9/gantry.9:74
+#: man/man9/gearchange.9:64 man/man9/gray2bin.9:33 man/man9/histobins.9:144
+#: man/man9/hypot.9:39 man/man9/ilowpass.9:59 man/man9/integ.9:44
+#: man/man9/invert.9:38 man/man9/joyhandle.9:70 man/man9/knob2float.9:43
+#: man/man9/latencybins.9:104 man/man9/limit1.9:38 man/man9/limit2.9:45
+#: man/man9/limit3.9:62 man/man9/lincurve.9:65 man/man9/logic.9:121
+#: man/man9/lowpass.9:70 man/man9/lut5.9:185 man/man9/maj3.9:41
+#: man/man9/match8.9:94 man/man9/max31855.9:75 man/man9/mesa_7i65.9:57
+#: man/man9/mesa_pktgyro_test.9:63 man/man9/message.9:61 man/man9/millturn.9:56
+#: man/man9/minmax.9:37 man/man9/moveoff.9:175 man/man9/mult2.9:38
+#: man/man9/multiclick.9:95 man/man9/multiswitch.9:46 man/man9/mux16.9:81
+#: man/man9/mux2.9:40 man/man9/mux4.9:67 man/man9/mux8.9:99
+#: man/man9/mux_generic.9:92 man/man9/near.9:46 man/man9/not.9:39
+#: man/man9/offset.9:42 man/man9/ohmic.9:113 man/man9/oneshot.9:60
+#: man/man9/or2.9:50 man/man9/orient.9:94 man/man9/plasmac.9:615
+#: man/man9/sample_hold.9:37 man/man9/scale.9:39 man/man9/select8.9:36
+#: man/man9/serport.9:86 man/man9/sim_axis_hardware.9:514
+#: man/man9/sim_home_switch.9:51 man/man9/sim_matrix_kb.9:51
+#: man/man9/sim_parport.9:408 man/man9/simple_tp.9:44 man/man9/sim_spindle.9:41
+#: man/man9/sphereprobe.9:51 man/man9/spindle.9:145
+#: man/man9/spindle_monitor.9:48 man/man9/steptest.9:84 man/man9/sum2.9:49
+#: man/man9/thc.9:132 man/man9/thcud.9:129 man/man9/threadtest.9:29
+#: man/man9/time.9:124 man/man9/timedelay.9:43 man/man9/timedelta.9:51
+#: man/man9/toggle2nist.9:67 man/man9/toggle.9:45 man/man9/tristate_bit.9:33
+#: man/man9/tristate_float.9:33 man/man9/updown.9:49 man/man9/userkins.9:76
+#: man/man9/wcomp.9:45 man/man9/xhc_hb04_util.9:136 man/man9/xor2.9:54
+#, no-wrap
+msgid "LICENSE"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gs2_vfd.1.adoc:167 src/man/man1/hy_vfd.1.adoc:301
+#: src/man/man1/mb2hal.1.adoc:89 src/man/man1/pmx485-test.1.adoc:33
+#: src/man/man1/pmx485.1.adoc:27 src/man/man1/qtplasmac-materials.1.adoc:31
+#: src/man/man1/vfdb_vfd.1.adoc:207 src/man/man1/vfs11_vfd.1.adoc:182
+#: src/man/man9/hal_bb_gpio.9.adoc:73 src/man/man9/hm2_7i43.9.adoc:89
+#: src/man/man9/hm2_7i90.9.adoc:75 src/man/man9/hm2_eth.9.adoc:184
+#: src/man/man9/hm2_pci.9.adoc:37 src/man/man9/hm2_rpspi.9.adoc:153
+#: src/man/man9/hm2_spi.9.adoc:61 src/man/man9/hostmot2.9.adoc:1569
+#: src/man/man9/lcd.9.adoc:171 src/man/man9/setsserial.9.adoc:108
+#: src/man/man9/watchdog.9.adoc:51 man/man1/thermistor.1:66 man/man9/abs.9:41
+#: man/man9/abs_s32.9:41 man/man9/and2.9:57 man/man9/axistest.9:83
+#: man/man9/bin2gray.9:35 man/man9/biquad.9:73 man/man9/bldc.9:436
+#: man/man9/blend.9:42 man/man9/carousel.9:245 man/man9/charge_pump.9:47
+#: man/man9/clarke2.9:58 man/man9/clarke3.9:62 man/man9/clarkeinv.9:58
+#: man/man9/comp.9:48 man/man9/constant.9:31 man/man9/conv_bit_float.9:32
+#: man/man9/conv_bit_s32.9:32 man/man9/conv_bit_u32.9:32
+#: man/man9/conv_float_s32.9:41 man/man9/conv_float_u32.9:41
+#: man/man9/conv_s32_bit.9:41 man/man9/conv_s32_float.9:32
+#: man/man9/conv_s32_u32.9:41 man/man9/conv_u32_bit.9:41
+#: man/man9/conv_u32_float.9:32 man/man9/conv_u32_s32.9:41
+#: man/man9/corexy_by_hal.9:84 man/man9/dbounce.9:42 man/man9/ddt.9:49
+#: man/man9/deadzone.9:39 man/man9/differential.9:50 man/man9/edge.9:52
+#: man/man9/eoffset_per_angle.9:138 man/man9/estop_latch.9:114
+#: man/man9/feedcomp.9:45 man/man9/flipflop.9:44 man/man9/gantry.9:76
+#: man/man9/gearchange.9:66 man/man9/gray2bin.9:35 man/man9/histobins.9:146
+#: man/man9/hypot.9:41 man/man9/ilowpass.9:61 man/man9/integ.9:46
+#: man/man9/invert.9:40 man/man9/joyhandle.9:72 man/man9/knob2float.9:45
+#: man/man9/latencybins.9:106 man/man9/limit1.9:40 man/man9/limit2.9:47
+#: man/man9/limit3.9:64 man/man9/lincurve.9:67 man/man9/logic.9:123
+#: man/man9/lowpass.9:72 man/man9/lut5.9:187 man/man9/maj3.9:43
+#: man/man9/match8.9:96 man/man9/max31855.9:77 man/man9/mesa_7i65.9:59
+#: man/man9/mesa_pktgyro_test.9:65 man/man9/millturn.9:58 man/man9/minmax.9:39
+#: man/man9/moveoff.9:177 man/man9/mult2.9:40 man/man9/multiclick.9:97
+#: man/man9/multiswitch.9:48 man/man9/mux16.9:83 man/man9/mux2.9:42
+#: man/man9/mux4.9:69 man/man9/mux8.9:101 man/man9/mux_generic.9:94
+#: man/man9/near.9:48 man/man9/not.9:41 man/man9/offset.9:44
+#: man/man9/ohmic.9:115 man/man9/oneshot.9:62 man/man9/or2.9:52
+#: man/man9/orient.9:96 man/man9/sample_hold.9:39 man/man9/scale.9:41
+#: man/man9/select8.9:38 man/man9/serport.9:88 man/man9/sim_axis_hardware.9:516
+#: man/man9/sim_home_switch.9:53 man/man9/sim_matrix_kb.9:53
+#: man/man9/sim_parport.9:410 man/man9/simple_tp.9:46 man/man9/sim_spindle.9:43
+#: man/man9/sphereprobe.9:53 man/man9/spindle.9:147 man/man9/steptest.9:86
+#: man/man9/sum2.9:51 man/man9/threadtest.9:31 man/man9/time.9:126
+#: man/man9/timedelay.9:45 man/man9/timedelta.9:53 man/man9/toggle2nist.9:69
+#: man/man9/toggle.9:47 man/man9/tristate_bit.9:35 man/man9/tristate_float.9:35
+#: man/man9/updown.9:51 man/man9/userkins.9:78 man/man9/wcomp.9:47
+#: man/man9/xhc_hb04_util.9:138 man/man9/xor2.9:56
+msgid "GPL"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/gscreen.1.adoc:1
+#, no-wrap
+msgid "gscreen(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gscreen.1.adoc:6
+msgid "gscreen - TOUCHY LinuxCNC Graphical User Interface"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gscreen.1.adoc:10
+#, no-wrap
+msgid "*gscreen* *-ini* _INIFILE_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gscreen.1.adoc:15
+#, no-wrap
+msgid ""
+"*gscreen* is one of the Graphical User Interfaces (GUI) for LinuxCNC.\n"
+"It gets run by the runscript usually.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/gscreen.1.adoc:25
+msgid ""
+"The ini file is the main piece of an LinuxCNC configuration. It is not the "
+"entire configuration; there are various other files that go with it (NML "
+"files, HAL files, TBL files, VAR files). It is, however, the most important "
+"one, because it is the file that holds the configuration together. It can "
+"adjust a lot of parameters itself, but it also tells *LinuxCNC* which other "
+"files to load and use."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/hal-histogram.1.adoc:1
+#, no-wrap
+msgid "hal-histogram(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal-histogram.1.adoc:6
+msgid "hal-histogram - plots the value of a HAL pin as a histogram"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal-histogram.1.adoc:10
+#, no-wrap
+msgid "*hal-histogram*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal-histogram.1.adoc:14
+#, no-wrap
+msgid "*hal-histogram* represents the values of a HAL pin graphically.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal-histogram.1.adoc:16
+msgid "Details: https://linuxcnc.org/docs/html/hal/tools.html#_hal_histogram"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/hal_input.1.adoc:1
+#, no-wrap
+msgid "hal_input(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:7
+msgid ""
+"hal_input - control HAL pins with any Linux input device, including USB HID "
+"devices"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:11
+#, no-wrap
+msgid "*loadusr*_ *hal_input* [*-KRAL*] _inputspec_ ...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:18
+#, no-wrap
+msgid ""
+"*hal_input* is an interface between HAL and any Linux input device,\n"
+"including USB HID devices. For each device named, *hal_input* creates\n"
+"pins corresponding to its keys, absolute axes, and LEDs. At a fixed rate\n"
+"of approximately 10 ms, it synchronizes the device and the HAL pins.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/hal_input.1.adoc:19
+#, no-wrap
+msgid "INPUT SPECIFICATION"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:22
+msgid "The _inputspec_ may be in one of several forms:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:23
+#, no-wrap
+msgid "A string _S_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:36
+msgid ""
+"A substring or shell-style pattern match will be tested against the \"name\" "
+"of the device, the \"phys\" (which gives information about how it is "
+"connected), and the \"id\", which is a string of the form \"Bus=...  "
+"Vendor=... Product=... Version=...\". You can view the name, phys, and id of "
+"attached devices by executing *less /proc/bus/input/devices*.  Examples: + "
+"SpaceBall + \"Vendor=001f Product=0001\" + serio*/input0"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:37
+#, no-wrap
+msgid "A number _N_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:42
+msgid ""
+"This opens */dev/input/event*_N_. Except for devices that are always "
+"attached to the system, this number may change over reboots or when the "
+"device is removed. For this reason, using an integer is not recommended."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:47
+msgid ""
+"When several devices are identified by the same string, add \"*:*_N_\" where "
+"_N_ is the index of the desired device. For example, if *Mouse* matches "
+"*input3* and *input10*, then *Mouse* and *Mouse:0* select "
+"*input3*. Specifying *mouse:1* selects input10."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:53
+msgid ""
+"For devices that appear as multiple entries in /dev/input, these indices are "
+"likely to stay the same every time. For multiple identical devices, these "
+"indices are likely to depend on the insertion order, but stay the same "
+"across reboots as long as the devices are not moved to different ports or "
+"unplugged while the machine is booted."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:57
+msgid ""
+"If the first character of the _inputspec_ is a \"+\", then *hal_input* "
+"requests exclusive access to the device. The first device matching an "
+"_inputspec_ is used. Any number of __inputspec__s may be used."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:62
+msgid ""
+"A _subset option may precede each inputspec_. The subset option begins with "
+"a dash. Each letter in the subset option specifies a device feature to "
+"*include*. Features that are not specified are excluded. For instance, to "
+"export keyboard LEDs to HAL without exporting keys, use"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/hal_input.1.adoc:65
+msgid "hal_input -L _keyboard_ ..."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/hal_input.1.adoc:67
+#, no-wrap
+msgid "DEVICE FEATURES SUPPORTED"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:70
+msgid "EV_KEY (buttons and keys). Subset -K"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:71
+msgid "EV_ABS (absolute analog inputs). Subset -A"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:72
+msgid "EV_REL (relative analog inputs). Subset -R"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:73
+msgid "EV_LED (LED outputs). Subset -L"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/hal_input.1.adoc:74
+#, no-wrap
+msgid "HAL PINS AND PARAMETERS"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/hal_input.1.adoc:76
+#, no-wrap
+msgid "For buttons"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:78
+#, no-wrap
+msgid "**input.**_N_**.btn-**_name_ bit out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:81
+#, no-wrap
+msgid "**input.**_N_**.btn-**_name_**-not** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:83
+msgid "Created for each button on the device."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/hal_input.1.adoc:84
+#, no-wrap
+msgid "For keys"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:86
+#, no-wrap
+msgid "**input.**_N_**.key-**_name_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:88
+#, no-wrap
+msgid "**input**_N_**.key-**_name_**-not**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:90
+msgid "Created for each key on the device."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/hal_input.1.adoc:91
+#, no-wrap
+msgid "For absolute axes"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:93
+#, no-wrap
+msgid "**input.**_N_**.abs-**_name_**-counts** s32 out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:95
+#, no-wrap
+msgid "**input.**_N_**.abs-**_name_**-position** float out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:97
+#, no-wrap
+msgid "**input.**_N_**.abs-**_name_**-scale** parameter float rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:99
+#, no-wrap
+msgid "**input.**_N_**.abs-**_name_**-offset** parameter float rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:101
+#, no-wrap
+msgid "**input.**_N_**.abs-**_name_**-fuzz** parameter s32 rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:103
+#, no-wrap
+msgid "**input.**_N_**.abs-**_name_**-flat** parameter s32 rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:105
+#, no-wrap
+msgid "**input.**_N_**.abs-**_name_**-min** parameter s32 r"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:107
+#, no-wrap
+msgid "**input.**_N_**.abs-**_name_**-max** parameter s32 r"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:117
+msgid ""
+"Created for each absolute axis on the device. Device positions closer than "
+"*flat* to *offset* are reported as *offset* in *counts*, and *counts* does "
+"not change until the device position changes by at least *fuzz*. The "
+"position is computed as *position* = (*counts* - *offset*)  / *scale*. The "
+"default value of *scale* and *offset* map the range of the axis reported by "
+"the operating system to [-1,1]. The default values of *fuzz* and *flat* are "
+"those reported by the operating system. The values of *min* and *max* are "
+"those reported by the operating system."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/hal_input.1.adoc:118
+#, no-wrap
+msgid "For relative axes"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:120
+#, no-wrap
+msgid "**input.**_N_**.rel-**_name_**-counts** s32 out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:122
+#, no-wrap
+msgid "**input.**_N_**.rel-**_name_**-position** float out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:124
+#, no-wrap
+msgid "**input.**_N_**.rel-**_name_**-reset** bit in"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:126
+#, no-wrap
+msgid "**input.**_N_**.rel-**_name_**-scale** parameter float rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:128
+#, no-wrap
+msgid "**input.**_N_**.rel-**_name_**-absolute** parameter s32 rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:130
+#, no-wrap
+msgid "**input.**_N_**.rel-**_name_**-precision** parameter s32 rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:132
+#, no-wrap
+msgid "**input.**_N_**.rel-**_name_**-last** parameter s32 rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:146
+msgid ""
+"Created for each relative axis on the device. As long as *reset* is true, "
+"*counts* is reset to zero regardless of any past or current axis "
+"movement. Otherwise, *counts* increases or decreases according to the motion "
+"of the axis. *counts* is divided by position-scale to give *position*. The "
+"default value of *position* is 1. There are some devices, notably scroll "
+"wheels, which return signed values with less resolution than 32 bits. The "
+"default value of *precision* is 32.  *precision* can be set to 8 for a "
+"device that returns signed 8 bit values, or any other value from 1 to "
+"32. *absolute*, when set true, ignores duplicate events with the same "
+"value. This allows for devices that repeat events without any user action to "
+"work correctly. *last* shows the most recent count value returned by the "
+"device, and is used in the implementation of *absolute*."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/hal_input.1.adoc:147
+#, no-wrap
+msgid "For LEDs"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:149
+#, no-wrap
+msgid "**input.**_N_**.led-**_name_ bit out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_input.1.adoc:151
+#, no-wrap
+msgid "**input.**_N_**.led-**_name_**-invert** parameter bit rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:153
+msgid "Created for each LED on the device."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/hal_input.1.adoc:154
+#, no-wrap
+msgid "PERMISSIONS AND UDEV"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:157
+msgid ""
+"By default, the input devices may not be accessible to regular users -- "
+"*hal_input* requires read-write access, even if the device has no outputs."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:162
+msgid ""
+"Different versions of udev have slightly different, incompatible syntaxes.  "
+"For this reason, it is not possible for this manual page to give an accurate "
+"example.  The *udev(7)* manual page documents the syntax used on your Linux "
+"distribution.  To view it in a terminal, the command is *man 7 udev*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:168
+msgid ""
+"The initial state of keys, buttons, and absolute axes are erroneously "
+"reported as FALSE or 0 until an event is received for that key, button, or "
+"axis."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_input.1.adoc:171
+msgid "udev(8), udev(7)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/hal_manualtoolchange.1.adoc:1
+#, no-wrap
+msgid "hal_manualtoolchange(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:6
+msgid ""
+"hal_manualtoolchange - HAL non-realtime component to enable manual tool "
+"changes."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:10
+msgid "loadusr hal_manualtoolchange"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:25
+msgid ""
+"hal_manualtoolchange is a LinuxCNC non-realtime component that allows users "
+"with machines lacking automatic tool changers to make manual tool "
+"changes. In use when a M6 tool change is encountered, the motion component "
+"will stop the spindle and pause the program. The hal_manualtoolchange "
+"component will then receive a signal from the motion component causing it to "
+"display a tool change window prompting the user which tool number to load "
+"based on the last T- number programmed. The dialog will stay active until "
+"the \"continue\" button is pressed. When the \"continue\" button is pressed, "
+"hal_manualtoolchange will then signal the motion component that the tool "
+"change is complete thus allowing motion to turn the spindle back on and "
+"resume program execution."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:30
+msgid ""
+"Additionally, the hal_manualtoolchange component includes a hal pin for a "
+"button that can be connected to a physical button to complete the tool "
+"change and remove the window prompt (hal_manualtoolchange.change_button)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:37
+#, no-wrap
+msgid "*hal_manualtoolchange.number* s32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:39
+msgid "Receives last programmed T- number."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:39
+#, no-wrap
+msgid "*hal_manualtoolchange.change* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:41
+msgid "Receives signal to do tool change."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:41
+#, no-wrap
+msgid "*hal_manualtoolchange.changed* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:43
+msgid "Signifies that the tool change is complete."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:43
+#, no-wrap
+msgid "*hal_manualtoolchange.change_button* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:45
+msgid "Pin to allow an external switch to signify that the tool change is complete."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/hal_manualtoolchange.1.adoc:46 src/man/man1/halmeter.1.adoc:40
+#: src/man/man1/halsampler.1.adoc:36 src/man/man1/halstreamer.1.adoc:31
+#: src/man/man1/halui.1.adoc:23 src/man/man1/mdi.1.adoc:17
+#: src/man/man1/moveoff_gui.1.adoc:112 src/man/man1/pmx485-test.1.adoc:16
+#: src/man/man1/pyvcp_demo.1.adoc:15 src/man/man1/sim_pin.1.adoc:47
+#: src/man/man1/vfdb_vfd.1.adoc:189 src/man/man1/vfs11_vfd.1.adoc:161
+#: src/man/man9/hal_parport.9.adoc:113 src/man/man9/setsserial.9.adoc:22
+#, no-wrap
+msgid "USAGE"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:52
+msgid ""
+"Normal usage is to load the component in your HAL file and net the "
+"appropriate pins from the__ motion__ and__ io__ components.  The following "
+"lines are typical in a HAL file when using the hal_manualtoolchange "
+"non-realtime component."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:53
+#, no-wrap
+msgid "loadusr -W hal_manualtoolchange"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:56
+msgid ""
+"This will load the hal_manualtoolchange non-realtime component waiting for "
+"the component to be ready before continuing."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:56
+#, no-wrap
+msgid "net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:62
+msgid ""
+"When an M6 code is run, motion sets `iocontrol.0.tool-change` to high "
+"indicating a tool change. This pin should be netted to "
+"`hal_manualtoolchange.change`. This causes the Tool change dialog to be "
+"displayed on screen and wait for the user to either click the continue "
+"button on the dialog or press an externally connected button."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:62
+#, no-wrap
+msgid "net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:68
+msgid ""
+"When the Tool change dialog's continue button is pressed, it will set the "
+"`hal_manualtoolchange.changed` pin to high, this should be netted to the "
+"`iocontrol.0.tool-changed` pin, indicating to the motion controller that the "
+"tool change has been completed and can continue with the execution of the "
+"G-code program."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:68
+#, no-wrap
+msgid "net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:74
+msgid ""
+"When a `T-` command is executed in a G-code program, the tool number will "
+"held in the `iocontrol.0.tool-prep-number`. This pin should be netted to "
+"`hal_manualtoolchange.number`. The value of this pin, the tool number is "
+"displayed in the tool change dialog to let the user know which tool should "
+"be loaded."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hal_manualtoolchange.1.adoc:74
+#, no-wrap
+msgid ""
+"net tool-prepare-loopback iocontrol.0.tool-prepare => "
+"iocontrol.0.tool-prepared"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:79
+msgid ""
+"The `iocontrol.0.tool-prepare` pin will go true when a T__n__ tool prepare "
+"is requested. Since there is not automated tool changer this pin should be "
+"netted to `iocontrol.0.tool-prepared` to indocate that the tool has been "
+"prepared."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:85
+msgid ""
+"If you wish to use an external button to signal the hal_manualtoolchange "
+"component that the tool change is complete simply bring the button into HAL "
+"(via a parport input pin or a hostmot2 gpio input or similar), and wire it "
+"directly to the `hal_manualtoolchange.change_button` pin. For Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/hal_manualtoolchange.1.adoc:88
+#, no-wrap
+msgid ""
+"net tool-changed-btn hal_manualtoolchange.change_button <= "
+"parport.0.pin-15-in\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hal_manualtoolchange.1.adoc:92
+msgid "motion(1), iocontrol(1), halcmd(1)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:1 src/man/man3/hal_set_constructor.3hal.adoc:32
+#, no-wrap
+msgid "halcmd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:6
+msgid "halcmd - manipulate the LinuxCNC HAL from the command line"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:10
+#, no-wrap
+msgid "*halcmd* [_OPTIONS_] [_COMMAND_ [_ARG_]]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:16
+#, no-wrap
+msgid ""
+"*halcmd* is used to manipulate the HAL (Hardware Abstraction Layer) from\n"
+"the command line. *halcmd* can optionally read commands from a file,\n"
+"allowing complex HAL configurations to be set up with a single command.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:21
+msgid ""
+"If the *readline* library is available when LinuxCNC is compiled, then "
+"*halcmd* offers commandline editing and completion when running "
+"interactively. Use the up arrow to recall previous commands, and press tab "
+"to complete the names of items such as pins and signals."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:24 src/man/man1/halrun.1.adoc:46
+#, no-wrap
+msgid "*-I*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:28
+msgid ""
+"Before tearing down the realtime environment, run an interactive "
+"halcmd. *halrun* only. If *-I* is used, it must precede all other "
+"commandline arguments."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:28
+#, no-wrap
+msgid "*-f* [_<file>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:31
+msgid ""
+"Ignore commands on command line, take input from _file_ instead. If _file_ "
+"is not specified, take input from _stdin_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:31 src/man/man1/haltcl.1.adoc:20
+#, no-wrap
+msgid "*-i* _<INI file>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:34
+msgid ""
+"Use variables from the specified _INI file_ for substitutions. See "
+"*SUBSTITUTION* below."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:34
+#, no-wrap
+msgid "*-k*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:37
+msgid ""
+"Keep going after failed command(s). The default is to stop and return "
+"failure if any command fails."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:37 src/man/man1/qtvcp.1.adoc:29
+#, no-wrap
+msgid "*-q*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:39
+msgid "display errors only (default)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:39
+#, no-wrap
+msgid "*-Q*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:41
+msgid "display nothing, execute commands silently"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:41 src/man/man1/halmeter.1.adoc:29
+#, no-wrap
+msgid "*-s*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:50
+msgid ""
+"Script-friendly mode. In this mode, _show_ will not output titles for the "
+"items shown. Also, module names will be printed instead of ID codes in pin, "
+"param, and funct listings. Threads are printed on a single line, with the "
+"thread period, FP usage and name first, followed by all of the functions in "
+"the thread, in execution order. Signals are printed on a single line, with "
+"the type, value, and signal name first, followed by a list of pins connected "
+"to the signal, showing both the direction and the pin name."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:53
+msgid ""
+"Release the HAL mutex. This is useful for recovering when a HAL component "
+"has crashed while holding the HAL mutex."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:53 src/man/man1/qtvcp.1.adoc:27
+#, no-wrap
+msgid "*-v*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:55
+msgid "display results of each command"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:55
+#, no-wrap
+msgid "*-V*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:57
+msgid "display lots of debugging junk"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:57
+#, no-wrap
+msgid "*-h* [_<command>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:60
+msgid ""
+"display a help screen and exit, displays extended help on _command_ if "
+"specified"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/halcmd.1.adoc:61 src/man/man1/haltcl.1.adoc:48
+#, no-wrap
+msgid "COMMANDS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:67
+msgid ""
+"Commands tell *halcmd* what to do. Normally *halcmd* reads a single command "
+"from the command line and executes it. If the '*-f*' option is used to read "
+"commands from a file, *halcmd* reads each line of the file as a new "
+"command. Anything following '*#*' on a line is a comment."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:68
+#, no-wrap
+msgid "*loadrt* _modname_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:71
+msgid ""
+"(_load_ __r__eal__t__ime module) Loads a realtime HAL module called "
+"_modname_.  *halcmd* looks for the module in a directory specified at "
+"compile time."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:81
+msgid ""
+"In systems with kernel-based realtime support (e.g. RTAI), *halcmd* calls "
+"the *linuxcnc_module_helper* to load realtime modules.  "
+"*linuxcnc_module_helper* is a setuid program and is compiled with a "
+"whitelist of modules it is allowed to load. This is currently just a list of "
+"*LinuxCNC*-related modules. The *linuxcnc_module_helper* execs insmod, so "
+"return codes and error messages are those from insmod.  Administrators who "
+"wish to restrict which users can load these *LinuxCNC*-related kernel "
+"modules can do this by setting the permissions and group on "
+"*linuxcnc_module_helper* appropriately."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:87
+msgid ""
+"In systems with userspace-based realtime support (e.g. Preempt-RT) and in "
+"systems without realtime support *halcmd* calls the *rtapi_app* which "
+"creates the realtime environment (simulated realtime, on systems with no "
+"userspace realtime support) if it did not yet exist, and then loads the "
+"requested component with a call to *dlopen(3)*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:88
+#, no-wrap
+msgid "*unloadrt* _modname_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:93
+msgid ""
+"(_unload_ __r__eal__t__ime module) Unloads a realtime HAL module called "
+"_modname_. If _modname_ is \"all\", it will unload all currently loaded "
+"realtime HAL modules. *unloadrt* also works by execing "
+"*linuxcnc_module_helper* or *rtapi_app*, just like *loadrt*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:93
+#, no-wrap
+msgid "*loadusr* [_flags_] _unix-command_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:98
+msgid ""
+"(_load_ __Us__e__r__space component) Executes the given _unix-command_, "
+"usually to load a non-realtime component. _[flags]_ may be one or more of: +"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:100
+#, no-wrap
+msgid ""
+"*-W* to wait for the component to become ready.\n"
+"The component is assumed to have the same name as the first argument of the "
+"command.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:101
+#, no-wrap
+msgid "*-Wn name* to wait for the component, which will have the given name.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:102
+#, no-wrap
+msgid "*-w* to wait for the program to exit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:103
+#, no-wrap
+msgid "*-i* to ignore the program return value (with -w)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:103
+#, no-wrap
+msgid "*waitusr* _name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:109
+msgid ""
+"(_wait_ for __Us__e__r__space component) Waits for non-realtime component "
+"_name_ to disconnect from HAL (usually on exit). The component must already "
+"be loaded. Useful near the end of a HAL file to wait until the user closes "
+"some user interface component before cleaning up and exiting."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:109
+#, no-wrap
+msgid "*unloadusr* _compname_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:114
+msgid ""
+"(_unload_ __Us__e__r__space component) Unloads a non-realtime component "
+"called _compname_. If _compname_ is \"all\", it will unload all non-realtime "
+"components. *unloadusr* works by sending SIGTERM to all non-realtime "
+"components."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:114
+#, no-wrap
+msgid "*unload* _compname_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:118
+msgid ""
+"Unloads a non-realtime component or realtime module. If _compname_ is "
+"\"all\", it will unload all non-realtime components and realtime modules."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:118
+#, no-wrap
+msgid "*newsig* _signame_ _type_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:124
+msgid ""
+"(OBSOLETE - use *net* instead) (_new_ __sig__nal) Creates a new HAL signal "
+"called _signame_ that may later be used to connect two or more HAL component "
+"pins. _type_ is the data type of the new signal, and must be one of "
+"\"*bit*\", \"*s32*\", \"*u32*\", or \"*float*\". Fails if a signal of the "
+"same name already exists."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:124
+#, no-wrap
+msgid "*delsig* _signame_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:128
+msgid ""
+"(__del__ete __sig__nal) Deletes HAL signal _signame_. Any pins currently "
+"linked to the signal will be unlinked. Fails if _signame_ does not exist."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:128
+#, no-wrap
+msgid "*sets* _signame_ _value_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:133
+msgid ""
+"(_set_ __s__ignal) Sets the value of signal _signame_ to _value_.  Fails if "
+"_signame_ does not exist, if it already has a writer, or if _value_ is not a "
+"legal value. Legal values depend on the signals's type."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:133
+#, no-wrap
+msgid "*stype* _name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:136
+msgid ""
+"(__s__ignal type) Gets the type of signal _name_. Fails if _name_ does not "
+"exist as a signal."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:136
+#, no-wrap
+msgid "*gets* _signame_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:139
+msgid ""
+"(_get_ __s__ignal) Gets the value of signal _signame_. Fails if _signame_ "
+"does not exist."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:139
+#, no-wrap
+msgid "*linkps* _pinname_ [_arrow_] _signame_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:148
+msgid ""
+"(OBSOLETE - use *net* instead) (_link_ __p__in to __s__ignal)  Establishes a "
+"link between a HAL component pin _pinname_ and a HAL signal _signame_. Any "
+"previous link to _pinname_ will be broken.  _arrow_ can be \"*=>*\", "
+"\"*<=*\", \"*<=>*\", or omitted. *halcmd* ignores arrows, but they can be "
+"useful in command files to document the direction of data flow. Arrows "
+"should not be used on the command line since the shell might try to "
+"interpret them. Fails if either _pinname_ or _signame_ does not exist, or if "
+"they are not the same type type."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:148
+#, no-wrap
+msgid "*linksp* _signame_ [_arrow_] _pinname_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:152
+msgid ""
+"(OBSOLETE - use *net* instead) (_link_ __s__ignal to __p__in) Works like "
+"*linkps* but reverses the order of the arguments. *halcmd* treats both link "
+"commands exactly the same. Use whichever you prefer."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:152
+#, no-wrap
+msgid "*linkpp* _pinname1_ [_arrow_] _pinname2_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:158
+msgid ""
+"(OBSOLETE - use *net* instead) (_link_ __p__in to __p__in) Shortcut for "
+"*linkps* that creates the signal (named like the first pin), then links them "
+"both to that signal. *halcmd* treats this just as if it were: *halcmd* "
+"*newsig* pinname1 *halcmd* *linksp* pinname1 pinname1 *halcmd* *linksp* "
+"pinname1 pinname2"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:158
+#, no-wrap
+msgid "*net* _signame_ _pinname_ _..._"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:163
+msgid ""
+"Create _signname_ to match the type of _pinname_ if it does not yet "
+"exist. Then, link _signame_ to each _pinname_ in turn. Arrows may be used as "
+"in *linkps*. When linking a pin to a signal for the first time, the signal "
+"value will inherit the pin's default value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:163
+#, no-wrap
+msgid "*unlinkp* _pinname_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:167
+msgid ""
+"(_unlink_ __p__in) Breaks any previous link to _pinname_. Fails if _pinname_ "
+"does not exist. An unlinked pin will retain the last value of the signal it "
+"was linked to."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:167
+#, no-wrap
+msgid "*setp* _name_ _value_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:175
+msgid ""
+"(_set_ __p__arameter or __p__in) Sets the value of parameter or pin _name_ "
+"to _value_. Fails if _name_ does not exist as a pin or parameter, if it is a "
+"parameter that is not writable, if it is a pin that is an output, if it is a "
+"pin that is already attached to a signal, or if _value_ is not a legal "
+"value. Legal values depend on the type of the pin or parameter. If a pin and "
+"a parameter both exist with the given name, the parameter is acted on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:175
+#, no-wrap
+msgid "_paramname_ *=* _value_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:176
+#, no-wrap
+msgid "_pinname_ *=* _value_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:179
+msgid ""
+"Identical to *setp*. This alternate form of the command may be more "
+"convenient and readable when used in a file."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:179
+#, no-wrap
+msgid "*ptype* _name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:184
+msgid ""
+"(__p__arameter or __p__in _type_) Gets the type of parameter or pin "
+"_name_. Fails if _name_ does not exist as a pin or parameter. If a pin and a "
+"parameter both exist with the given name, the parameter is acted on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:184
+#, no-wrap
+msgid "*getp* _name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:189
+msgid ""
+"(_get_ __p__arameter or __p__in) Gets the value of parameter or pin "
+"_name_. Fails if _name_ does not exist as a pin or parameter. If a pin and a "
+"parameter both exist with the given name, the parameter is acted on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:189
+#, no-wrap
+msgid "*addf* _functname_ _threadname_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:194
+msgid ""
+"(_add_ __f__unction) Adds function _functname_ to realtime thread "
+"_threadname_. _functname_ will run after any functions that were previously "
+"added to the thread. Fails if either _functname_ or _threadname_ does not "
+"exist, or if they are incompatible."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:194
+#, no-wrap
+msgid "*delf* _functname_ _threadname_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:198
+msgid ""
+"(__del__ete __f__unction) Removes function _functname_ from realtime thread "
+"_threadname_. Fails if either _functname_ or _threadname_ does not exist, or "
+"if _functname_ is not currently part of _threadname_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:198
+#, no-wrap
+msgid "*start*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:202
+msgid ""
+"Starts execution of realtime threads. Each thread periodically calls all of "
+"the functions that were added to it with the *addf* command, in the order in "
+"which they were added."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:202
+#, no-wrap
+msgid "*stop*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:205
+msgid ""
+"Stops execution of realtime threads. The threads will no longer call their "
+"functions."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:205
+#, no-wrap
+msgid "*show* [_item_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:211
+msgid ""
+"Prints HAL items to _stdout_ in human readable format. _item_ can be one of "
+"\"*comp*\" (components), \"*pin*\", \"*sig*\" (signals), \"*param*\" "
+"(parameters), \"*funct*\" (functions), \"*thread*\", or \"*alias*\". The "
+"type \"*all*\" can be used to show matching items of all the preceding "
+"types. If _item_ is omitted, *show* will print everything."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:211
+#, no-wrap
+msgid "*save* [_item_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:216
+msgid ""
+"Prints HAL items to _stdout_ in the form of HAL commands. These commands can "
+"be redirected to a file and later executed using *halcmd -f* to restore the "
+"saved configuration. _item_ can be one of the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:218
+msgid "\"*comp*\" generates a *loadrt* command for realtime component."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:221
+msgid ""
+"\"*alias*\" generates an *alias* command for each pin or parameter alias "
+"pairing"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:225
+msgid ""
+"\"*sig*\" (or \"*signal*\") generates a *newsig* command for each signal, "
+"and \"*sigu*\" generates a *newsig* command for each unlinked signal (for "
+"use with *netl* and *netla*)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:228
+msgid ""
+"\"*link*\" and \"*linka*\" both generate *linkps* commands for each link.  "
+"(*linka* includes arrows, while *link* does not.)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:232
+msgid ""
+"\"*net*\" and \"*neta*\" both generate one *newsig* command for each signal, "
+"followed by *linksp* commands for each pin linked to that signal.  (*neta* "
+"includes arrows.)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:235
+msgid ""
+"\"*netl*\" generates one *net* command for each linked signal, and "
+"\"*netla*\" (or \"*netal*\") generates a similar command using arrows."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:237
+msgid ""
+"\"*param*\" (or \"*parameter*) \"generates one *setp* command for each "
+"parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:240
+msgid ""
+"\"*thread*\" generates one *addf* command for each function in each realtime "
+"thread."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:242
+msgid ""
+"\"*unconnectedinpins*\" generates a setp command for each unconnected HAL "
+"input pin."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:244
+msgid ""
+"If _item_ is *allu*), *save* does the equivalent of *comp*, *alias*, *sigu*, "
+"*netla*, *param*, *thread*, and *unconnectedinpins*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:246
+msgid ""
+"If _item_ is omitted (or *all*), *save* does the equivalent of *comp*, "
+"*alias*, *sigu*, *netla*, *param*, and *thread*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:247
+#, no-wrap
+msgid "*source* _filename.hal_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:249
+msgid "Execute the commands from _filename.hal_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:249
+#, no-wrap
+msgid "*alias* _type_ _name_ _alias_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:258
+msgid ""
+"Assigns \"*alias*\" as a second name for the pin or parameter \"name\".  For "
+"most operations, an alias provides a second name that can be used to refer "
+"to a pin or parameter, both the original name and the alias will "
+"work. \"type\" must be *pin* or *param*. \"name\" must be an existing name "
+"or *alias* of the specified type. Note that the \"show\" command will only "
+"show the aliased name, but the original name is still valid to use in "
+"HAL. The original names can still be seen with \"show all\" or \"show "
+"alias\" Existing nets will be preserved when a pin name is aliased."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:258
+#, no-wrap
+msgid "*unalias* _type_ _alias_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:262
+msgid ""
+"Removes any alias from the pin or parameter alias. \"type\" must be *pin* or "
+"*param* \"alias\" must be an existing name or *alias* of the specified type."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:262
+#, no-wrap
+msgid "*list* _type_ [_pattern_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:271
+msgid ""
+"Prints the names of HAL items of the specified type. 'type' is '*comp*', "
+"'*pin*', '*sig*', '*param*', '*funct*', or '*thread*'. If 'pattern' is "
+"specified it prints only those names that match the pattern, which may be a "
+"'shell glob'. For '*sig*', '*pin*' and '*param*', the first pattern may be "
+"-t**datatype** where datatype is the data type (e.g., 'float') in this case, "
+"the listed pins, signals, or parameters are restricted to the given data "
+"type Names are printed on a single line, space separated."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:271
+#, no-wrap
+msgid "*print* [_message_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:274
+msgid ""
+"Prints the filename, linenumber and an optional message. wrap the message in "
+"quotes if it has spaces."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:274
+#, no-wrap
+msgid "*lock* [__all__|__tune__|__none__]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:277
+msgid ""
+"Locks HAL to some degree. none - no locking done. tune - some tuning is "
+"possible (*setp* & such). all - HAL completely locked."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:277
+#, no-wrap
+msgid "*unlock* [__all__|__tune__]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:280
+msgid ""
+"Unlocks HAL to some degree. tune - some tuning is possible (*setp* & "
+"such). all - HAL completely unlocked."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:280
+#, no-wrap
+msgid "*status* [_type_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:283
+msgid ""
+"Prints status info about HAL. 'type' is '*lock*', '*mem*', or '*all*'.  If "
+"'type' is omitted, it assumes '*all*'."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:283
+#, no-wrap
+msgid "*debug* [_level_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:285
+msgid "Sets the rtapi messaging level (see man3 rtapi_set_msg_level)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halcmd.1.adoc:285
+#, no-wrap
+msgid "*help* [_command_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:288
+msgid ""
+"Give help information for command. If 'command' is omitted, list command and "
+"brief description."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/halcmd.1.adoc:289
+#, no-wrap
+msgid "SUBSTITUTION"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:293
+msgid ""
+"After a command is read but before it is executed, several types of variable "
+"substitution take place."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/halcmd.1.adoc:294
+#, no-wrap
+msgid "Environment Variables"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:297
+msgid "Environment variables have the following formats:"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/halcmd.1.adoc:300
+#, no-wrap
+msgid "*$ENVVAR* followed by end-of-line or whitespace\n"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/halcmd.1.adoc:302
+#, no-wrap
+msgid "*$(ENVVAR)*\n"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/halcmd.1.adoc:304
+#, no-wrap
+msgid "INI file variables"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:308
+msgid ""
+"INI file variables are available only when an INI file was specified with "
+"the halcmd *-i* flag. They have the following formats:"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/halcmd.1.adoc:311
+#, no-wrap
+msgid "*[SECTION]VAR* followed by end-of-line or whitespace\n"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/halcmd.1.adoc:313
+#, no-wrap
+msgid "*[SECTION](VAR)*\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/halcmd.1.adoc:315
+#, no-wrap
+msgid "LINE CONTINUATION"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:320
+msgid ""
+"The backslash character (*\\*) may be used to indicate the line is extended "
+"to the next line. The backslash character must be the last character before "
+"the newline."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:329
+msgid ""
+"Original version by John Kasunich, as part of the LinuxCNC project. Now "
+"includes major contributions by several members of the project."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:337 src/man/man1/halmeter.1.adoc:90
+#: src/man/man1/halrun.1.adoc:74
+msgid "Copyright © 2003 John Kasunich."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd.1.adoc:346
+msgid ""
+"halrun(1) -- a convenience script to start a realtime environment, process a "
+"HAL or a .tcl file, and optionally start an interactive command session "
+"using *halcmd* (described here) or haltcl(1)."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halcmd_twopass.1.adoc:1
+#, no-wrap
+msgid "halcmd_twopass(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd_twopass.1.adoc:6
+msgid "halcmd_twopass - short description"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd_twopass.1.adoc:10
+#, no-wrap
+msgid "*\\{name}*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd_twopass.1.adoc:15
+#, no-wrap
+msgid ""
+"*halcmd_twopass* is a utility script used when parsing HAL files.\n"
+"It is of little relevance to normal users and is used internally by the "
+"system.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcmd_twopass.1.adoc:19
+msgid "linuxcnc(1), https://linuxcnc.org/docs/html/hal/twopass.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halcompile.1.adoc:1
+#, no-wrap
+msgid "halcompile(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:6
+msgid "halcompile - Build, compile and install LinuxCNC HAL components"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/halcompile.1.adoc:11
+#, no-wrap
+msgid ""
+"*halcompile* [**--compile**|**--preprocess**|**--document**|**--view-doc**] "
+"compfile...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:14
+msgid "_sudo_ *halcompile* [**--install**|**--install-doc**] compfile..."
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/halcompile.1.adoc:17
+#, no-wrap
+msgid "*halcompile* *--compile* *--userspace* cfile...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:20
+msgid "_sudo_ *halcompile* *--install* *--userspace* cfile..."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:22
+msgid "_sudo_ *halcompile* *--install* *--userspace* pyfile..."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:28
+msgid ""
+"When personalities are used in a comp file, HAL instances are exported "
+"sequentially (typically by the mutually exclusive count= or names= "
+"parameters). If the number of exports exceeds the maximum number of "
+"personalities, subsequent personalities are assigned modulo the maximum "
+"number of personalities allowed."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:33
+msgid ""
+"By default, the maximum number of personalities is 64. To alter this limit, "
+"use the *--personalities=* option with halcompile. For example, to set the "
+"maximum of personality items to 4: [sudo] *halcompile --personalities=4* "
+"--install ..."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:35
+msgid "Do not use [sudo] for RIP installation."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:39
+#, no-wrap
+msgid "*halcompile* performs many different functions:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:42
+msgid ""
+"Compile *.comp* and *.c* files into *.so* or *.ko* HAL realtime components "
+"(the *--compile* flag)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:44
+msgid ""
+"Compile *.comp* and *.c* files into HAL non-realtime components (the "
+"*--compile --userspace* flag)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:45 src/man/man1/halcompile.1.adoc:59
+msgid "Preprocess *.comp* files into *.c* files (the *--preprocess* flag)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:47
+msgid ""
+"Extract documentation from *.comp* files into *.9* manpage files (the "
+"*--document* flag)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:49
+msgid "Display documentation from *.comp* files onscreen (the *--view-doc* flag)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:52
+msgid ""
+"Compile and install *.comp* and *.c* files into the proper directory for HAL "
+"realtime components (the *--install* flag), which may require _sudo_ to "
+"write to system directories."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:55
+msgid ""
+"Install *.c* and *.py* files into the proper directory for HAL non-realtime "
+"components (the *--install --userspace* flag), which may require _sudo_ to "
+"write to system directories."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:58
+msgid ""
+"Extract documentation from *.comp* files into *.9* manpage files in the "
+"proper system directory (the *--install* flag), which may require _sudo_ to "
+"write to system directories."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:64
+msgid ""
+"_Halcompile HAL Component Generator_ in the LinuxCNC documentation for a "
+"full description of the *.comp* syntax, along with examples"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halcompile.1.adoc:67
+#, no-wrap
+msgid ""
+"*pydoc, HAL* and _Creating Non-realtime Python Components_ in the\n"
+"LinuxCNC documentation for documentation on the Python interface to HAL\n"
+"components\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halmeter.1.adoc:1
+#, no-wrap
+msgid "halmeter(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:6
+msgid "halmeter - observe HAL pins, signals, and parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:10
+#, no-wrap
+msgid ""
+"*halmeter* [*-s*] [**pin**|**sig**|**param** _name_] [*-g* _X-position "
+"Y-position_ [_Width_]]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:16
+#, no-wrap
+msgid ""
+"*halmeter* is used to observe HAL (Hardware Abstraction Layer) pins,\n"
+"signals, or parameters. It serves the same purpose as a multimeter does\n"
+"when working on physical systems.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:19
+#, no-wrap
+msgid "*pin* _name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:21
+msgid "Display the HAL pin _name_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:21
+#, no-wrap
+msgid "*sig* _name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:23
+msgid "Display the HAL signal _name_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:23
+#, no-wrap
+msgid "*param* _name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:25
+msgid "Display the HAL parameter _name_."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:28
+msgid ""
+"If neither *pin*, *sig*, or *param* are specified, the window starts out "
+"blank and the user must select an item to observe:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:34
+msgid ""
+"Small window. Non-interactive, must be used with *pin*, *sig*, or *param* to "
+"select the item to display. The item name is displayed in the title bar "
+"instead of the window, and there are no \"Select\" or \"Exit\" "
+"buttons. Handy when you want a lot of meters in a small space."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:34
+#, no-wrap
+msgid "*-g*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:39
+msgid ""
+"Geometry position. Allows one to specify the initial starting position and "
+"optionally the width of the meter. Referenced from top left of screen in "
+"pixel units. Handy when you want to load a lot of meters in a script with "
+"out them displaying on top of each other."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:45
+msgid ""
+"Unless *\\-s* is specified, there are two buttons, \"Select\" and \"Exit\".  "
+"\"Select\" opens a dialog box to select the item (pin, signal, or parameter) "
+"to be observed. \"Exit\" does what you expect."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:50
+msgid ""
+"The selection dialog has \"OK\", \"Apply\", and \"Cancel\" buttons. OK "
+"displays the selected item and closes the dialog. \"Apply\" displays the "
+"selected item but keeps the selection dialog open. \"Cancel\" closes the "
+"dialog without changing the displayed item."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/halmeter.1.adoc:51 src/man/man1/rs274.1.adoc:33
+#: src/man/man1/sendkeys.1.adoc:93 src/man/man1/sim_pin.1.adoc:52
+#, no-wrap
+msgid "EXAMPLE"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:53
+#, no-wrap
+msgid "*halmeter*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:57
+msgid ""
+"Opens a meter window, with nothing initially displayed. Use the \"Select\" "
+"button to choose an item to observe. Does not return until the window is "
+"closed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:57
+#, no-wrap
+msgid "*halmeter &*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:61
+msgid ""
+"Open a meter window, with nothing initially displayed. Use the \"Select\" "
+"button to choose an item. Runs in the background leaving the shell free for "
+"other commands."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:61
+#, no-wrap
+msgid "*halmeter pin* _parport.0.pin-03-out_ *&*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:65
+msgid ""
+"Open a meter window, initially displaying HAL pin "
+"_parport.0.pin-03-out_. The \"Select\" button can be used to display other "
+"items. Runs in background."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:65
+#, no-wrap
+msgid "*halmeter -s pin* _parport.0.pin-03-out_ *&*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:68
+msgid ""
+"Open a small meter window, displaying HAL pin _parport.0.pin-03-out_.  The "
+"displayed item cannot be changed. Runs in background."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:68
+#, no-wrap
+msgid "*halmeter -s pin* _parport.0.pin-03-out_ *-g* _100 500_ *&*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:72
+msgid ""
+"Open a small meter window, displaying HAL pin _parport.0.pin-03-out_.  "
+"places it 100 pixels to the left and 500 pixels down from top of screen. The "
+"displayed item cannot be changed. Runs in background."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halmeter.1.adoc:72
+#, no-wrap
+msgid "*halmeter -s pin* _parport.0.pin-03-out_ *-g* _100 500 400_ *&*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:77
+msgid ""
+"Open a small meter window, displaying HAL pin _parport.0.pin-03-out_.  "
+"places it 100 pixels to the left and 500 pixels down from top of screen. The "
+"width will be 400 pixels (270 is default) The displayed item cannot be "
+"changed. Runs in background."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halmeter.1.adoc:82 src/man/man1/halsampler.1.adoc:86
+#: src/man/man1/halstreamer.1.adoc:83 src/man/man9/sampler.9.adoc:85
+#: src/man/man9/streamer.9.adoc:82
+msgid ""
+"Original version by John Kasunich, as part of the LinuxCNC project.  "
+"Improvements by several other members of the LinuxCNC development team."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halreport.1.adoc:1
+#, no-wrap
+msgid "halreport(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:6
+msgid "halreport - creates a report on the status of the HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:10
+#, no-wrap
+msgid "*halreport* [_outfilename_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:14
+#, no-wrap
+msgid "*halreport*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:16
+msgid "supports components made by halcompile and numerous legacy components"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:17
+msgid "Known unhandled components:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halreport.1.adoc:18
+#, no-wrap
+msgid "at_pid"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:19
+msgid "naming conflicts with pid, seldom used"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halreport.1.adoc:19
+#, no-wrap
+msgid "boss_plc"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:20
+msgid "no manpage or docs (any users?)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halreport.1.adoc:20
+#, no-wrap
+msgid "watchdog"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:21
+msgid "seldom used (no users in-tree)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:22
+msgid "deprecated/obsolete components counter supply"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:25
+msgid ""
+"Identificaion of functions used according to pin name. Default handling "
+"works for components that:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:26
+msgid "use names=|count= (.comp components created with halcompile)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:27
+msgid "have a *single* function"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halreport.1.adoc:29
+msgid "Full docs: https://linuxcnc.org/docs/html/hal/tools.html#_halreport"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halrmt.1.adoc:1
+#, no-wrap
+msgid "halrmt(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:6
+msgid "halrmt - remote-control interface for LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:10
+#, no-wrap
+msgid ""
+"*halrmt* [*--port* _<port number>_] [*--name* _<server name>_] "
+"[*--connectpw* _<password>_] [*--enablepw* _<password>_] [*--sessions* _<max "
+"sessions>_] [*-ini* _<INI file>_]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:13
+#, no-wrap
+msgid "--port _port_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:16
+msgid ""
+"Waits for socket connections (telnet) on specified socket, without port "
+"specification it uses default port 5006.  (note: linuxcncrsh uses 5007 as "
+"default)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:16
+#, no-wrap
+msgid "--name _server_name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:17
+msgid "Sets the server name to specified name for Hello."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:17
+#, no-wrap
+msgid "--connectpw _password_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:18
+msgid "Sets the connection password to 'password'. Default: EMC."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:18
+#, no-wrap
+msgid "--enablepw _password_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:19
+msgid "Sets the enable password to _password_. Default EMCTOO."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:19
+#, no-wrap
+msgid "--sessions <max sessions>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:20
+msgid ""
+"Sets the maximum number of simultaneous connextions to max sessions. Default "
+"is no limit (-1)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:20
+#, no-wrap
+msgid "-ini _<INI file>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:21
+msgid "Uses the specified _INI file_ instead of the default emc.ini."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:29
+#, no-wrap
+msgid ""
+"*halrmt* supports six commands of which the commands _set_ and _get_\n"
+"contain HAL specific sub-commands based on the commands supported by\n"
+"_halcmd_. Commands and most parameters are not case sensitive. The\n"
+"exceptions are passwords, file paths and text strings. The supported\n"
+"commands are as follows: *HELLO* Hello <password> <client> <version>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:34
+msgid ""
+"If a valid password was entered the server will respond with HELLO ACK "
+"_Server Name>_ _<Server Version>_ where server name and server version are "
+"looked up from the implementation. If an invalid password or any other "
+"syntax error occurs then the server responds with: HELLO NAK"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:35
+#, no-wrap
+msgid "Get"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:37
+msgid ""
+"The get command includes one of the HAL sub-commands, described below and "
+"zero or more additional parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:37
+#, no-wrap
+msgid "Set"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:39
+msgid ""
+"The set command inclides one of the HAL sub-commands, described below and "
+"one or more additional parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:39
+#, no-wrap
+msgid "Quit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:40 src/man/man1/linuxcncrsh.1.adoc:132
+msgid "The quit command disconnects the associated socket connection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:40
+#, no-wrap
+msgid "Shutdown"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:44
+msgid ""
+"The shutdown command tells LinuxCNC to shut down before quitting the "
+"connection. This command may only be issued if the Hello has been "
+"successfully negotiated and the connection has control of the CNC (see "
+"enable sub-command below). This command has no parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:44
+#, no-wrap
+msgid "Help"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:49
+msgid ""
+"The help command will return help information in text format over the telnet "
+"connection. If no parameters are specified, it will itemize the available "
+"commands. If a command is specified, it will provide usage information for "
+"the specified command. Help will respond regardless of whether a \"Hello\" "
+"has been successfully negotiated."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:51
+#, no-wrap
+msgid "*HAL sub-commands:*\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:52 src/man/man1/schedrmt.1.adoc:48
+#, no-wrap
+msgid "echo on | off"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:55
+msgid ""
+"With get will return the current echo state, with set, sets the echo "
+"state. When echo is on, all commands will be echoed upon receipt. This state "
+"is local to each connection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:56 src/man/man1/schedrmt.1.adoc:51
+#, no-wrap
+msgid "verbose on | off"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:61
+msgid ""
+"With get will return the current verbose state, with set, sets the verbose "
+"state. When in verbose mode is on, all set commands return positive "
+"acknowledgement in the form SET <COMMAND> ACK. In addition, text error "
+"messages will be issued when in verbose mode. This state is local to each "
+"connection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:62
+#, no-wrap
+msgid "enable <pwd> | off"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:67
+msgid ""
+"With get will return On or Off to indicate whether the current connection is "
+"enabled to perform control functions. With set and a valid password, the "
+"current connection is enabled for control functions. \"OFF\" may not be used "
+"as a password and disables control functions for this connection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:68
+#, no-wrap
+msgid "config [TBD] comm_mode ascii | binary"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:71
+msgid ""
+"With get, will return the current communications mode. With set, will set "
+"the communications mode to the specified mode. The binary protocol is TBD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:72
+#, no-wrap
+msgid "comm_prot <version no>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:75
+msgid ""
+"With get, returns the current protocol version used by the server, with set, "
+"sets the server to use the specified protocol version, provided it is lower "
+"than or equal to the highest version number supported by the server "
+"implementation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:76
+#, no-wrap
+msgid "Comps [<substring>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:79
+msgid ""
+"Get only, returns all components beginning with the specified substring.  If "
+"no substring is specified then it returns all components."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:80
+#, no-wrap
+msgid "Pins [<substring>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:84
+msgid ""
+"Get only, returns all information about all pins beginning with the "
+"specified substring. If no substring is specified then it returns all pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:85
+#, no-wrap
+msgid "PinVals [<substring>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:89
+msgid ""
+"Get only, returns only value information about all pins beginning with the "
+"specified substring. If no substring is specified then it returns all pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:90
+#, no-wrap
+msgid "Signals [<substring>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:94
+msgid ""
+"Get only, returns all information about all signals beginning with the "
+"specified substring. If no substring is specified then it returns all "
+"signals."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:95
+#, no-wrap
+msgid "SigVals [<substring>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:99
+msgid ""
+"Get only, returns only value information about all signals beginning with "
+"the specified substring. If no substring is specified then it returns all "
+"pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:100
+#, no-wrap
+msgid "Params [<substring>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:104
+msgid ""
+"Get only, returns all information about all parameters beginning with the "
+"specified substring. If no substring is specified then it returns all "
+"parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:105
+#, no-wrap
+msgid "ParamVals [<substring>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:109
+msgid ""
+"Get only, returns only value information about all parameters beginning with "
+"the specified substring. If no substring is specified then it returns all "
+"pins parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:110
+#, no-wrap
+msgid "Functs [<substring>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:114
+msgid ""
+"Get only, returns all information about all functions beginning with the "
+"specified substring. If no substring is specified then it returns all "
+"functions."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:115
+#, no-wrap
+msgid "Threads"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:117
+msgid "Get only, returns all information about all functions."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:118
+#, no-wrap
+msgid "Comp <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:120
+msgid "Get only, returns the component matching the specified name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:121
+#, no-wrap
+msgid "Pin <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:123 src/man/man1/halrmt.1.adoc:129
+msgid "Get only, returns all information about the pin matching the specified name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:124
+#, no-wrap
+msgid "PinVal <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:126
+msgid "Get only, returns the value of the pin matching the specified name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:127
+#, no-wrap
+msgid "Sig <name>"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:130
+#, no-wrap
+msgid "SigVal <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:132
+msgid "Get only, returns just the value of the signal matching the specified name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:133
+#, no-wrap
+msgid "Param <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:135 src/man/man1/halrmt.1.adoc:142
+msgid ""
+"Get only, returns all information about the parameter matching the specified "
+"name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:136
+#, no-wrap
+msgid "ParamVal <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:138
+msgid ""
+"Get only, returns just the value of the parameter matching the specified "
+"name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:139
+#, no-wrap
+msgid "Funct <name>"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:143
+#, no-wrap
+msgid "Thread <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:146
+msgid ""
+"Get only, returns all information about the thread matching the specified "
+"name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:147
+#, no-wrap
+msgid "LoadRt <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:149
+msgid "Set only, loads the real time executable specified by name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:150
+#, no-wrap
+msgid "Unload <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:152
+msgid "Set only, unloads the executable specified by name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:153
+#, no-wrap
+msgid "LoadUsr <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:155
+msgid "Set only, loads the user executable specified by name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:156
+#, no-wrap
+msgid "Linkps <pin name> <signal name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:158
+msgid "Set only, links the specified pin to the specified signal."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:159
+#, no-wrap
+msgid "Linksp <signal name> <pin name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:161
+msgid "Set only, links the specified signal to the specified pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:162
+#, no-wrap
+msgid "Linkpp <pin name 1> <pin name 2>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:164
+msgid "Set only, links the pin specified by pin 1 with the pin specified by pin 2."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:165
+#, no-wrap
+msgid "Net <net list>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:167
+msgid "Set only, nets the specified net list."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:168
+#, no-wrap
+msgid "Unlinkp <pin name 1> <pin name 2>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:170
+msgid "Set only, unlinks the specified pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:171
+#, no-wrap
+msgid "Lock"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:173
+#, no-wrap
+msgid "Unlock"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:175
+#, no-wrap
+msgid "NewSig <name> <type>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:179
+msgid ""
+"Set only, creates the signal specified by name and of type specified by "
+"type."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:180
+#, no-wrap
+msgid "DelSig <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:182
+msgid "Set only, deletes the signal specified by name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:183
+#, no-wrap
+msgid "SetP <name> <value>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:186
+msgid ""
+"Set only, sets the parameter specified by name to the value specified by "
+"value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:187
+#, no-wrap
+msgid "SetS <name> <value>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:190
+msgid "Set only, sets the signal specified by name to the value specified by value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:191
+#, no-wrap
+msgid "AddF <name> <thread> [<parameters>]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:194
+msgid ""
+"Set only, adds the function specified by name, to the thread specified by "
+"thread, with the optional parameters specified by parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:195
+#, no-wrap
+msgid "DelF <name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:197
+msgid "Set only, deletes the function specified by name."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:198
+#, no-wrap
+msgid "Save"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:200
+#, no-wrap
+msgid "Start"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrmt.1.adoc:202
+#, no-wrap
+msgid "Stop"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrmt.1.adoc:214
+msgid "It is not known if this interface currently works."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halrun.1.adoc:1
+#, no-wrap
+msgid "halrun(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:6
+msgid "halrun - manipulate the LinuxCNC HAL from the command line"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:10
+#, no-wrap
+msgid "*halrun -h*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:12
+#, no-wrap
+msgid "*halrun [*-I*] [_halcmd_opts_] [_filename[.hal|.tcl]_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:14
+#, no-wrap
+msgid "*halrun -T* [_halcmd_opts_] [_filename[.hal|.tcl]_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:16
+#, no-wrap
+msgid "*halrun -U*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:21
+#, no-wrap
+msgid ""
+"*halrun* is a convenience script used to manipulate the HAL (Hardware\n"
+"Abstraction Layer) from the command line. When invoked, *halrun*:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:25
+msgid ""
+"Sets up the realtime environment. Executes a command interpreter (*halcmd* "
+"or *haltcl*). (Optionally) runs an interactive session. Tears down the "
+"realtime environment."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:29
+msgid ""
+"If no filename is specified, an interactive session is started. The session "
+"will use *halcmd*(1) unless -T is specified in which case *haltcl*(1) will "
+"be used."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:34
+msgid ""
+"If a filename is specified and neither the -I nor the -T option is included, "
+"the filename will be processed by the command interpreter corresponding to "
+"the filename extension (*halcmd* or *haltcl*). After processing, the "
+"realtime environment will be torn down."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:39
+msgid ""
+"If a filename is specified and the -I or -T option is included, the file is "
+"processed by the appropriate command interpreter and then an interactive "
+"session is started for *halcmd* or *haltcl* according to the -I or -T "
+"option."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrun.1.adoc:42
+#, no-wrap
+msgid "*halcmd_opts*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:46
+msgid ""
+"When a .hal file is specified, the *halcmd_opts* are passed to *halcmd*.  "
+"See the man page for **halcmd**(1).  When a .tcl file is specified, the only "
+"valid options are: -i <INI file> -f <filename[.tcl|.hal]> (alternate means "
+"of specifying a file)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:48
+msgid "Run an interactive *halcmd* session"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrun.1.adoc:48
+#, no-wrap
+msgid "*-T*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:50
+msgid "Run an interactive *haltcl* session."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrun.1.adoc:50
+#, no-wrap
+msgid "*-U*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:54
+msgid ""
+"Forcibly cause the realtime environment to exit. It releases the HAL mutex, "
+"requests that all HAL components unload, and stops the realtime system. *-U* "
+"must be the only commandline argument."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halrun.1.adoc:54
+#, no-wrap
+msgid "*-h*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:56
+msgid "display a brief help screen and exit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:66
+msgid ""
+"Original version by John Kasunich, as part of the LinuxCNC Enhanced Machine "
+"Controller project. Now includes major contributions by several members of "
+"the project."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halrun.1.adoc:81
+msgid "halcmd(1), haltcl(1)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halsampler.1.adoc:1
+#, no-wrap
+msgid "halsampler(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:6
+msgid "halsampler - sample data from HAL in realtime"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:10
+#, no-wrap
+msgid "*halsampler* [_options_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:19
+#, no-wrap
+msgid ""
+"**sampler**(9) and *halsampler* are used together to sample HAL data in\n"
+"real time and store it in a file. *sampler* is a realtime HAL component\n"
+"that exports HAL pins and creates a FIFO in shared memory. It then\n"
+"begins sampling data from the HAL and storing it to the FIFO.\n"
+"*halsampler* is a non-realtime program that copies data from the FIFO to\n"
+"stdout, where it can be redirected to a file or piped to some other "
+"program.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halsampler.1.adoc:22 src/man/man1/halstreamer.1.adoc:22
+#, no-wrap
+msgid "*-c* _CHAN_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:26
+msgid ""
+"instructs *halsampler* to read from FIFO _CHAN_. FIFOs are numbered from "
+"zero, and the default value is zero, so this option is not needed unless "
+"multiple FIFOs have been created."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halsampler.1.adoc:26
+#, no-wrap
+msgid "*-n* _COUNT_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:30
+msgid ""
+"instructs *halsampler* to read _COUNT_ samples from the FIFO, then exit. If "
+"*-n* is not specified, *halsampler* will read continuously until it is "
+"killed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halsampler.1.adoc:30
+#, no-wrap
+msgid "*-t*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:33
+msgid ""
+"instructs *halsampler* to tag each line by printing the sample number in the "
+"first column."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:35
+msgid "instructs *halsampler* to write to _FILENAME_ instead of to stdout."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:40
+msgid ""
+"A FIFO must first be created by loading **sampler**(9) with *halcmd loadrt* "
+"or a *loadrt* command in a HAL file.  Then *halsampler* can be invoked to "
+"begin printing data from the FIFO to stdout."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:46
+msgid ""
+"Data is printed one line per sample. If *-t* was specified, the sample "
+"number is printed first. The data follows, in the order that the pins were "
+"defined in the config string. For example, if the *sampler* config string "
+"was \"ffbs\" then a typical line of output (without *-t*) would look like:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:48
+msgid "123.55 33.4 0 -12"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:54
+#, no-wrap
+msgid ""
+"*halsampler* prints data as fast as possible until the FIFO is empty,\n"
+"then it retries at regular intervals, until it is either killed or has\n"
+"printed _COUNT_ samples as requested by *-n*. Usually, but not always,\n"
+"data printed by *halsampler* will be redirected to a file or piped to\n"
+"some other program.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:63
+msgid ""
+"The FIFO size should be chosen to absorb samples captured during any "
+"momentary disruptions in the flow of data, such as disk seeks, terminal "
+"scrolling, or the processing limitations of subsequent program in a "
+"pipeline. If the FIFO gets full and *sampler* is forced to overwrite old "
+"data, *halsampler* will print 'overrun' on a line by itself to mark each gap "
+"in the sampled data. If *-t* was specified, gaps in the sequential sample "
+"numbers in the first column can be used to determine exactly how many "
+"samples were lost."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:67
+msgid ""
+"The data format for *halsampler* output is the same as for "
+"**halstreamer**(1)  input, so 'waveforms' captured with *halsampler* can be "
+"replayed using *halstreamer*.  The *-t* option should not be used in this "
+"case."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/halsampler.1.adoc:68 src/man/man1/halstreamer.1.adoc:61
+#: src/man/man1/inivar.1.adoc:42
+#, no-wrap
+msgid "EXIT STATUS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:72
+msgid ""
+"If a problem is encountered during initialization, *halsampler* prints a "
+"message to stderr and returns failure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:77
+msgid ""
+"Upon printing _COUNT_ samples (if *-n* was specified) it will shut down and "
+"return success. If it is terminated before printing the specified number of "
+"samples, it returns failure. This means that when *-n* is not specified, it "
+"will always return failure when terminated."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:81
+msgid "sampler(9), streamer(9), halstreamer(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halsampler.1.adoc:94 src/man/man1/halstreamer.1.adoc:92
+#: src/man/man9/sampler.9.adoc:93 src/man/man9/streamer.9.adoc:90
+msgid "Copyright © 2006 John Kasunich."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halscope.1.adoc:1
+#, no-wrap
+msgid "halscope(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halscope.1.adoc:6
+msgid "halscope - short description"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halscope.1.adoc:10
+#, no-wrap
+msgid "*halscope*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halscope.1.adoc:14
+#, no-wrap
+msgid "*halscope* Software oscilloscope for LinuxCNC/HAL\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halscope.1.adoc:16
+msgid "Digital oscilloscope for viewing real time waveforms of HAL pins and signals"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halshow.1.adoc:1
+#, no-wrap
+msgid "halshow(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:6
+msgid "halshow - Show HAL parameters, pins and signals"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:10
+#, no-wrap
+msgid "*halshow* [_options_] [_watchfile_]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halshow.1.adoc:13
+#, no-wrap
+msgid "--help"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:14
+msgid "(help)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halshow.1.adoc:14
+#, no-wrap
+msgid "--fformat _format_string_for_float_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halshow.1.adoc:15
+#, no-wrap
+msgid "--iformat _format_string_for_int_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halshow.1.adoc:16
+#, no-wrap
+msgid "--noprefs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:17
+msgid "don't use preference file to save settings"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:19
+msgid "For format see https://www.tcl.tk/man/tcl8.6.11/TclCmd/format.html[]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:21
+msgid "Example: \"%.5f\" displays a float with 5 digits right of the decimal point"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:27
+#, no-wrap
+msgid ""
+"*halshow* creates a GUI interface to view and interact with a running HAL "
+"session.\n"
+"It is documented in the PDF and HTML docs much more completely than is "
+"possible in a manpage:\n"
+"https://linuxcnc.org/docs/html/hal/halshow.html[]\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/halshow.1.adoc:35 src/man/man1/xhc-whb04b-6.1.adoc:573
+#, no-wrap
+msgid "HISTORY"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halshow.1.adoc:37
+#, no-wrap
+msgid "LinuxCNC 2.9"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:39
+msgid "Added buttons for pin/parameter/signal manipulation."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:40
+msgid "Added menu entries for setting update interval, adding manually."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:41
+msgid "Added right-click menu for copy, set, unlink pin and remove from view."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halshow.1.adoc:49
+msgid "Raymond E. Henry"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halstreamer.1.adoc:1
+#, no-wrap
+msgid "halstreamer(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:6
+msgid "halstreamer - stream file data into HAL in real-time"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:11
+#, no-wrap
+msgid "*halstreamer* [_options_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:18
+#, no-wrap
+msgid ""
+"*streamer*(9) and *halstreamer* are used together to stream data from a file "
+"into the HAL in real-time.\n"
+"*streamer* is a real-time HAL component that exports HAL pins and creates a "
+"FIFO in shared memory.\n"
+"*hal_streamer* is a non-realtime program that copies data from stdin into "
+"the FIFO, so that *streamer* can write it to the HAL pins.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:26
+msgid ""
+"Instructs *halstreamer* to write to FIFO _CHAN_.  FIFOs are numbered from "
+"zero, and the default value is zero, so this option is not needed unless "
+"multiple FIFOs have been created."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:29
+msgid "Instructs *halsampler* to read from _FILENAME_ instead of from stdin."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:35
+msgid ""
+"A FIFO must first be created by loading *streamer*(9) with *halcmd loadrt* "
+"or a *loadrt* command in a HAL file.  Then *halstreamer* can be invoked to "
+"begin writing data into the FIFO."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:39
+msgid ""
+"Data is read from stdin, and is almost always either redirected from a file "
+"or piped from some other program, since keyboard input would be unable to "
+"keep up with even slow streaming rates."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:46
+msgid ""
+"Each line of input must match the pins that are attached to the FIFO, for "
+"example, if the *streamer* config string was \"ffbs\" then each line of "
+"input must consist of two floats, a bit, and a signed integer, in that order "
+"and separated by whitespace.  Floats must be formatted as required by "
+"*strtod*(3), signed and unsigned integers must be formatted as required by "
+"*strtol*(3) and *strtoul*(3), and bits must be either '0' or '1'."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:48
+msgid ""
+"Input lines that begin with '#' will be treated as comments and silently "
+"skipped."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:52
+#, no-wrap
+msgid ""
+"*halstreamer* transfers data to the FIFO as fast as possible until the FIFO "
+"is full,\n"
+"then it retries at regular intervals, until it is either killed or reads EOF "
+"from stdin.\n"
+"Data can be redirected from a file or piped from some other program.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:56
+msgid ""
+"The FIFO size should be chosen to ride through any momentary disruptions in "
+"the flow of data, such as disk seeks.  If the FIFO is big enough, "
+"*halstreamer* can be restarted with the same or a new file before the FIFO "
+"empties, resulting in a continuous stream of data."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:59
+msgid ""
+"The data format for *halstreamer* input is the same as for *halsampler*(1) "
+"output, so 'waveforms' captured with *halsampler* can be replayed using "
+"*halstreamer*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:65
+msgid ""
+"If a problem is encountered during initialization, *halstreamer* prints a "
+"message to stderr and returns failure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:69
+msgid ""
+"If a badly formatted line is encountered while writing to the FIFO, it "
+"prints a message to stderr, skips the line, and continues (this behavior may "
+"be revised in the future)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:72
+msgid ""
+"Upon reading EOF from the input, it returns success.  If it is terminated "
+"before the input ends, it returns failure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:77
+msgid "streamer(9), sampler(9), halsampler(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halstreamer.1.adoc:96 src/man/man1/inivar.1.adoc:71
+#: src/man/man9/streamer.9.adoc:93
+msgid ""
+"This is free software; see the source for copying conditions.  There is NO "
+"warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/haltcl.1.adoc:1
+#, no-wrap
+msgid "haltcl(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:6
+msgid ""
+"haltcl - manipulate the LinuxCNC HAL from the command line using a Tcl "
+"interpreter."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:10
+#, no-wrap
+msgid "*haltcl* [*-i* _<INI file>_] [_filename_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:17
+#, no-wrap
+msgid ""
+"*haltcl* is used to manipulate the HAL (Hardware Abstraction Layer) from\n"
+"the command line using a Tcl interpreter. *haltcl* can optionally read\n"
+"commands from a file (filename), allowing complex HAL configurations to\n"
+"be set up with a single command.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:23
+msgid ""
+"If specified, the INI file is read and used to create Tcl global variable "
+"arrays.  An array is created for each SECTION of the INI file with elements "
+"for each ITEM in the section."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:25
+msgid "For example, if the INI file contains:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/haltcl.1.adoc:33
+#, no-wrap
+msgid ""
+"[SECTION_A]\n"
+"ITEM_1 = 1\n"
+"[SECTION_A]\n"
+"ITEM_2 = 2\n"
+"[SECTION_B]\n"
+"ITEM_1 = 10\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:36
+msgid "The corresponding Tcl variables are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/haltcl.1.adoc:41
+#, no-wrap
+msgid ""
+"SECTION_A(ITEM_1) = 1\n"
+"SECTION_A(ITEM_2) = 2\n"
+"SECTION_B(ITEM_1) = 10\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/haltcl.1.adoc:43
+#, no-wrap
+msgid "*-ini* _<INI file>_ -- declining usage, use *-i* _<INI file>_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/haltcl.1.adoc:44
+#, no-wrap
+msgid "*filename*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:47
+msgid ""
+"If specified, the Tcl commands of *filename* are executed. If no filename is "
+"specified, haltcl opens an interactive session."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:53
+#, no-wrap
+msgid ""
+"*haltcl* includes the commands of a Tcl interpreter augmented with\n"
+"commands for the hal language as described for *halcmd*(1). The\n"
+"augmented commands can be listed with the command:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/haltcl.1.adoc:56
+#, no-wrap
+msgid "haltcl: hal --commands\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/haltcl.1.adoc:61
+#, no-wrap
+msgid ""
+"addf alias delf delsig getp gets ptype stype help linkpp linkps linksp\n"
+"list loadrt loadusr lock net newsig save setexact_for_test_suite_only\n"
+"setp sets show source start status stop unalias unlinkp unload unloadrt\n"
+"unloadusr unlock waitusr\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:66
+msgid ""
+"Two of the augmented commands, 'list' and 'gets', require special treatment "
+"to avoid conflict with Tcl built-in commands having the same names. To use "
+"these commands, precede them with the keyword 'hal':"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/haltcl.1.adoc:69
+#, no-wrap
+msgid "hal list hal gets\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/haltcl.1.adoc:83
+msgid "halcmd(1), halrun(1)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/halui.1.adoc:1
+#, no-wrap
+msgid "halui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:6
+msgid "halui - observe HAL pins and command LinuxCNC through NML"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:10
+#, no-wrap
+msgid "*halui* [*-ini* _<path-to-INI>_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:15
+#, no-wrap
+msgid ""
+"*halui* is used to build a User Interface using hardware knobs and "
+"switches.\n"
+"It exports a big number of pins, and acts accordingly when these change.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:18
+#, no-wrap
+msgid "*-ini* _filename_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:22
+msgid ""
+"Use the _filename_ as the configuration file. Note: halui must find the nml "
+"file specified in the INI, usually that file is in the same folder as the "
+"INI, so it makes sense to run halui from that folder."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:28
+msgid ""
+"When run, *halui* will export a large number of pins. A user can connect "
+"those to his physical knobs & switches & leds, and when a change is noticed "
+"halui triggers an appropriate event."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:31
+#, no-wrap
+msgid ""
+"*halui* expects the signals to be debounced, so if needed (bad knob\n"
+"contact) connect the physical button to a HAL debounce filter first.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:36
+#, no-wrap
+msgid "*halui.abort bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:38
+msgid "pin for clearing most errors"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:41
+#, no-wrap
+msgid "*halui.tool.length-offset.a  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:43
+msgid "current applied tool length offset for the A axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:43
+#, no-wrap
+msgid "*halui.tool.length-offset.b  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:45
+msgid "current applied tool length offset for the B axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:45
+#, no-wrap
+msgid "*halui.tool.length-offset.c  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:47
+msgid "current applied tool length offset for the C axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:47
+#, no-wrap
+msgid "*halui.tool.length-offset.u  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:49
+msgid "current applied tool length offset for the U axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:49
+#, no-wrap
+msgid "*halui.tool.length-offset.v  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:51
+msgid "current applied tool length offset for the V axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:51
+#, no-wrap
+msgid "*halui.tool.length-offset.w  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:53
+msgid "current applied tool length offset for the W axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:53
+#, no-wrap
+msgid "*halui.tool.length-offset.x  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:55
+msgid "current applied tool length offset for the X axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:55
+#, no-wrap
+msgid "*halui.tool.length-offset.y  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:57
+msgid "current applied tool length offset for the Y axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:57
+#, no-wrap
+msgid "*halui.tool.length-offset.z  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:59
+msgid "current applied tool length offset for the Z axis"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:59
+#, no-wrap
+msgid "*halui.tool.diameter  float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:61
+msgid "Current tool diameter, or 0 if no tool is loaded."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:61
+#, no-wrap
+msgid "*halui.tool.number  u32 out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:63
+msgid "current selected tool"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:66
+#, no-wrap
+msgid "*halui.spindle.**_N_**.brake-is-on** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:68
+#, no-wrap
+msgid "status pin that tells us if brake is on\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:68
+#, no-wrap
+msgid "*halui.spindle.**_N_**.brake-off** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:70
+#, no-wrap
+msgid "pin for deactivating the spindle brake\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:70
+#, no-wrap
+msgid "*halui.spindle.**_N_**.brake-on** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:72
+#, no-wrap
+msgid "pin for activating the spindle brake\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:72
+#, no-wrap
+msgid "*halui.spindle.**_N_**.decrease** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:74
+#, no-wrap
+msgid "a rising edge on this pin decreases the current spindle speed by 100\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:74
+#, no-wrap
+msgid "*halui.spindle.**_N_**.forward** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:76
+#, no-wrap
+msgid "a rising edge on this pin makes the spindle go forward\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:76
+#, no-wrap
+msgid "*halui.spindle.**_N_**.increase** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:78
+#, no-wrap
+msgid "a rising edge on this pin increases the current spindle speed by 100\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:78
+#, no-wrap
+msgid "*halui.spindle.**_N_**.is-on** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:80
+#, no-wrap
+msgid "status pin telling if the spindle is on\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:80
+#, no-wrap
+msgid "*halui.spindle.**_N_**.reverse** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:82
+#, no-wrap
+msgid "a rising edge on this pin makes the spindle go reverse\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:82
+#, no-wrap
+msgid "*halui.spindle.**_N_**.runs-backward** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:84
+#, no-wrap
+msgid "status pin telling if the spindle is running backward\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:84
+#, no-wrap
+msgid "*halui.spindle.**_N_**.runs-forward** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:86
+#, no-wrap
+msgid "status pin telling if the spindle is running forward\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:86
+#, no-wrap
+msgid "*halui.spindle.**_N_**.start** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:88
+#, no-wrap
+msgid "a rising edge on this pin starts the spindle\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:88
+#, no-wrap
+msgid "*halui.spindle.**_N_**.stop** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:90
+#, no-wrap
+msgid "a rising edge on this pin stops the spindle\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:93
+#, no-wrap
+msgid "(SO = spindle override. FO = feed override)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:94
+#, no-wrap
+msgid "**halui.spindle.**_N_**.override.count-enable** bit in (default: *TRUE*)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:96
+msgid "When TRUE, modify spindle override when counts changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:96
+#, no-wrap
+msgid "**halui.spindle.**_N_**.override.counts** s32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:98
+msgid "counts X scale = spindle override percentage"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:98
+#, no-wrap
+msgid "**halui.spindle.**_N_**.override.decrease** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:100
+msgid "pin for decreasing the SO (-=scale)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:100
+#, no-wrap
+msgid "**halui.spindle.**_N_**.override.direct-value** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:102
+msgid "pin to enable direct spindle override value input"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:102
+#, no-wrap
+msgid "**halui.spindle.**_N_**.override.increase** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:104
+msgid "pin for increasing the SO (+=scale)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:104
+#, no-wrap
+msgid "**halui.spindle.**_N_**.override.reset** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:106
+msgid "pin for resetting the scale SO value (scale=1.0)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:106
+#, no-wrap
+msgid "**halui.spindle.**_N_**.override.scale** float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:108
+msgid "pin for setting the scale of counts for SO"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:108
+#, no-wrap
+msgid "**halui.spindle.**_N_**.override.value** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:110
+msgid "current FO value"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:113
+#, no-wrap
+msgid "*halui.program.block-delete.is-on* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:115
+msgid "status pin telling that block delete is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:115
+#, no-wrap
+msgid "*halui.program.block-delete.off* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:117
+msgid "pin for requesting that block delete is off"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:117
+#, no-wrap
+msgid "*halui.program.block-delete.on* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:119
+msgid "pin for requesting that block delete is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:119
+#, no-wrap
+msgid "*halui.program.is-idle* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:121
+msgid "status pin telling that no program is running"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:121
+#, no-wrap
+msgid "*halui.program.is-paused* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:123
+msgid "status pin telling that a program is paused"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:123
+#, no-wrap
+msgid "*halui.program.is-running bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:125
+msgid "status pin telling that a program is running"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:125
+#, no-wrap
+msgid "*halui.program.optional-stop.is-on* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:127
+msgid "status pin telling that the optional stop is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:127
+#, no-wrap
+msgid "*halui.program.optional-stop.off* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:129
+msgid "pin requesting that the optional stop is off"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:129
+#, no-wrap
+msgid "*halui.program.optional-stop.on* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:131
+msgid "pin requesting that the optional stop is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:131
+#, no-wrap
+msgid "*halui.program.pause* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:133
+msgid "pin for pausing a program"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:133
+#, no-wrap
+msgid "*halui.program.resume* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:135
+msgid "pin for resuming a program"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:135
+#, no-wrap
+msgid "*halui.program.run* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:137
+msgid "pin for running a program"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:137
+#, no-wrap
+msgid "*halui.program.step* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:139
+msgid "pin for stepping in a program"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:139
+#, no-wrap
+msgid "*halui.program.stop* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:142
+msgid ""
+"pin for stopping a program (note: this pin does the same thing as "
+"halui.abort)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:145
+#, no-wrap
+msgid "*halui.mode.auto* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:147
+msgid "pin for requesting auto mode"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:147
+#, no-wrap
+msgid "*halui.mode.is-auto* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:149
+msgid "pin for auto mode is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:149
+#, no-wrap
+msgid "*halui.mode.is-joint* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:151
+msgid "pin showing joint by joint jog mode is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:151
+#, no-wrap
+msgid "*halui.mode.is-manual* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:153
+msgid "pin for manual mode is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:153
+#, no-wrap
+msgid "*halui.mode.is-mdi* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:155
+msgid "pin for MDI mode is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:155
+#, no-wrap
+msgid "*halui.mode.is-teleop* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:157
+msgid "pin showing coordinated jog mode is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:157
+#, no-wrap
+msgid "*halui.mode.joint* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:159
+msgid "pin for requesting joint by joint jog mode"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:159
+#, no-wrap
+msgid "*halui.mode.manual* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:161
+msgid "pin for requesting manual mode"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:161
+#, no-wrap
+msgid "*halui.mode.mdi* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:163
+msgid "pin for requesting MDI mode"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:163
+#, no-wrap
+msgid "*halui.mode.teleop* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:165
+msgid "pin for requesting coordinated jog mode"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/halui.1.adoc:166
+#, no-wrap
+msgid "MDI (optional)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:168
+#, no-wrap
+msgid "**halui.mdi-command-**_XX_ bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:172
+#, no-wrap
+msgid ""
+"*halui* looks for INI variables named [HALUI]MDI_COMMAND, and exports\n"
+"a pin for each command it finds. When the pin is driven TRUE, *halui*\n"
+"runs the specified MDI command. _XX_ is a two digit number starting at\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:173
+#, no-wrap
+msgid "If no [HALUI]MDI_COMMAND variables are set in the INI file, no\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:174
+#, no-wrap
+msgid "halui.mdi-command-XX pins will be exported by halui.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/halui.1.adoc:175
+#, no-wrap
+msgid "Mist coolant"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:177
+#, no-wrap
+msgid "*halui.mist.is-on* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:179
+msgid "pin for mist is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:179
+#, no-wrap
+msgid "*halui.mist.off* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:181
+msgid "pin for stopping mist"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:181
+#, no-wrap
+msgid "*halui.mist.on* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:183
+msgid "pin for starting mist"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/halui.1.adoc:184
+#, no-wrap
+msgid "Max-velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:186
+#, no-wrap
+msgid "*halui.max-velocity.count-enable* bit in (default: *TRUE*)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:188
+msgid "When True, modify max velocity when halui.max-velocity.counts changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:188
+#, no-wrap
+msgid "*halui.max-velocity.counts* s32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:193
+msgid ""
+"When .count-enable is True, halui changes the max velocity in response to "
+"changes to this pin. It's usually connected to an MPG encoder on an "
+"operator's panel or jog pendant. When .count-enable is False, halui ignores "
+"this pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:193
+#, no-wrap
+msgid "*halui.max-velocity.direct-value* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:198
+msgid ""
+"When this pin is True, halui commands the max velocity directly to (.counts "
+"* .scale). When this pin is False, halui commands the max velocity in a "
+"relative way: change max velocity by an amount equal to (change in .counts * "
+".scale)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:198
+#, no-wrap
+msgid "*halui.max-velocity.increase* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:202
+msgid ""
+"A positive edge (a False to True transition) on this pin increases the max "
+"velocity by the value of the .scale pin. (Note that halui always responds to "
+"this pin, independent of the .count-enable pin.)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:202
+#, no-wrap
+msgid "*halui.max-velocity.decrease* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:206
+msgid ""
+"A positive edge (a False to True transition) on this pin decreases the max "
+"velocity by the value of the .scale pin. (Note that halui always responds to "
+"this pin, independent of the .count-enable pin.)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:206
+#, no-wrap
+msgid "*halui.max-velocity.scale* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:211
+msgid ""
+"This pin controls the scale of changes to the max velocity. Each unit change "
+"in .counts, and each positive edge on .increase and .decrease, changes the "
+"max velocity by .scale. The units of the .scale pin are machine-units per "
+"second."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:211
+#, no-wrap
+msgid "*halui.max-velocity.value* float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:213
+msgid "Current value for maximum velocity, in machine-units per second."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:216
+#, no-wrap
+msgid "*halui.machine.units-per-mm* float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:218
+msgid ""
+"pin for machine units-per-mm (inch:1/25.4, mm:1) according to INI file "
+"setting: [TRAJ]LINEAR_UNITS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:218
+#, no-wrap
+msgid "*halui.machine.is-on* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:220
+msgid "pin for machine is On/Off"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:220
+#, no-wrap
+msgid "*halui.machine.off* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:222
+msgid "pin for setting machine Off"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:222
+#, no-wrap
+msgid "*halui.machine.on* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:224
+msgid "pin for setting machine On"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:229
+#, no-wrap
+msgid "**halui.joint.**_N_**.select** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:231
+msgid "pin for selecting joint _N_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:231
+#, no-wrap
+msgid "**halui.joint.**_N_**.is-selected** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:233
+msgid "status pin that joint _N_ is selected"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:233
+#, no-wrap
+msgid "**halui.joint.**_N_**.has-fault** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:235
+msgid "status pin telling that joint _N_ has a fault"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:235
+#, no-wrap
+msgid "**halui.joint.**_N_**.home** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:237
+msgid "pin for homing joint _N_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:237
+#, no-wrap
+msgid "**halui.joint.**_N_**.is-homed** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:239
+msgid "status pin telling that joint _N_ is homed"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:239
+#, no-wrap
+msgid "**halui.joint.**_N_**.on-hard-max-limit** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:241
+msgid "status pin telling that joint _N_ is on the positive hardware limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:241
+#, no-wrap
+msgid "**halui.joint.**_N_**.on-hard-min-limit** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:243
+msgid "status pin telling that joint _N_ is on the negative hardware limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:243
+#, no-wrap
+msgid "**halui.joint.**_N_**.on-soft-max-limit** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:245
+msgid "status pin telling that joint _N_ is on the positive software limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:245
+#, no-wrap
+msgid "**halui.joint.**_N_**.on-soft-min-limit** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:247
+msgid "status pin telling that joint _N_ is on the negative software limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:247
+#, no-wrap
+msgid "**halui.joint.**_N_**.override-limits** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:249
+msgid "status pin telling that joint __N__'s limits are temporarily overridden"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:249
+#, no-wrap
+msgid "**halui.joint.**_N_**.unhome** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:251
+msgid "pin for unhoming joint _N_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:251
+#, no-wrap
+msgid "**halui.joint.selected** u32 out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:253
+msgid "selected joint number (0 ... num_joints-1)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:253
+#, no-wrap
+msgid "**halui.joint.selected.has-fault** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:255
+msgid "status pin selected joint is faulted"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:255
+#, no-wrap
+msgid "**halui.joint.selected.home** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:257
+msgid "pin for homing the selected joint"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:257
+#, no-wrap
+msgid "**halui.joint.selected.is-homed** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:259
+msgid "status pin telling that the selected joint is homed"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:259
+#, no-wrap
+msgid "**halui.joint.selected.on-hard-max-limit** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:261
+msgid "status pin telling that the selected joint is on the positive hardware limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:261
+#, no-wrap
+msgid "**halui.joint.selected.on-hard-min-limit** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:263
+msgid "status pin telling that the selected joint is on the negative hardware limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:263
+#, no-wrap
+msgid "**halui.joint.selected.on-soft-max-limit** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:265
+msgid "status pin telling that the selected joint is on the positive software limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:265
+#, no-wrap
+msgid "**halui.joint.selected.on-soft-min-limit** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:267
+msgid "status pin telling that the selected joint is on the negative software limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:267
+#, no-wrap
+msgid "**halui.joint.selected.override-limits** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:269
+msgid ""
+"status pin telling that the selected joint's limits are temporarily "
+"overridden"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:269
+#, no-wrap
+msgid "**halui.joint.selected.unhome** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:271
+msgid "pin for unhoming the selected joint"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/halui.1.adoc:272
+#, no-wrap
+msgid "Joint jogging (*N* = joint number (0 ... num_joints-1))"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:274
+#, no-wrap
+msgid "*halui.joint.jog-deadband* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:276
+msgid ""
+"pin for setting jog analog deadband (jog analog inputs smaller/slower than "
+"this (in absolute value) are ignored)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:276
+#, no-wrap
+msgid "*halui.joint.jog-speed* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:278 src/man/man1/halui.1.adoc:335
+msgid "pin for setting jog speed for plus/minus jogging."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:278
+#, no-wrap
+msgid "**halui.joint.**_N_**.analog** float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:281
+msgid ""
+"pin for jogging the joint _N_ using an float value (e.g. joystick).  The "
+"value, typically set between 0.0 and ±1.0, is used as a jog-speed "
+"multiplier."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:281
+#, no-wrap
+msgid "**halui.joint.**_N_**.increment** float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:283
+msgid ""
+"pin for setting the jog increment for joint _N_ when using "
+"increment-plus/minus"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:283
+#, no-wrap
+msgid "**halui.joint.**_N_**.increment-minus bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:286
+msgid ""
+"a rising edge will will make joint _N_ jog in the negative direction by the "
+"increment amount"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:286
+#, no-wrap
+msgid "**halui.joint.**_N_**.increment-plus** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:289
+msgid ""
+"a rising edge will will make joint _N_ jog in the positive direction by the "
+"increment amount"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:289
+#, no-wrap
+msgid "**halui.joint.**_N_**.minus** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:292
+msgid ""
+"pin for jogging joint _N_ in negative direction at the halui.joint.jog-speed "
+"velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:292
+#, no-wrap
+msgid "**halui.joint.**_N_**.plus** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:295
+msgid ""
+"pin for jogging joint _N_ in positive direction at the halui.joint.jog-speed "
+"velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:295
+#, no-wrap
+msgid "*halui.joint.selected.increment* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:298
+msgid ""
+"pin for setting the jog increment for the selected joint when using "
+"increment-plus/minus"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:298
+#, no-wrap
+msgid "*halui.joint.selected.increment-minus* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:301
+msgid ""
+"a rising edge will will make the selected joint jog in the negative "
+"direction by the increment amount"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:301
+#, no-wrap
+msgid "*halui.joint.selected.increment-plus* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:304
+msgid ""
+"a rising edge will will make the selected joint jog in the positive "
+"direction by the increment amount"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:304
+#, no-wrap
+msgid "*halui.joint.selected.minus* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:307
+msgid ""
+"pin for jogging the selected joint in negative direction at the "
+"halui.joint.jog-speed velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:307
+#, no-wrap
+msgid "*halui.joint.selected.plus*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:310
+msgid ""
+"pin for jogging the selected joint bit in in positive direction at the "
+"halui.joint.jog-speed velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:315
+#, no-wrap
+msgid "**halui.axis.**_L_**.select** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:317
+msgid "pin for selecting axis by letter"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:317
+#, no-wrap
+msgid "**halui.axis.**_L_**.is-selected** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:319
+msgid "status pin that axis _L_ is selected"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:319
+#, no-wrap
+msgid "**halui.axis.**_L_**.pos-commanded** float out float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:321
+msgid "Commanded axis position in machine coordinates"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:321
+#, no-wrap
+msgid "**halui.axis.**_L_**.pos-feedback** float out float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:323
+msgid "Feedback axis position in machine coordinates"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:323
+#, no-wrap
+msgid "**halui.axis.**_L_**.pos-relative** float out float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:325
+msgid "Commanded axis position in relative coordinates"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:330
+#, no-wrap
+msgid "*halui.axis.jog-deadband* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:333
+msgid ""
+"pin for setting jog analog deadband (jog analog inputs smaller/slower than "
+"this (in absolute value) are ignored)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:333
+#, no-wrap
+msgid "*halui.axis.jog-speed* float in"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:335
+#, no-wrap
+msgid "**halui.axis.**L**.analog** float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:339
+msgid ""
+"pin for jogging the axis L using an float value (e.g. joystick). The value, "
+"typically set between 0.0 and ±1.0, is used as a jog-speed multiplier."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:339
+#, no-wrap
+msgid "**halui.axis.**_L_**.increment** float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:342
+msgid "pin for setting the jog increment for axis L when using increment-plus/minus"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:342
+#, no-wrap
+msgid "**halui.axis.**_L_**.increment-minus bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:345
+msgid ""
+"a rising edge will will make axis _L_ jog in the negative direction by the "
+"increment amount"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:345
+#, no-wrap
+msgid "*halui.axis.**_L_**.increment-plus** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:348
+msgid ""
+"a rising edge will will make axis _L_ jog in the positive direction by the "
+"increment amount"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:348
+#, no-wrap
+msgid "**halui.axis.**_L_**.minus** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:351
+msgid ""
+"pin for jogging axis _L_ in negative direction at the halui.axis.jog-speed "
+"velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:351
+#, no-wrap
+msgid "**halui.axis.**_L_**.plus** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:354
+msgid ""
+"pin for jogging axis _L_ in positive direction at the halui.axis.jog-speed "
+"velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:354
+#, no-wrap
+msgid "*halui.axis.selected* u32 out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:356
+msgid "selected axis (by index: 0:x 1:y 2:z 3:a 4:b 5:cr 6:u 7:v 8:w)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:356
+#, no-wrap
+msgid "*halui.axis.selected.increment* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:358
+msgid ""
+"pin for setting the jog increment for the selected axis when using "
+"increment-plus/minus"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:358
+#, no-wrap
+msgid "*halui.axis.selected.increment-minus* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:361
+msgid ""
+"a rising edge will will make the selected axis jog in the negative direction "
+"by the increment amount"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:361
+#, no-wrap
+msgid "*halui.axis.selected.increment-plus* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:364
+msgid ""
+"a rising edge will will make the selected axis jog in the positive direction "
+"by the increment amount"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:364
+#, no-wrap
+msgid "*halui.axis.selected.minus* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:366
+msgid ""
+"pin for jogging the selected axis in negative direction at the "
+"halui.axis.jog-speed velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:366
+#, no-wrap
+msgid "*halui.axis.selected.plus* FIXME MISSING"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:368
+msgid ""
+"pin for jogging the selected axis bit in in positive direction at the "
+"halui.axis.jog-speed velocity"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/halui.1.adoc:369
+#, no-wrap
+msgid "Flood coolant"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:371
+#, no-wrap
+msgid "*halui.flood.is-on* bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:373
+msgid "pin for flood is on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:373
+#, no-wrap
+msgid "*halui.flood.off* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:375
+msgid "pin for stopping flood"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:375
+#, no-wrap
+msgid "*halui.flood.on* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:377
+msgid "pin for starting flood"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:380
+#, no-wrap
+msgid "*halui.feed-override.count-enable* bit in (default: *TRUE*)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:382
+msgid "When TRUE, modify feed override when counts changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:382
+#, no-wrap
+msgid "*halui.feed-override.counts* s32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:384
+msgid "counts X scale = feed override percentage"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:384
+#, no-wrap
+msgid "*halui.feed-override.decrease* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:386
+msgid "pin for decreasing the FO (-=scale)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:386
+#, no-wrap
+msgid "*halui.feed-override.direct-value* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:388
+msgid "pin to enable direct value feed override input"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:388
+#, no-wrap
+msgid "*halui.feed-override.increase* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:390
+msgid "pin for increasing the FO (+=scale)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:390
+#, no-wrap
+msgid "*halui.feed-override.reset* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:392
+msgid "pin for resetting the FO (scale=1.0)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:392
+#, no-wrap
+msgid "*halui.feed-override.scale* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:394
+msgid "pin for setting the scale on changing the FO"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:394
+#, no-wrap
+msgid "*halui.feed-override.value* float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:396
+msgid "current feed override value"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:399
+#, no-wrap
+msgid "*halui.rapid-override.count-enable* bit in (default: *TRUE*)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:401
+msgid "When TRUE, modify rapid override when counts changes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:401
+#, no-wrap
+msgid "*halui.rapid-override.counts* s32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:403
+msgid "counts X scale = rapid override percentage"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:403
+#, no-wrap
+msgid "*halui.rapid-override.decrease* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:405
+msgid "pin for decreasing the rapid override (-=scale)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:405
+#, no-wrap
+msgid "*halui.rapid-override.direct-value* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:407
+msgid "pin to enable direct value rapid override input"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:407
+#, no-wrap
+msgid "*halui.rapid-override.increase* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:409
+msgid "pin for increasing the rapid override (+=scale)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:409
+#, no-wrap
+msgid "*halui.rapid-override.reset* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:411
+msgid "pin for resetting the rapid override (scale=1.0)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:411
+#, no-wrap
+msgid "*halui.rapid-override.scale* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:413
+msgid "pin for setting the scale on changing the rapid override"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:413
+#, no-wrap
+msgid "*halui.rapid-override.value* float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:415
+msgid "current rapid override value"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/halui.1.adoc:416
+#, no-wrap
+msgid "E-stop"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:418
+#, no-wrap
+msgid "*halui.estop.activate bit* in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:420
+msgid "pin for setting E-stop (LinuxCNC internal) On"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:420
+#, no-wrap
+msgid "*halui.estop.is-activated bit* out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:422
+msgid "pin for displaying E-stop state (LinuxCNC internal) On/Off"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:422
+#, no-wrap
+msgid "*halui.estop.reset* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:424
+msgid "pin for resetting E-stop (LinuxCNC internal) Off"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/halui.1.adoc:427
+#, no-wrap
+msgid "*halui.home-all* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:430
+msgid ""
+"pin for requesting home-all (only available when a valid homing sequence is "
+"specified)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:434
+msgid "axis(1), iocontrol(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:443
+msgid ""
+"Written by Alex Joni, as part of the LinuxCNC project. Updated by John "
+"Thornton"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:447 src/man/man1/hexagui.1.adoc:33
+#: src/man/man1/melfagui.1.adoc:34 src/man/man1/millturn.1.adoc:34
+#: src/man/man1/modcompile.1.adoc:33 src/man/man1/qtplasmac_gcode.1.adoc:32
+#: src/man/man1/setup_designer.1.adoc:32 src/man/man1/tool_watch.1.adoc:34
+#: src/man/man1/xyzab-tdr-gui.1.adoc:33
+msgid "Report bugs at https://github.com/LinuxCNC/linuxcnc/issues"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/halui.1.adoc:451
+msgid "Copyright © 2006 Alex Joni."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/hbmgui.1.adoc:1
+#, no-wrap
+msgid "hbmgui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hbmgui.1.adoc:6
+msgid "hbmgui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hbmgui.1.adoc:10
+#, no-wrap
+msgid ""
+"*hbmgui* is one of the sample *Vismach* GUIs for LinuxCNC, simulating a "
+"Horizontal Boring Machine.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hbmgui.1.adoc:12 src/man/man1/hexagui.1.adoc:12
+#: src/man/man1/maho600gui.1.adoc:13 src/man/man1/max5gui.1.adoc:13
+#: src/man/man1/melfagui.1.adoc:13 src/man/man1/millturn.1.adoc:13
+#: src/man/man1/modcompile.1.adoc:12 src/man/man1/puma560gui.1.adoc:13
+#: src/man/man1/pumagui.1.adoc:13 src/man/man1/scaragui.1.adoc:12
+#: src/man/man1/xyzac-trt-gui.1.adoc:13 src/man/man1/xyzbc-trt-gui.1.adoc:13
+msgid "See the main LinuxCNC documentation for more details."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hbmgui.1.adoc:14 src/man/man1/hexagui.1.adoc:14
+#: src/man/man1/maho600gui.1.adoc:15 src/man/man1/max5gui.1.adoc:15
+#: src/man/man1/melfagui.1.adoc:15 src/man/man1/millturn.1.adoc:15
+#: src/man/man1/puma560gui.1.adoc:15 src/man/man1/pumagui.1.adoc:15
+#: src/man/man1/scaragui.1.adoc:14
+msgid "https://linuxcnc.org/docs/html/gui/vismach.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/hexagui.1.adoc:1
+#, no-wrap
+msgid "hexagui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hexagui.1.adoc:10
+#, no-wrap
+msgid ""
+"*hexagui* is one of the sample *Vismach* GUIs for LinuxCNC, simulating a "
+"Horizontal Boring Machine.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hexagui.1.adoc:39
+#, no-wrap
+msgid ""
+"Copyright © 2020 Andy Pugh.\n"
+"This is free software; see the source for copying conditions. There is NO "
+"warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/hy_gt_vfd.1.adoc:1
+#, no-wrap
+msgid "hy_gt_vfd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:7
+msgid "hy_gt_vfd - HAL non-realtime component for Huanyang GT-series VFDs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:12
+#, no-wrap
+msgid "*hy_gt_vfd* [_OPTIONS_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:18
+msgid ""
+"The hy_gt_vfd component interfaces a Huanyang GT-series VFD to the LinuxCNC "
+"HAL.  The VFD is connected via RS-485 serial to the LinuxCNC computer."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/hy_gt_vfd.1.adoc:20 src/man/man1/svd-ps_vfd.1.adoc:19
+#, no-wrap
+msgid "Hardware setup"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:23
+msgid ""
+"At least some Huanyang GT VFDs must be physically modified to enable Modbus "
+"communication."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:28
+msgid ""
+"The circuit board location marked \"SW1\" is identified in the manual as "
+"\"Switch of terminal resistor for RS485 communication\".  On the only VFD I "
+"have experience with, the circuit board contained no switch at that "
+"location, instead holding a pair of crossed jumper wires (top-left pad "
+"connected to bottom-right pad, top-right to bottom-left).  In this "
+"configuration, no Modbus communication is possible.  We had to desolder the "
+"two crossed jumper wires and re-solder them parallel to each other (top-left "
+"to bottom-left, top-right to bottom-right)."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/hy_gt_vfd.1.adoc:30 src/man/man1/svd-ps_vfd.1.adoc:23
+#, no-wrap
+msgid "Firmware setup"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:35
+msgid ""
+"The Huanyang GT VFD must be configure via the faceplate to talk Modbus with "
+"LinuxCNC.  Consult the Operation section of the Huanyang GT-series Inverter "
+"Manual for details.  Set the following parameters:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:36
+#, no-wrap
+msgid "P0.01 = 2"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:38
+msgid "Set Run Command Source to Modbus serial port."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:39
+#, no-wrap
+msgid "P0.03"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:41
+msgid ""
+"Set Maximum Frequency to the maximum frequency you want the VFD to output, "
+"in Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:42
+#, no-wrap
+msgid "P0.04"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:45
+msgid ""
+"Set Upper Frequency Limit to the maximum frequency you want the VFD to "
+"output, in Hz.  This should be the same as the value in P0.03."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:46
+#, no-wrap
+msgid "P0.05"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:48
+msgid ""
+"Set Lower Frequency Limit to the minimum frequency you want the VFD to "
+"output, in Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:49
+#, no-wrap
+msgid "P0.07 = 7"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:51
+msgid "Set Frequency A Command Source to Modbus serial port."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:52
+#, no-wrap
+msgid "P2.01 = ???"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:54
+msgid "Set Motor Rated Power to the motor's power rating in kW."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:55
+#, no-wrap
+msgid "P2.02 = ???"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:57
+msgid "Set Motor Rated Frequency to the motor's max frequency in Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:58
+#, no-wrap
+msgid "P2.03 = ???"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:60
+msgid ""
+"Set Motor Rated Speed to the motor's speed in RPM at its rated maximum "
+"frequency."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:61
+#, no-wrap
+msgid "P2.04 = ???"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:63
+msgid "Set Motor Rated Voltage to the motor's maximum voltage, in Volts."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:64
+#, no-wrap
+msgid "P2.05 = ???"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:66
+msgid "Set Motor Rated Current to the motor's maximum current, in Amps."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:67
+#, no-wrap
+msgid "PC.00 = 1"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:70
+msgid ""
+"Set Local Address to 1.  This matches the default in the hy_gt_vfd driver, "
+"change this if your setup has special needs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:71
+#, no-wrap
+msgid "PC.01 = 5"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:81
+msgid ""
+"Set baud rate selection to 5 (38400 bps).  This matches the default in the "
+"hy_gt_vfd driver, change this if your setup has special needs.  + 0 = 1200 1 "
+"= 2400 2 = 4800 3 = 9600 4 = 19200 5 = 38400"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:82
+#, no-wrap
+msgid "PC.02 = 0"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:85
+msgid ""
+"Set Data Format (8n1 RTU).  This matches the default in the hy_gt_vfd "
+"driver, change this if your setup has special needs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:86
+#, no-wrap
+msgid "PC.03 = 1"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:89
+msgid ""
+"Set Communication Delay Time to 1 ms.  This is expected by the hy_gt_vfd "
+"driver."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:93 src/man/man1/svd-ps_vfd.1.adoc:46
+#, no-wrap
+msgid "*-b*, *--bits* _N_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:97
+msgid ""
+"(default 8) For Modbus communication.  Set number of data bits to _N_.  _N_ "
+"must be between 5 and 8 inclusive."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:101
+#, no-wrap
+msgid ""
+"*-p*, *--parity* [Even,Odd,None]\n"
+"    (default None) For Modbus communication.\n"
+"    Set serial parity to Even, Odd, or None.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:102 src/man/man1/svd-ps_vfd.1.adoc:52
+#, no-wrap
+msgid "*-r*, *--rate* _N_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:106
+msgid ""
+"(default 38400) For Modbus communication.  Set baud rate to _N_.  It is an "
+"error if the rate is not one of the following: 1200, 2400, 4800, 9600, "
+"19200, 38400"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:107 src/man/man1/svd-ps_vfd.1.adoc:56
+#, no-wrap
+msgid "*-s*, *--stopbits* [1,2]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:110
+msgid "(default 1) For Modbus communication.  Set serial stop bits to 1 or 2."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:111 src/man/man1/svd-ps_vfd.1.adoc:59
+#, no-wrap
+msgid "*-t*, *--target* _N_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:115
+msgid ""
+"(default 1) For Modbus communication.  Set Modbus target (slave) number.  "
+"This must match the device number you set on the Huanyang GT VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:116 src/man/man1/svd-ps_vfd.1.adoc:63
+#, no-wrap
+msgid "*-d*, *--device* _PATH_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:119
+msgid ""
+"(default /dev/ttyS0) For Modbus communication.  Set the name of the serial "
+"device node to use."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:120 src/man/man1/svd-ps_vfd.1.adoc:65
+#, no-wrap
+msgid "*-v*, *--verbose*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:123 src/man/man1/svd-ps_vfd.1.adoc:67
+#, no-wrap
+msgid "*-S*, *--motor-max-speed* _RPM_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:126
+msgid ""
+"The motor's max speed in RPM.  This must match the motor speed value "
+"configured in VFD register P2.03."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:127 src/man/man1/svd-ps_vfd.1.adoc:69
+#, no-wrap
+msgid "*-F*, *--max-frequency* _HZ_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:130
+msgid ""
+"This is the maximum output frequency of the VFD in Hz.  It should correspond "
+"to the motor's rated max frequency, and to the maximum and upper limit "
+"output frequency configured in VFD register P0.03 and P0.04."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:131 src/man/man1/svd-ps_vfd.1.adoc:71
+#, no-wrap
+msgid "*-f*, *--min-frequency* _HZ_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:134
+msgid ""
+"This is the minimum output frequency of the VFD in Hz.  It should correspond "
+"to the minimum output frequency configured in VFD register P0.05."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:137
+#, no-wrap
+msgid "*hy_gt_vfd.period* (float, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:142
+msgid ""
+"The period for the driver's update cycle, in seconds. This is how frequently "
+"the driver will wake up, check its HAL pins, and communicate with the VFD.  "
+"Must be between 0.001 and 2.000 seconds.  Default: 0.1 seconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:143
+#, no-wrap
+msgid "*hy_gt_vfd.speed-cmd* (float, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:145 src/man/man1/svd-ps_vfd.1.adoc:84
+msgid "The requested motor speed, in RPM."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:146
+#, no-wrap
+msgid "*hy_gt_vfd.speed-fb* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:148 src/man/man1/svd-ps_vfd.1.adoc:87
+msgid "The motor's current speed, in RPM, reported by the VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:149
+#, no-wrap
+msgid "*hy_gt_vfd.at-speed* (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:152 src/man/man1/svd-ps_vfd.1.adoc:91
+msgid ""
+"True when the drive is on and at the commanded speed (within 2%), False "
+"otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:153
+#, no-wrap
+msgid "*hy_gt_vfd.freq-cmd* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:156
+msgid ""
+"The requested output frequency, in Hz.  This is set from the .speed-cmd "
+"value, and is just shown for debugging purposes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:157
+#, no-wrap
+msgid "*hy_gt_vfd.freq-fb* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:160 src/man/man1/svd-ps_vfd.1.adoc:98
+msgid ""
+"The current output frequency of the VFD, in Hz.  This is reported from the "
+"VFD to the driver."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:161
+#, no-wrap
+msgid "*hy_gt_vfd.spindle-on* (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:164
+msgid ""
+"Set this pin True to command the spindle on, at the speed requested on the "
+".speed-cmd pin.  Set this pin False to command the spindle off."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:165
+#, no-wrap
+msgid "*hy_gt_vfd.output-voltage* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:167 src/man/man1/svd-ps_vfd.1.adoc:105
+msgid "The voltage that the VFD is current providing to the motor, in Volts."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:168
+#, no-wrap
+msgid "*hy_gt_vfd.output-current* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:170
+msgid "The current that the motor is currently drawing from the VFD, in Ampères."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:171
+#, no-wrap
+msgid "*hy_gt_vfd.output-power* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:173 src/man/man1/svd-ps_vfd.1.adoc:111
+msgid "The power that the motor is currently drawing from the VFD, in Watts."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:174
+#, no-wrap
+msgid "*hy_gt_vfd.dc-bus-volts* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:176 src/man/man1/svd-ps_vfd.1.adoc:114
+msgid "The current voltage of the VFD's internal DC power supply, in Volts."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:177
+#, no-wrap
+msgid "*hy_gt_vfd.modbus-errors* (u32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:180 src/man/man1/svd-ps_vfd.1.adoc:118
+msgid ""
+"A count of the number of modbus communication errors between the driver and "
+"the VFD.  The driver is resilient against communication errors, but a large "
+"or growing number here indicates a problem that should be investigated."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:181
+#, no-wrap
+msgid "*hy_gt_vfd.input-terminal* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:183 src/man/man1/svd-ps_vfd.1.adoc:120
+msgid "The VFD's input terminal register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:184
+#, no-wrap
+msgid "*hy_gt_vfd.output-terminal* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:186
+msgid "The VFD's output terminal register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:187
+#, no-wrap
+msgid "*hy_gt_vfd.AI1* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:189 src/man/man1/svd-ps_vfd.1.adoc:122
+msgid "The VFD's AI1 register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:190
+#, no-wrap
+msgid "*hy_gt_vfd.AI2* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:192 src/man/man1/svd-ps_vfd.1.adoc:124
+msgid "The VFD's AI2 register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:193
+#, no-wrap
+msgid "*hy_gt_vfd.HDI-frequency* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:195
+msgid "The VFD's HDI-frequency register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:196
+#, no-wrap
+msgid "*hy_gt_vfd.external-counter* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:198
+msgid "The VFD's external counter register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:199
+#, no-wrap
+msgid "*hy_gt_vfd.fault-info* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:201
+msgid ""
+"The VFD's fault info register in floating point representation.  This is "
+"kept for backwards compatibility with existing setups and will be removed in "
+"the future."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_gt_vfd.1.adoc:202
+#, no-wrap
+msgid "*hy_gt_vfd.fault-info-code* (u32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:204
+msgid ""
+"The VFD's fault code register value.  Introduced in LinuxCNC version 2.10.  "
+"0x00 if no fault is detected, see GT Series Inverter Manual page 87 for list "
+"of fault codes."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/hy_gt_vfd.1.adoc:205 src/man/man1/mitsub_vfd.1.adoc:134
+#: src/man/man9/gladevcp.9.adoc:26
+#, no-wrap
+msgid "ISSUES"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:208
+msgid ""
+"The VFD produces the output frequency that it sends to the motor by adding a "
+"manually specified offset to the frequency command it gets over modbus."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:210
+msgid ""
+"The manual offset is controlled by pressing the Up/Down arrows on the "
+"faceplate while the VFD is turning the motor."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:214
+msgid ""
+"If you command a speed on the .speed-cmd pin and get a different speed "
+"reported on the .speed-fb pin, first verify that the VFD registers listed in "
+"the FIRMWARE SETUP section above and the driver's command-line arguments all "
+"agree with the info on the motor's name plate.  If you still aren't getting "
+"the speed you expect, zero the VFD's frequency offset by starting the motor "
+"running, then pressing the Up/Down buttons to zero the offset."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:218 src/man/man1/hy_vfd.1.adoc:298
+#: man/man9/abs_s32.9:39 man/man9/differential.9:48 man/man9/multiclick.9:95
+#: man/man9/spindle_monitor.9:48
+msgid "Sebastian Kuzminsky"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_gt_vfd.1.adoc:221 src/man/man1/sendkeys.1.adoc:129
+#: src/man/man1/svd-ps_vfd.1.adoc:131
+msgid "GPL-2.0+"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/hy_vfd.1.adoc:1
+#, no-wrap
+msgid "hy_vfd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:6
+msgid "hy_vfd - HAL non-realtime component for Huanyang VFDs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:10
+#, no-wrap
+msgid "*hy_vfd* [OPTIONS]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:15
+msgid ""
+"This component connects the Huanyang VFD to the LinuxCNC HAL via a serial "
+"(RS-485) connection."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:18
+msgid ""
+"The Huanyang VFD must be configured via the face plate user interface to "
+"accept serial communications:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:19
+#, no-wrap
+msgid "PD001 = 2"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:21
+msgid "Set register PD001 (source of run commands) to 2 (communication port)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:22
+#, no-wrap
+msgid "PD002 = 2"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:24
+msgid ""
+"Set register PD002 (source of operating frequency) to 2 (communication "
+"port)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:25
+#, no-wrap
+msgid "PD004"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:28
+msgid ""
+"Set register PD004 (Base Frequency) according to motor specs. This is the "
+"rated frequency of the motor from the motor's name plate, in Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:29
+#, no-wrap
+msgid "PD005"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:32
+msgid ""
+"Set register PD005 (max frequency) according to motor specs. This is the "
+"maximum frequency of the motor's power supply, in Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:33
+#, no-wrap
+msgid "PD011"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:36
+msgid ""
+"Set register PD011 (min frequency) according to motor specs. This is the "
+"minimum frequency of the motor's power supply, in Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:37
+#, no-wrap
+msgid "PD141"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:40
+msgid ""
+"Set register PD141 (rated motor voltage) according to motor name plate. This "
+"is the motor's maximum voltage, in Volts."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:41
+#, no-wrap
+msgid "PD142"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:44
+msgid ""
+"Set register PD142 (rated motor current) according to motor name plate. This "
+"is the motor's maximum current, in Ampere."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:45
+#, no-wrap
+msgid "PD143"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:47
+msgid "Set register PD143 (Number of Motor Poles) according to motor name plate."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:48
+#, no-wrap
+msgid "PD144"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:52
+msgid ""
+"Set register PD144 (rated motor revolutions) according to motor name "
+"plate. This is the motor's speed in RPM at 50 Hz. Note: This is not the "
+"motor's max speed (unless the max motor frequency happens to be 50 Hz)!"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:53
+#, no-wrap
+msgid "PD163 = 1"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:56
+msgid ""
+"Set register PD163 (communication address) to 1. This matches the default in "
+"the hy_vfd driver, change this if your setup has special needs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:57
+#, no-wrap
+msgid "PD164 = 2"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:60
+msgid ""
+"Set register PD164 (baud rate) to 2 (19200 bps). This matches the default in "
+"the hy_vfd driver, change this if your setup has special needs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:61
+#, no-wrap
+msgid "PD165 = 3"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:66
+msgid ""
+"Set register PD165 (communication data method) to 3 (8n1 RTU). This matches "
+"the default in the hy_vfd driver, change this if your setup has special "
+"needs. Note that the hy_vfd driver only supports RTU communication, not "
+"ASCII."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:70
+msgid ""
+"Consult the Huanyang instruction manual for details on using the face plate "
+"to program the VFDs registers, and alternative values for the above "
+"registers."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:80
+#, no-wrap
+msgid ""
+"Access to devices such as /dev/ttyUSB0 is restricted to members of the "
+"\"dialout\" group. If you see error messages such as\n"
+"*open: Permission denied*\n"
+"*ERROR Can't open the device /dev/ttyUSB0 (errno 13)*\n"
+"Check your groups membership with the command\n"
+"*groups*\n"
+"Then add your user to the dialout group with\n"
+"*sudo addgroup your-username dialout*\n"
+"You will need to log out and back in again for this to take effect."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:85
+msgid "(default /dev/ttyS0) Set the name of the serial device node to use."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:90
+msgid ""
+"Turn on debug messages. Note that if there are serial errors, this may "
+"become annoying. Debug mode will cause all serial communication messages to "
+"be printed in hex on the terminal."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:91
+#, no-wrap
+msgid "-y, --regdump"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:93
+msgid "Print the current value of all registers as soon as the VFD is enabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:94
+#, no-wrap
+msgid "-n, --name _<string>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:98
+msgid ""
+"(default hy_vfd) Set the name of the HAL module. The HAL comp name will be "
+"set to <string>, and all pin and parameter names will begin with <string>."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:103
+msgid ""
+"(default 8) Set number of data bits to <n>, where n must be from 5 to 8 "
+"inclusive. This must match the setting in register PD165 of the Huanyang "
+"VFD."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:107
+msgid ""
+"(default odd) Set serial parity to even, odd, or none. This must match the "
+"setting in register PD165 of the Huanyang VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:108
+#, no-wrap
+msgid "-r, --rate _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:113
+msgid ""
+"(default 38400) Set baud rate to <n>. It is an error if the rate is not one "
+"of the following: 110, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, "
+"57600, 115200. This must match the setting in register PD164 of the Huanyang "
+"VFD."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:117
+msgid ""
+"(default 1) Set serial stop bits to 1 or 2. This must match the setting in "
+"register PD165 of the HuanyangVFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:118
+#, no-wrap
+msgid "-t, --target _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:121
+msgid ""
+"(default 1) Set HYCOMM target (slave) number. This must match the device "
+"number you set on the Hyanyang VFD in register PD163."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:122
+#, no-wrap
+msgid "-F, --max-frequency _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:127
+msgid ""
+"(default: read from VFD) If specified, program register PD005 of the VFD "
+"with the specified max frequency of <n> Hz (and use the same max frequency "
+"in the hy_vfd driver). If not specified, read the max frequency to use from "
+"register PD005 of the VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:128
+#, no-wrap
+msgid "-f, --min-frequency _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:133
+msgid ""
+"(default: read from VFD) If specified, program register PD011 of the VFD "
+"with the specified minimum frequency of <n> Hz (and use the same minimum "
+"frequency in the hy_vfd driver). If not specified, read the minimum "
+"frequency to use from register PD011 of the VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:134
+#, no-wrap
+msgid "-V, --motor-voltage _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:138
+msgid ""
+"(default: read from VFD) If specified, program register PD141 of the VFD "
+"with the specified max motor voltage of <n> Volts. If not specified, read "
+"the max motor voltage from register PD141 of the VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:139
+#, no-wrap
+msgid "-I, --motor-current _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:143
+msgid ""
+"(default: read from VFD) If specified, program register PD142 of the VFD "
+"with the specified max motor current of <n> Amps. If not specified, read the "
+"max motor current from register PD142 of the VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:144
+#, no-wrap
+msgid "-S, --motor-speed _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:153
+msgid ""
+"(default: compute from value read from VFD P144) This command-line argument "
+"is the motor's max speed. If specified, compute the motor's speed at 50 Hz "
+"from this argument and from the motor's max frequency (from the "
+"--max-frequency argument or from P011 if --max-frequency is not specified) "
+"and program register PD144 of the VFD. If not specified, read the motor's "
+"speed at 50 Hz from register P144 of the VFD, and use that and the max "
+"frequency to compute the motor's max speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:154
+#, no-wrap
+msgid "-P, --motor-poles _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:159
+msgid ""
+"(default: read value from VFD P143) This command-line argument is the number "
+"of poles in the motor. If specified, this value is sent to the VFD's "
+"register PD143. If not specified, the value is read from PD143 and reported "
+"on the corresponding HAL pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:160
+#, no-wrap
+msgid "-x, --register PD__nnn__=__mmm__ _<n>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:173
+#, no-wrap
+msgid ""
+"Set a specific register to a new value. Can be used to set up to 10 "
+"registers. Parameters will \"stick\" (but only after hy_vfd.enable has been "
+"set true) so to set more than ten parameters it is possible to repeatedly "
+"load the driver with a set of registers to set then enable (setp "
+"hy_vfd.enable 1) and unload (unload hy_vfd) the driver at a halrun(1) "
+"prompt. For example:\n"
+"loadusr -W hy_vfd -d /ttyUSB0 --register PD014=30 --register PD015=30\n"
+"Will set both ramp1 times to 3 seconds. The values should be scaled "
+"according to the manual data. The example above uses values with a "
+"resolution of 0.1 seconds, so the numbers are 10x larger than the required "
+"value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:176
+#, no-wrap
+msgid "<name>.enable"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:178
+msgid "(bit, in) Enable communication from the hy_vfd driver to the VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:179
+#, no-wrap
+msgid "<name>.SetF"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:181 src/man/man1/hy_vfd.1.adoc:184
+#: src/man/man1/hy_vfd.1.adoc:187 src/man/man1/hy_vfd.1.adoc:190
+#: src/man/man1/hy_vfd.1.adoc:193 src/man/man1/hy_vfd.1.adoc:196
+#: src/man/man1/hy_vfd.1.adoc:199 src/man/man1/hy_vfd.1.adoc:202
+#: src/man/man1/hy_vfd.1.adoc:214 src/man/man1/hy_vfd.1.adoc:217
+#: src/man/man1/hy_vfd.1.adoc:264 src/man/man1/hy_vfd.1.adoc:267
+#: src/man/man1/hy_vfd.1.adoc:270 src/man/man1/hy_vfd.1.adoc:273
+#: src/man/man1/hy_vfd.1.adoc:276 src/man/man1/hy_vfd.1.adoc:279
+#: src/man/man1/hy_vfd.1.adoc:282
+msgid "(float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:182
+#, no-wrap
+msgid "<name>.OutF"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:185
+#, no-wrap
+msgid "<name>.OutA"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:188
+#, no-wrap
+msgid "<name>.Rott"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:191
+#, no-wrap
+msgid "<name>.DCV"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:194
+#, no-wrap
+msgid "<name>.ACV"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:197
+#, no-wrap
+msgid "<name>.Cont"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:200
+#, no-wrap
+msgid "<name>.Tmp"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:203
+#, no-wrap
+msgid "<name>.spindle-forward"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:205
+msgid "(bit, in)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:206
+#, no-wrap
+msgid "<name>.spindle-reverse"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:208 src/man/man1/hy_vfd.1.adoc:211
+msgid "(bin, in)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:209
+#, no-wrap
+msgid "<name>.spindle-on"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:212
+#, no-wrap
+msgid "<name>.CNTR"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:215
+#, no-wrap
+msgid "<name>.CNST"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:218
+#, no-wrap
+msgid "<name>.CNST-run"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:220 src/man/man1/hy_vfd.1.adoc:223
+#: src/man/man1/hy_vfd.1.adoc:226 src/man/man1/hy_vfd.1.adoc:229
+#: src/man/man1/hy_vfd.1.adoc:232 src/man/man1/hy_vfd.1.adoc:235
+#: src/man/man1/hy_vfd.1.adoc:238 src/man/man1/hy_vfd.1.adoc:241
+#: src/man/man1/hy_vfd.1.adoc:288
+msgid "(bit, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:221
+#, no-wrap
+msgid "<name>.CNST-jog"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:224
+#, no-wrap
+msgid "<name>.CNST-command-rf"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:227
+#, no-wrap
+msgid "<name>.CNST-running"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:230
+#, no-wrap
+msgid "<name>.CNST-jogging"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:233
+#, no-wrap
+msgid "<name>.CNST-running-rf"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:236
+#, no-wrap
+msgid "<name>.CNST-bracking"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:239
+#, no-wrap
+msgid "<name>.CNST-track-start"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:242
+#, no-wrap
+msgid "<name>.speed-command"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:244
+msgid "(float, in)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:245
+#, no-wrap
+msgid "<name>.spindle-speed-fb"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:247
+msgid "(float, out) Current spindle speed as reported by Huanyang VFD (rpm)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:248
+#, no-wrap
+msgid "<name>.spindle-speed-fb-rps"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:250
+msgid "(float, out) Current spindle speed as reported by Huanyang VFD (rps)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:251
+#, no-wrap
+msgid "<name>.spindle-at-speed-tolerance"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:257
+msgid ""
+"(float, in) Spindle speed error tolerance. If the actual spindle speed is "
+"within .spindle-at-speed-tolerance of the commanded speed, then the "
+".spindle-at-speed pin will go True. The default .spindle-at-speed-tolerance "
+"is 0.02, which means the actual speed must be within 2% of the commanded "
+"spindle speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:258
+#, no-wrap
+msgid "<name>.spindle-at-speed"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:261
+msgid ""
+"(bit, out) True when the current spindle speed is within "
+".spindle-at-speed-tolerance of the commanded speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:262
+#, no-wrap
+msgid "<name>.frequency-command"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:265
+#, no-wrap
+msgid "<name>.max-freq"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:268
+#, no-wrap
+msgid "<name>.base-freq"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:271
+#, no-wrap
+msgid "<name>.freq-lower-limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:274
+#, no-wrap
+msgid "<name>.rated-motor-voltage"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:277
+#, no-wrap
+msgid "<name>.rated-motor-current"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:280
+#, no-wrap
+msgid "<name>.rated-motor-rev"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:283
+#, no-wrap
+msgid "<name>.motor-poles"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:285
+msgid "(u32, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:286
+#, no-wrap
+msgid "<name>.hycomm-ok"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:289
+#, no-wrap
+msgid "<name>.error-count"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:291
+msgid "(s32, RO)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/hy_vfd.1.adoc:292
+#, no-wrap
+msgid "<name>.retval"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/hy_vfd.1.adoc:294
+msgid "(u32, R0)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/image-to-gcode.1.adoc:1
+#, no-wrap
+msgid "image-to-gcode(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/image-to-gcode.1.adoc:6
+msgid "image-to-gcode - converts bitmap images to G-code"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/image-to-gcode.1.adoc:10
+#, no-wrap
+msgid "*image-to-gcode*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/image-to-gcode.1.adoc:15
+#, no-wrap
+msgid ""
+"*image-to-gcode* converts a bitmap image to G-code inteerpreting the\n"
+"brightness of each pixel as a Z-height.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/image-to-gcode.1.adoc:21
+msgid "Detailed docs: https://linuxcnc.org/docs/devel/html/gui/image-to-gcode.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/inivar.1.adoc:3
+#, no-wrap
+msgid "inivar(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:8
+msgid "inivar - Query an INI file"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:12
+#, no-wrap
+msgid ""
+"*inivar* *-var* _variable_ [*-sec* _section_] [*-num* _occurrence_number_] "
+"[*-tildeexpand*] [*-ini* _FILE_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:17
+msgid ""
+"Prints to stdout the INI file result of a variable-in-section search, useful "
+"for scripts that want to pick things out of INI files."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:21
+msgid ""
+"Uses _emc.ini_ as default filename. _variable_ needs to be supplied. If "
+"_section_ is omitted, first instance of _variable_ will be looked for in any "
+"section. Otherwise, only a match of the variable in _section_ will be "
+"returned."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/inivar.1.adoc:24
+#, no-wrap
+msgid "*-var* _variable_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:27
+msgid ""
+"The variable to search for, if multiple matches exists and *-num* is not "
+"specified, the first match is returned."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/inivar.1.adoc:28
+#, no-wrap
+msgid "*-sec* _section_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:30
+msgid "The section to search in, if omitted, all sections are searched."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/inivar.1.adoc:31
+#, no-wrap
+msgid "*-num* _occurrence_number_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:34
+msgid ""
+"The occurrence number specifies which instance of the variable within the "
+"_FILE_, and _section_ if provided, should be returned. If omitted, the first "
+"matching occurrence is returned."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/inivar.1.adoc:35
+#, no-wrap
+msgid "*-tildeexpand*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:38
+msgid ""
+"Replace the tilde (~) with the home directory path (equivalent to *$(HOME)*) "
+"in the value obtained from _variable_ in _FILE_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/inivar.1.adoc:39
+#, no-wrap
+msgid "*-ini* _FILE_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:41
+msgid "The INI file to search in, defaults to _emc.ini_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/inivar.1.adoc:44
+#, no-wrap
+msgid "*0*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:46
+msgid "Success."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/inivar.1.adoc:47
+#, no-wrap
+msgid "*1*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:49
+msgid "_variable_ was not found."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/inivar.1.adoc:50
+#, no-wrap
+msgid "*-1*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:52
+msgid "Failure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/inivar.1.adoc:68
+msgid "Copyright (c) 2020 Andy Pugh."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/io.1.adoc:1
+#, no-wrap
+msgid "io(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:6
+msgid "io - interacts with HAL or G-code in non-realtime"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:11
+#, no-wrap
+msgid ""
+"*[EMCIO]* +\n"
+"*EMCIO = io*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:17 src/man/man1/iov2.1.adoc:17
+msgid ""
+"I/O control handles I/O tasks like coolant, toolchange and E-stop.  The "
+"signals are turned on and off in non-realtime with G-code or in the case of "
+"E-stop in HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:20
+msgid ""
+"The following pins are created by the non-realtime IO controller, usually "
+"found in `$LINUXCNC_HOME/bin/io`."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:24
+msgid ""
+"iocontrol is a non-realtime process - if you have strict timing requirements "
+"or simply need more I/O, consider using the realtime synchronized I/O "
+"provided by *motion*(9) instead."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:27
+msgid ""
+"The INI file is searched for in the directory from which halcmd was run, "
+"unless an absolute path is specified."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:30 src/man/man1/iov2.1.adoc:26
+#, no-wrap
+msgid "*iocontrol.0.coolant-flood* (Bit, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:32 src/man/man1/iov2.1.adoc:28
+msgid "TRUE when flood coolant is requested."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:32 src/man/man1/iov2.1.adoc:28
+#, no-wrap
+msgid "*iocontrol.0.coolant-mist* (Bit, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:34 src/man/man1/iov2.1.adoc:30
+msgid "TRUE when mist coolant is requested."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:34 src/man/man1/iov2.1.adoc:30
+#, no-wrap
+msgid "*iocontrol.0.emc-enable-in* (Bit, In)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:36
+msgid "Should be driven FALSE when an external E-stop condition exists."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:36 src/man/man1/iov2.1.adoc:32
+#, no-wrap
+msgid "*iocontrol.0.tool-change* (Bit, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:38 src/man/man1/iov2.1.adoc:34
+msgid "TRUE when a tool change is requested."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:38 src/man/man1/iov2.1.adoc:34
+#, no-wrap
+msgid "*iocontrol.0.tool-changed* (Bit, In)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:40 src/man/man1/iov2.1.adoc:36
+msgid "Should be driven TRUE when a tool change is completed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:40 src/man/man1/iov2.1.adoc:36
+#, no-wrap
+msgid "*iocontrol.0.tool-number* (s32, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:42 src/man/man1/iov2.1.adoc:38
+msgid "Current tool number."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:42 src/man/man1/iov2.1.adoc:38
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-number* (s32, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:44 src/man/man1/iov2.1.adoc:40
+msgid "The number of the next tool, from the RS274NGC T-word."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:44 src/man/man1/iov2.1.adoc:40
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-pocket* (s32, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:47 src/man/man1/iov2.1.adoc:43
+msgid ""
+"This is the pocket number (location in the tool storage mechanism) of the "
+"tool requested by the most recent T-word."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:47 src/man/man1/iov2.1.adoc:43
+#, no-wrap
+msgid "*iocontrol.0.tool-prepare* (Bit, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:49 src/man/man1/iov2.1.adoc:45
+msgid "TRUE when a T__n__ tool prepare is requested."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:49 src/man/man1/iov2.1.adoc:45
+#, no-wrap
+msgid "*iocontrol.0.tool-prepared* (Bit, In)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:51 src/man/man1/iov2.1.adoc:47
+msgid "Should be driven TRUE when a tool prepare is completed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:51 src/man/man1/iov2.1.adoc:47
+#, no-wrap
+msgid "*iocontrol.0.user-enable-out* (Bit, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:53
+msgid "FALSE when an internal E-stop condition exists."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:53 src/man/man1/iov2.1.adoc:49
+#, no-wrap
+msgid "*iocontrol.0.user-request-enable* (Bit, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:55
+msgid "TRUE when the user has requested that E-stop be cleared."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/io.1.adoc:55
+#, no-wrap
+msgid "*iocontrol.0.tool-prep-index* (s32, Out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:62
+msgid ""
+"IO's internal array index of the prepped tool requested by the most recent "
+"T-word.  0 if no tool is prepped.  On Random toolchanger machines this is "
+"the tool's pocket number (i.e., the same as the tool-prep-pocket pin), on "
+"Non-random toolchanger machines this is a small integer corresponding to the "
+"tool's location in the internal representation of the tool table.  This "
+"parameter returns to 0 after a successful tool change (M6)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:70
+msgid "Derived from a work by Fred Proctor & Will Shackleford."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/io.1.adoc:74
+msgid "Copyright © 2004 the LinuxCNC project."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/iocontrol.1.adoc:1
+#, no-wrap
+msgid "iocontrol(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iocontrol.1.adoc:13
+#, no-wrap
+msgid ""
+"*[EMCIO]* +\n"
+"*EMCIO = io* +\n"
+"or +\n"
+"*EMCIO = iov2*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iocontrol.1.adoc:21
+#, no-wrap
+msgid ""
+"I/O control handles I/O tasks like coolant, toolchange and E-stop. The "
+"signals are turned on and off in non-realtime with G-code or in the case of "
+"E-stop in HAL.\n"
+"I/O Control V2 (iov2) adds more toolchager support for communication with "
+"the toolchanger."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iocontrol.1.adoc:24 src/man/man1/iov2.1.adoc:21
+msgid ""
+"Whether *io* or *iov2* is used can be chosen in the [EMCIO] section of the "
+"INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iocontrol.1.adoc:26
+msgid "See also https://linuxcnc.org/docs/html/config/iov2.html[]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iocontrol.1.adoc:29
+msgid "io(1), iov2(1)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/iov2.1.adoc:1
+#, no-wrap
+msgid "iov2(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:6
+msgid "iov2 - interacts with HAL or G-code in non-realtime"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:11
+#, no-wrap
+msgid ""
+"*[EMCIO]* +\n"
+"*EMCIO = iov2*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:19
+msgid ""
+"I/O Control V2 (iov2) adds more toolchager support for communication with "
+"the toolchanger."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/iov2.1.adoc:24
+#, no-wrap
+msgid "Basic pins"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:32
+msgid "Should be driven FALSE when an external estop condition exists."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:49
+msgid "FALSE when an internal estop condition exists."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:51
+msgid "TRUE when the user has requested that estop be cleared."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/iov2.1.adoc:52
+#, no-wrap
+msgid "Additional IO v2 pins"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:54
+#, no-wrap
+msgid "*iocontrol.0.emc-abort* (BIT,OUT)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:56
+msgid "Signals emc-originated abort to toolchanger."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:56
+#, no-wrap
+msgid "*iocontrol.0.emc-abort-ack* (BIT,IN)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:60
+msgid ""
+"Acknowledge line from toolchanger for previous signal, or jumpered to "
+"abort-tool-change if not used in toolchanger. NB: after signaling an "
+"emc-abort, iov2 will block until emc-abort-ack is raised."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:60
+#, no-wrap
+msgid "*iocontrol.0.emc-reason* (S32,OUT)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:63
+msgid ""
+"Convey cause for EMC-originated abort to toolchanger.  Usage: UI "
+"informational. Valid during emc-abort True."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:63
+#, no-wrap
+msgid "*iocontrol.0.start-change* (BIT,OUT)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:66
+msgid ""
+"Asserted at the very beginning of an M6 operation, before any spindle-off, "
+"quill-up, or move-to-toolchange-position operations are executed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:66
+#, no-wrap
+msgid "*iocontrol.0.start-change-ack* (BIT,IN)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:68
+msgid "Acknowledgment line for start-change."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:68
+#, no-wrap
+msgid "*iocontrol.0.toolchanger-fault* (BIT,IN)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:72
+msgid ""
+"Toolchanger signals fault. This line is contionuously monitored. A fault "
+"toggles a flag in iocontrol which is reflected in the toolchanger-faulted "
+"pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:72
+#, no-wrap
+msgid "*iocontrol.0.toolchanger-fault-ack* (BIT,OUT)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:77
+msgid ""
+"Handshake line for above signal. Will be set by iov2 after above fault line "
+"True is recognized and deasserted when toolchanger-fault drops. Toolchanger "
+"is free to interpret the ack; reading the -ack lines assures fault has been "
+"received and acted upon."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:77
+#, no-wrap
+msgid "*iocontrol.0.toolchanger-reason* (S32,IN)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:79
+msgid "Convey reason code for toolchanger-originated fault to iov2.  Usage"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:79
+#, no-wrap
+msgid "*iocontrol.0.toolchanger-faulted* (BIT,OUT)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:82
+msgid ""
+"Signals toolchanger-notify line has toggled and toolchanger-reason-code was "
+"in the fault range. Next M6 will abort."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:82
+#, no-wrap
+msgid "*iocontrol.0.toolchanger-clear-fault* (BIT,IN)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:85
+msgid ""
+"Resets TC fault condition. Deasserts toolchanger-faulted if "
+"toolchanger-notify is line False.  Usage: UI - e.g. clear fault condition "
+"button."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/iov2.1.adoc:85
+#, no-wrap
+msgid "*iocontrol.0.state* (S32,OUT)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:87
+msgid "Debugging pin reflecting internal state."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:91
+msgid ""
+"See https://wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolchangerProtocolProposal[] "
+"for additional information."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:100
+msgid ""
+"Derived from a work by Fred Proctor & Will Shackleford.  Rework & adding v2 "
+"protocol support by Michael Haberler."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/iov2.1.adoc:104
+msgid "Copyright © 2011 Michael Haberler."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/latency-histogram.1.adoc:1
+#, no-wrap
+msgid "latency-histogram(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:6
+msgid "latency-histogram - plot a histogram of machine latency"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:10
+#, no-wrap
+msgid ""
+"*latency-histogram* [*-?*|*--help*] [*--base* _ns_] [*--servo* _ns_] "
+"[*--bbinsize* _ns_] [*--sbinsize* _ns_] [*--bbins* _ns_] [*--sbins* _ns_] "
+"[*--logscale* 0|1] [*--text* _note_] [*--show*] [*--nobase*] [*--verbose*] "
+"[*--nox*]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:17
+msgid ""
+"The latency test is important when configuring a LinuxCNC system.  An "
+"adjunct to the standard latency-test latency-histogram plots the "
+"distribution of latency. This can be useful to get a feel for how frequent "
+"the high latency excursions are."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:23
+msgid ""
+"LinuxCNC and HAL should not be running, stop with `halrun -U`.  Large number "
+"of bins and/or small binsizes will slow updates.  For single thread, specify "
+"*--nobase* (and options for servo thread).  Measured latencies outside of "
+"the +/- bin range are reported with special end bars.  Use *--show* to show "
+"count for the off-chart [pos|neg] pin."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:25 src/man/man1/latency-plot.1.adoc:20
+msgid "More details: https://linuxcnc.org/docs/html/install/latency-test.html"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:28 src/man/man1/latency-plot.1.adoc:23
+#, no-wrap
+msgid "*-?*, *--help*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:30 src/man/man1/latency-plot.1.adoc:25
+msgid "Show options and exit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:30
+#, no-wrap
+msgid "*--base*_ ns_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:32
+msgid "base thread interval, default: 25000, min: 5000"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:32
+#, no-wrap
+msgid "*--servo*_ ns_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:34
+msgid "servo thread interval, default: 1000000, min: 25000"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:34
+#, no-wrap
+msgid "*--bbinsize*_ ns_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:36
+msgid "base bin size, default: 100"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:36
+#, no-wrap
+msgid "*--sbinsize*_ ns_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:38
+msgid "servo bin size, default: 100"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:38
+#, no-wrap
+msgid "*--bbins*_ ns_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:40
+msgid "base bins, default: 200"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:40
+#, no-wrap
+msgid "*--sbins*_ ns_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:42
+msgid "servo bins, default: 200"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:42
+#, no-wrap
+msgid "*--logscale*_ 0|1_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:44
+#, no-wrap
+msgid "*--text*_ note_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:46
+msgid "additional note, default: \"\""
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:46
+#, no-wrap
+msgid "*--show*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:48
+msgid "show count of undisplayed bins"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:48
+#, no-wrap
+msgid "*--nobase*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:50
+msgid "servo thread only"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:50
+#, no-wrap
+msgid "*--verbose*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:52
+msgid "progress and debug"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-histogram.1.adoc:52
+#, no-wrap
+msgid "*--nox*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:54
+msgid "no GUI, display elapsed, min, max, sdev for each thread"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:58
+msgid "latency-plot(1), latency-test(1), linuxcnc(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:61 src/man/man1/latency-plot.1.adoc:43
+msgid ""
+"Much more information about LinuxCNC and HAL is available in the LinuxCNC "
+"and HAL User Manuals, found at _/usr/share/doc/linuxcnc/_."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-histogram.1.adoc:77
+msgid "Copyright © 2020 Andy pugh."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/latency-plot.1.adoc:1
+#, no-wrap
+msgid "latency-plot(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:6
+msgid "latency-plot - another way to view latency numbers"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:10
+#, no-wrap
+msgid ""
+"*latency-plot* [ *-?* | *--help* ] [ *-H* | *--hal* ] [ *-b* | *--base* "
+"*_ns_* ] [ *-s* | *--servo* *_ns_* ] [ *-t* | *--time* *_ms_* ] [ "
+"*--relative* ] [ *--actual* ]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:16
+#, no-wrap
+msgid ""
+"*latency-plot* makes a strip chart recording for a base and a servo "
+"thread.\n"
+"It may be useful to see spikes in latency when other applications are "
+"started or used.\n"
+"Mainly superseded by latency-histogram.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:18
+msgid "LinuxCNC and HAL should not be running, stop with _halrun -U_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-plot.1.adoc:25
+#, no-wrap
+msgid "*-H*, *--hal*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-plot.1.adoc:26
+#, no-wrap
+msgid "*-b*, *--base* _ns_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:28
+msgid "base thread interval in nanoseconds, default: 25000"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-plot.1.adoc:28
+#, no-wrap
+msgid "*-s*, *--servo* _ns_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:30
+msgid "servo thread interval in nanoseconds, default: 1000000"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-plot.1.adoc:30
+#, no-wrap
+msgid "*-t*, *--time* _ms_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:32
+msgid "report interval in milliseconds, default: 1000, min: 100, max: 10000"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-plot.1.adoc:32
+#, no-wrap
+msgid "*--relative*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:34
+msgid "relative clock time (default)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/latency-plot.1.adoc:34
+#, no-wrap
+msgid "*--actual*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:36
+msgid "actual clock time"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-plot.1.adoc:40
+#, no-wrap
+msgid "*latency-histogram*(1), *latency-test*(1), *linuxcnc*(1)\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/latency-test.1.adoc:1
+#, no-wrap
+msgid "latency-test(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-test.1.adoc:6
+msgid "latency-test - test the realtime system latency"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-test.1.adoc:10
+#, no-wrap
+msgid "*latency-test* [*--help*] [_base-period_ [_servo-period_]]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-test.1.adoc:14
+#, no-wrap
+msgid "*latency-test* runs a simple latency test.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-test.1.adoc:16
+msgid "Use *latency-test --help* for a description of available options."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/latency-test.1.adoc:22
+msgid "https://linuxcnc.org/docs/html/install/latency-test.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/lineardelta.1.adoc:1
+#, no-wrap
+msgid "lineardelta(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/lineardelta.1.adoc:6
+msgid "lineardelta - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/lineardelta.1.adoc:11
+#, no-wrap
+msgid ""
+"*lineardelta* is one of the sample *Vismach* GUIs for LinuxCNC,\n"
+"simulating a delta robot with linear actuators\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/linuxcnc_info.1.adoc:1
+#, no-wrap
+msgid "linuxcnc_info(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_info.1.adoc:6
+msgid "linuxcnc_info - collects information about the LinuxCNC version and the host"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_info.1.adoc:10
+#, no-wrap
+msgid "*linuxcnc_info*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_info.1.adoc:15
+#, no-wrap
+msgid ""
+"*linuxcnc_info* supplies information about the LinuxCNC version and system "
+"info.\n"
+"It creates a text file and opens it in the default text editor.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_info.1.adoc:26
+msgid "It appears to hang until the text editor is closed."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/linuxcnc_module_helper.1.adoc:1
+#, no-wrap
+msgid "linuxcnc_module_helper(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_module_helper.1.adoc:6
+msgid "linuxcnc_module_helper - controls root access for system hardware"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_module_helper.1.adoc:10
+#, no-wrap
+msgid "*linuxcnc_module_helper*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_module_helper.1.adoc:15
+msgid ""
+"This module exists to give root access to system hardware for LinuxCNC.  It "
+"is not directly useful to users."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/linuxcnc_var.1.adoc:1
+#, no-wrap
+msgid "linuxcnc_var(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_var.1.adoc:6
+msgid "linuxcnc_var - retrieves LinuxCNC variables"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_var.1.adoc:10
+#, no-wrap
+msgid "*linuxcnc_var* [ _varname_ | all ]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_var.1.adoc:14
+msgid "FIXME: missing"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_var.1.adoc:18
+msgid "Option 'all' returns varname=value for all supported varnames"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnc_var.1.adoc:21
+msgid ""
+"Varnames supported: LINUXCNCVERSION LINUXCNC_AUX_GLADEVCP "
+"LINUXCNC_AUX_EXAMPLES REALTIME RTS HALLIB_DIR"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/linuxcnclcd.1.adoc:1
+#, no-wrap
+msgid "linuxcnclcd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnclcd.1.adoc:6
+msgid "linuxcnclcd - LinuxCNC Graphical User Interface for LCD character display"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnclcd.1.adoc:10
+#, no-wrap
+msgid "*linuxcnclcd* *-ini* _<INI file>_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnclcd.1.adoc:16
+#, no-wrap
+msgid ""
+"*linuxcnclcd* is one of the Graphical User Interfaces (GUI) for LinuxCNC.\n"
+"It gets typically run by the runscript. Linuxcnclcd is designed to run on\n"
+"a 4 x 20 LCD character display. It is not clear if it has ever worked.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcnclcd.1.adoc:19
+#, no-wrap
+msgid "_INI file_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnclcd.1.adoc:26
+msgid ""
+"The INI file is the main piece of an LinuxCNC configuration.  It is not the "
+"entire configuration; there are various other files that go with it (NML "
+"files, HAL files, TBL files, VAR files).  It is, however, the most important "
+"one, because it is the file that holds the configuration together. It can "
+"adjust a lot of parameters itself, but it also tells *LinuxCNC* which other "
+"files to load and use."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/linuxcncmkdesktop.1.adoc:1
+#, no-wrap
+msgid "linuxcncmkdesktop(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncmkdesktop.1.adoc:6
+msgid "linuxcncmkdesktop - create a desktop icon for LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncmkdesktop.1.adoc:10
+#, no-wrap
+msgid "*linuxcncmkdesktop*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncmkdesktop.1.adoc:14
+#, no-wrap
+msgid ""
+"*linuxcncmkdesktop* Script used by pickconfig to create a desktop icon for "
+"LinuxCNC.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/linuxcncrsh.1.adoc:1
+#, no-wrap
+msgid "linuxcncrsh(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:6
+msgid "linuxcncrsh - text-mode interface for commanding LinuxCNC over the network"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:10
+#, no-wrap
+msgid "*linuxcncrsh* [OPTIONS] [-- LINUXCNC_OPTIONS]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:17
+msgid ""
+"The command *linuxcncrsh* is a fully-functional text-based user interface "
+"for LinuxCNC.  Instead of popping up a GUI window like AXIS(1) and Touchy(1) "
+"do, it processes text-mode commands that it receives via the network.  A "
+"human (or a program) can interface with *linuxcncrsh* using telnet(1), nc(1) "
+"or similar programs."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:24
+msgid ""
+"It cannot be stressed enough that all features of LinuxCNC are available via "
+"the *linuxcncrsh* interface. It can substitute a graphical UI or be started "
+"in addition to it. If your environment needs to control/monitor more than "
+"one machine from a single location, this text interface may raise your "
+"interest. Also, a speech to text interface may be easier to adapt to this "
+"text-based interface than to a graphical one."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:27
+#, no-wrap
+msgid "*-p*,*--port* _PORT_NUMBER_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:29
+msgid "Specify the port for linuxcncrsh to listen on. Defaults to 5007 if omitted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:30
+#, no-wrap
+msgid "*-n*,*--name* _SERVER_NAME_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:33
+msgid ""
+"Sets the server name that linuxcncrsh will use to identify itself during "
+"handshaking with a new client. Defaults to EMCNETSVR if omitted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:34
+#, no-wrap
+msgid "*-w*,*--connectpw* PASSWORD"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:39
+msgid ""
+"Specify the connection password to use during handshaking with a new "
+"client.  Note that the password is sent in the clear, so it can be read by "
+"anyone who can read packets on the network between the server and the "
+"client.  Defaults to EMC if omitted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:40
+#, no-wrap
+msgid "*-e*,*--enablepw* _PASSWORD_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:45
+msgid ""
+"Specify the password required to enable LinuxCNC via linuxcncrsh.  Note that "
+"the password is sent in the clear, so it can be read by anyone who can read "
+"packets on the network between the server and the client.  Defaults to "
+"EMCTOO if omitted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:46
+#, no-wrap
+msgid "*-s*,*--sessions* _MAX_SESSIONS_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:52
+msgid ""
+"Specify the maximum number of simultaneous connections.  Defaults to -1 (no "
+"limit) if not specified.  + In addition to the options listed above, "
+"linuxcncrsh accepts an optional special LINUXCNC_OPTION at the end:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:53
+#, no-wrap
+msgid "*-ini* _LINUXCNC_INI_FILE_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:56
+msgid ""
+"LinuxCNC INI file to use. The -ini option *must* be preceded by two dashes: "
+"\"--\".  Defaults to 'emc.ini' if omitted."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/linuxcncrsh.1.adoc:57
+#, no-wrap
+msgid "Starting linuxcncrsh"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:61
+msgid ""
+"To use *linuxcncrsh* instead of a normal LinuxCNC GUI like AXIS or Touchy, "
+"specify it in your INI file like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/linuxcncrsh.1.adoc:66
+#, no-wrap
+msgid "DISPLAY=linuxcncrsh\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:69
+msgid "To use `linuxcncrsh` in addition to a normal GUI, you can either"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:70
+msgid "start it at the end of your HAL file, or"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:71
+msgid "run it by hand in a terminal window."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:73
+msgid "To start it from HAL, add a line like this to the end of your HAL file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/linuxcncrsh.1.adoc:76
+#, no-wrap
+msgid "loadusr linuxcncrsh [OPTIONS] [-- LINUXCNC_OPTIONS]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:79
+msgid "To start it from the terminal, run `linuxcncrsh` manually like this:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/linuxcncrsh.1.adoc:82
+#, no-wrap
+msgid "linuxcncrsh [OPTIONS] [-- LINUXCNC_OPTIONS]\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/linuxcncrsh.1.adoc:84
+#, no-wrap
+msgid "Connecting"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:88
+msgid ""
+"Once LinuxCNC is up and *linuxcncrsh* is running, you can connect to it "
+"using *telnet* or *nc* or similar:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:89
+#, no-wrap
+msgid "*telnet* _HOST_ _PORT_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:93
+msgid ""
+"_HOST_ is the hostname or IP address of the computer running linuxcncrsh, "
+"and _PORT_ is the port it's listening on (5007 if you did not give "
+"linuxcncrsh the --port option)."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/linuxcncrsh.1.adoc:94
+#, no-wrap
+msgid "Network protocol"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:98
+msgid ""
+"linuxcncrsh accepts TCP connections on the port specified by the --port "
+"option, or 5007 if not specified."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:103
+msgid ""
+"The client sends requests, and the linuxcncrsh server returns replies.  "
+"Requests consist of a command word followed by optional command-specific "
+"parameters.  Requests and most request parameters are case insensitive.  The "
+"exceptions are passwords, file paths and text strings."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:107
+msgid ""
+"Requests to linuxcncrsh are terminated with line endings, any combination of "
+"one or more '\\r' and '\\n' characters.  Replies from linuxcncrsh are "
+"terminated with the sequence '\\r\\n'."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:109 src/man/man1/schedrmt.1.adoc:29
+msgid "The supported commands are as follows:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:110
+#, no-wrap
+msgid "*hello* _<password>_ _<client>_ _<version>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:120
+msgid ""
+"<password> must match linuxcncrsh's connect password, or \"EMC\" if no "
+"--connectpw was supplied.  The three arguments may not contain whitespace.  "
+"If a valid password was entered the server will respond with: + `HELLO ACK "
+"<ServerName> <ServerVersion>` + If an invalid password or any other syntax "
+"error occurs then the server responds with: + `HELLO NAK`"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:121
+#, no-wrap
+msgid "*get* _<subcommand>_ _[<parameters>]_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:125
+msgid ""
+"The get command takes one of the LinuxCNC sub-commands (described in the "
+"section *LinuxCNC Subcommands*, below) and zero or more additional "
+"subcommand-specific parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:126
+#, no-wrap
+msgid "*set* _<subcommand>_ _<parameters>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:129
+msgid ""
+"The set command takes one of the LinuxCNC sub-commands (described in the "
+"section *LinuxCNC Subcommands*, below) and one or more additional "
+"parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:130
+#, no-wrap
+msgid "*quit*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:133
+#, no-wrap
+msgid "*shutdown*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:138
+msgid ""
+"The shutdown command tells LinuxCNC to shutdown and disconnect the session.  "
+"This command may only be issued if the Hello has been successfully "
+"negotiated and the connection has control of the CNC (see *enable* "
+"subcommand in the *LinuxCNC Subcommands* section, below)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:139
+#, no-wrap
+msgid "*help*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:144
+msgid ""
+"The help command will return help information in text format over the "
+"connection.  If no parameters are specified, it will itemize the available "
+"commands.  If a command is specified, it will provide usage information for "
+"the specified command.  Help will respond regardless of whether a \"Hello\" "
+"has been successfully negotiated."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/linuxcncrsh.1.adoc:145
+#, no-wrap
+msgid "LinuxCNC Subcommands"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:148
+msgid "Subcommands for *get* and *set* are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:149
+#, no-wrap
+msgid "*echo* {on|off}"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:155
+msgid ""
+"With get, any on/off parameter is ignored and the current echo state is "
+"returned.  With set, sets the echo state as specified.  Echo defaults to on "
+"when the connection is first established.  When echo is on, all commands "
+"will be echoed upon receipt.  This state is local to each connection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:156
+#, no-wrap
+msgid "*verbose* {on|off}"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:165
+msgid ""
+"With get, any on/off parameter is ignored and the current verbose state is "
+"returned.  With set, sets the verbose state as specified. When verbose mode "
+"is on all set commands return positive acknowledgement in the form + SET "
+"<COMMAND> ACK + and text error messages will be issued (FIXME: I don't know "
+"what this means).  The verbose state is local to each connection, and starts "
+"out OFF on new connections."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:166
+#, no-wrap
+msgid "*enable* { _<passwd>_ | off }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:172
+msgid ""
+"The session's enable state indicates whether the current connection is "
+"enabled to perform control functions.  With get, any parameter is ignored, "
+"and the current enable state is returned.  With set and a valid password "
+"matching linuxcncrsh's --enablepw (EMCTOO if not specified), the current "
+"connection is enabled for control functions. \"OFF\" may not be used as a "
+"password and disables control functions for this connection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:173
+#, no-wrap
+msgid "*config* [TBD]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:175
+msgid "Unused, ignore for now."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:176
+#, no-wrap
+msgid "*comm_mode* { ascii | binary }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:180
+msgid ""
+"With get, any parameter is ignored and the current communications mode is "
+"returned.  With set, will set the communications mode to the specified "
+"mode.  The ASCII mode is the text request/reply mode, the binary protocol is "
+"not currently designed or implemented."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:181
+#, no-wrap
+msgid "*comm_prot* _<version>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:186
+msgid ""
+"With get, any parameter is ignored and the current protocol version used by "
+"the server is returned. With set, sets the server to use the specified "
+"protocol version, provided it is lower than or equal to the highest version "
+"number supported by the server implementation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:187
+#, no-wrap
+msgid "*inifile*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:191
+msgid ""
+"Not currently implemented! With get, returns the string 'emc.ini'.  Should "
+"return the full path and file name of the current configuration INI file.  "
+"Setting this does nothing."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:192
+#, no-wrap
+msgid "*plat*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:194
+msgid "With get, returns the string 'Linux'."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:195
+#, no-wrap
+msgid "*ini* _<var>_ _<section>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:198
+msgid ""
+"Not currently implemented, do not use! Should return the string value of "
+"_<var>_ in section <section> of the INI file."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:199
+#, no-wrap
+msgid "*debug* _<value>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:206
+msgid ""
+"With get, any parameter is ignored and the current integer value of "
+"EMC_DEBUG is returned. Note that the value of EMC_DEBUG returned is the from "
+"the UI's INI file, which may be different than emc's INI file. With set, "
+"sends a command to the EMC to set the new debug level, and sets the "
+"EMC_DEBUG global here to the same value. This will make the two values the "
+"same, since they really ought to be the same."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:207
+#, no-wrap
+msgid "*wait_mode* { received | done }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:213
+msgid ""
+"The wait_mode setting controls the wait after receiving a command.  It can "
+"be \"received\" (after the command was sent and received) or \"done\" (after "
+"the command was done).  With get, any parameter is ignored and the current "
+"wait_mode setting is returned.  With set, set the wait_mode setting to the "
+"specified value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:214
+#, no-wrap
+msgid "*wait* { received | done }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:216
+msgid "With set, force a wait for the previous command to be received, or done."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:217
+#, no-wrap
+msgid "*set_timeout* _<timeout>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:221
+msgid ""
+"With set, set the timeout for commands to return to <timeout> seconds.  "
+"Timeout is a real number. If it's <= 0.0, it means wait forever.  Default is "
+"0.0, wait forever."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:222
+#, no-wrap
+msgid "*update* { none | auto }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:228
+msgid ""
+"The update mode controls whether to return fresh or stale values for \"get\" "
+"requests.  When the update mode is \"none\" it returns stale values, when "
+"it's \"auto\" it returns fresh values.  Defaults to \"auto\" for new "
+"connections.  Set this to \"none\" if you like to be confused."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:229
+#, no-wrap
+msgid "*error*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:231
+msgid "With get, returns the current error string, or \"ok\" if no error."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:232
+#, no-wrap
+msgid "*operator_display*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:234
+msgid "With get, returns the current operator display string, or \"ok\" if none."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:235
+#, no-wrap
+msgid "*operator_text*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:237
+msgid "With get, returns the current operator text string, or \"ok\" if none."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:238
+#, no-wrap
+msgid "*time*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:241
+msgid ""
+"With get, returns the time, in seconds, from the start of the epoch.  This "
+"starting time depends on the platform."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:242
+#, no-wrap
+msgid "*estop* { on | off }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:246
+msgid ""
+"With get, ignores any parameters and returns the current estop setting as "
+"\"on\" or \"off\". With set, sets the estop as specified. E-stop \"on\" "
+"means the machine is in the estop state and won't run."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:247
+#, no-wrap
+msgid "*machine* { on | off }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:250
+msgid ""
+"With get, ignores any parameters and returns the current machine power "
+"setting as \"on\" or \"off\".  With set, sets the machine on or off as "
+"specified."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:251
+#, no-wrap
+msgid "*mode* { manual | auto | mdi }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:254
+msgid ""
+"With get, ignores any parameters and returns the current machine mode.  With "
+"set, sets the machine mode as specified."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:255
+#, no-wrap
+msgid "*mist* { on | off }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:258
+msgid ""
+"With get, ignores any parameters and returns the current mist coolant "
+"setting.  With set, sets the mist setting as specified."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:259
+#, no-wrap
+msgid "*flood* { on | off }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:262
+msgid ""
+"With get, ignores any parameters and returns the current flood coolant "
+"setting.  With set, sets the flood setting as specified."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:263
+#, no-wrap
+msgid ""
+"*spindle* { forward | reverse | increase | decrease | constant | off } "
+"{_<spindle>_}"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:269
+msgid ""
+"With get, any parameter is ignored and the current spindle state is returned "
+"as \"forward\", \"reverse\", \"increase\", \"decrease\", or \"off\".  With "
+"set, sets the spindle as specified. Note that \"increase\" and \"decrease\" "
+"will cause a speed change in the corresponding direction until a "
+"\"constant\" command is sent.  If \"spindle\" is omitted, spindle 0 is "
+"selected.  If -1, all spindles are selected."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:270
+#, no-wrap
+msgid "*brake* { on | off } {<spindle>}"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:275
+msgid ""
+"With get, any parameter is ignored and the current brake setting is "
+"returned.  With set, the brake is set as specified.  If \"spindle\" is "
+"omitted, spindle 0 is selected.  If -1, all spindles are selected."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:276
+#, no-wrap
+msgid "*tool*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:278
+msgid "With get, returns the id of the currently loaded tool."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:281
+msgid "With get, returns the currently applied tool length offset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:282
+#, no-wrap
+msgid "*load_tool_table* <file>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:284
+msgid "With set, loads the tool table specified by <file>."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:285
+#, no-wrap
+msgid "*home* {0|1|2|...} | -1"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:287
+msgid "With set, homes the indicated joint or, if -1, homes all joints."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:291
+#, no-wrap
+msgid ""
+"*jog_stop* __joint_number__|__axis_letter__\n"
+"  With set, stop any in-progress jog on the specified joint or axis.\n"
+"  If TELEOP_ENABLE is OFF, use __joint_number__.  If TELEOP_ENABLE is ON, "
+"use __axis_letter__.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:292
+#, no-wrap
+msgid "_jog joint_number_ | _axis_letter_ _<speed>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:295
+msgid ""
+"With set, jog the specified joint or axis at <speed>; sign of speed is "
+"direction.  If TELEOP_ENABLE is OFF, use joint_number; If TELEOP_ENABLE is "
+"ON, use axis_letter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:296
+#, no-wrap
+msgid "*jog_incr* __jog_number__ | __axis_letter__ __<speed>__ __<incr>__"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:300
+msgid ""
+"With set, jog the indicated joint or axis by increment <incr> at the "
+"_<speed>_; sign of speed is direction. If TELEOP_ENABLE is OFF, use "
+"__joint_number__.  If TELEOP_ENABLE is ON, use __axis_letter__."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:301
+#, no-wrap
+msgid "*feed_override* _<percent>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:304
+msgid ""
+"With get, any parameter is ignored and the current feed override is returned "
+"(as a percentage of commanded feed).  With set, sets the feed override as "
+"specified."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:305
+#, no-wrap
+msgid "*spindle_override* _<percent>_ {__<spindle>__}"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:309
+msgid ""
+"With get, any parameter is ignored and the current spindle override is "
+"returned (as a percentage of commanded speed).  With set, sets the spindle "
+"override as specified.  If \"spindle\" is omitted, spindle 0 is selected. If "
+"-1, all spindles are selected."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:310
+#, no-wrap
+msgid "*abs_cmd_pos* [{0|1|...}]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:313
+msgid ""
+"With get, returns the specified axis' commanded position in absolute "
+"coordinates.  If no axis is specified, returns all axes' commanded absolute "
+"position."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:314
+#, no-wrap
+msgid "*abs_act_pos* [{0|1|...}]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:317
+msgid ""
+"With get, returns the specified axis' actual position in absolute "
+"coordinates.  If no axis is specified, returns all axes' actual absolute "
+"position."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:318
+#, no-wrap
+msgid "*rel_cmd_pos* [{0|1|...}]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:321
+msgid ""
+"With get, returns the specified axis' commanded position in relative "
+"coordinates, including tool length offset.  If no axis is specified, returns "
+"all axes' commanded relative position."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:322
+#, no-wrap
+msgid "*rel_act_pos* [{0|1|...}]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:325
+msgid ""
+"With get, returns the specified axis' actual position in relative "
+"coordinates, including tool length offset.  If no axis is specified, returns "
+"all axes' actual relative position."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:326
+#, no-wrap
+msgid "*joint_pos* [{0|1|...}]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:329
+msgid ""
+"With get, returns the specified joint's actual position in absolute "
+"coordinates, excluding tool length offset.  If no joint is specified, "
+"returns all joints' actual absolute position."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:332
+#, no-wrap
+msgid ""
+"*pos_offset [{X|Y|Z|R|P|W}]*\n"
+"  With get, returns the position offset associated with the world coordinate "
+"provided.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:336
+#, no-wrap
+msgid ""
+"*joint_limit [{0|1|...}]*\n"
+"  With get, returns limit status of the specified joint as \"ok\", "
+"\"minsoft\", \"minhard\", \"maxsoft\", or \"maxhard\".\n"
+"  If no joint number is specified, returns the limit status of all joints.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:340
+#, no-wrap
+msgid ""
+"*joint_fault [{0|1|...}]*\n"
+"  With get, returns the fault status of the specified joint as \"ok\" or "
+"\"fault\".\n"
+"  If no joint number is specified, returns the fault status of all joints.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:344
+#, no-wrap
+msgid ""
+"*joint_homed [{0|1|...}]*\n"
+"  With get, returns the homed status of the specified joint as \"homed\" or "
+"\"not\".\n"
+"  If no joint number is specified, returns the homed status of all joints.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:345
+#, no-wrap
+msgid "*mdi* _<string>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:347
+msgid "With set, sends _<string>_ as an MDI command."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:348
+#, no-wrap
+msgid "*task_plan_init*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:350
+msgid "With set, initializes the program interpreter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:351
+#, no-wrap
+msgid "*open* _<filename>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:355
+msgid ""
+"With set, opens the named file. The <filename> is opened by linuxcnc, so it "
+"should either be an absolute path or a relative path starting in the "
+"LinuxCNC working directory (the directory of the active INI file)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:356
+#, no-wrap
+msgid "*run* [_<StartLine>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:360
+msgid ""
+"With set, runs the opened program. If no StartLine is specified, runs from "
+"the beginning.  If a StartLine is specified, start line, runs from that "
+"line.  A start line of -1 runs in verify mode."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:363
+msgid "With set, pause program execution."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:366
+msgid "With set, resume program execution."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:369
+msgid "With set, abort program or MDI execution."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:370
+#, no-wrap
+msgid "*step*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:372
+msgid "With set, step the program one line."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:373
+#, no-wrap
+msgid "*program*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:375
+msgid "With get, returns the name of the currently opened program, or \"none\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:376
+#, no-wrap
+msgid "*program_line*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:378
+msgid "With get, returns the currently executing line of the program."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:379
+#, no-wrap
+msgid "*program_status*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:381
+msgid "With get, returns \"idle\", \"running\", or \"paused\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:382
+#, no-wrap
+msgid "*program_codes*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:384
+msgid "With get, returns the string for the currently active program codes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:385
+#, no-wrap
+msgid "*joint_type* [_<joint>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:388
+msgid ""
+"With get, returns \"linear\", \"angular\", or \"custom\" for the type of the "
+"specified joint (or for all joints if none is specified)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:389
+#, no-wrap
+msgid "*joint_units* [__<joint>__]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:396
+msgid ""
+"With get, returns \"inch\", \"mm\", \"cm\", or \"deg\", \"rad\", \"grad\", "
+"or \"custom\", for the corresponding native units of the specified joint (or "
+"for all joints if none is specified).  The type of the axis (linear or "
+"angular) is used to resolve which type of units are returned.  The units are "
+"obtained heuristically, based on the EMC_AXIS_STAT::units numerical value of "
+"user units per mm or deg.  For linear joints, something close to 0.03937 is "
+"deemed \"inch\", 1.000 is \"mm\", 0.1 is \"cm\", otherwise it's \"custom\".  "
+"For angular joints, something close to 1.000 is deemed \"deg\", PI/180 is "
+"\"rad\", 100/90 is \"grad\", otherwise it's \"custom\"."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:399
+msgid "Synonym for program_linear_units."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:400
+#, no-wrap
+msgid "*program_linear_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:403
+msgid ""
+"With get, returns \"inch\", \"mm\", \"cm\", or \"none\", for the "
+"corresponding linear units that are active in the program interpreter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:404
+#, no-wrap
+msgid "*program_angular_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:407
+msgid ""
+"With get, returns \"deg\", \"rad\", \"grad\", or \"none\" for the "
+"corresponding angular units that are active in the program interpreter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:408
+#, no-wrap
+msgid "*user_linear_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:414
+msgid ""
+"With get, returns \"inch\", \"mm\", \"cm\", or \"custom\", for the "
+"corresponding native user linear units of the LinuxCNC trajectory "
+"level. This is obtained heuristically, based on the "
+"EMC_TRAJ_STAT::linearUnits numerical value of user units per mm. Something "
+"close to 0.03937 is deemed \"inch\", 1.000 is \"mm\", 0.1 is \"cm\", "
+"otherwise it's \"custom\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:415
+#, no-wrap
+msgid "*user_angular_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:419
+msgid ""
+"Returns \"deg\", \"rad\", \"grad\", or \"custom\" for the corresponding "
+"native user angular units of the LinuxCNC trajectory level.  Like with "
+"linear units, this is obtained heuristically."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:420
+#, no-wrap
+msgid "*display_linear_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:424
+msgid ""
+"With get, returns \"inch\", \"mm\", \"cm\", or \"custom\", for the linear "
+"units that are active in the display.  This is effectively the value of "
+"linearUnitConversion."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:425
+#, no-wrap
+msgid "*display_angular_units*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:429
+msgid ""
+"With get, returns \"deg\", \"rad\", \"grad\", or \"custom\", for the angular "
+"units that are active in the display.  This is effectively the value of "
+"angularUnitConversion."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:430
+#, no-wrap
+msgid "*linear_unit_conversion* { inch | mm | cm | auto }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:434
+msgid ""
+"With get, any parameter is ignored and the active unit conversion is "
+"returned.  With set, sets the unit to be displayed.  If it's \"auto\", the "
+"units to be displayed match the program units."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:435
+#, no-wrap
+msgid "*angular_unit_conversion* { deg | rad | grad | auto }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:439
+msgid ""
+"With get, any parameter is ignored and the active unit conversion is "
+"returned.  With set, sets the units to be displayed.  If it's \"auto\", the "
+"units to be displayed match the program units."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:440
+#, no-wrap
+msgid "*probe_clear*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:442
+msgid "With set, clear the probe tripped flag."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:445
+msgid ""
+"With get, return the probe state - has the probe tripped since the last "
+"clear?"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:446
+#, no-wrap
+msgid "*probe_value*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:448
+msgid "With get, return the current value of the probe signal."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:449
+#, no-wrap
+msgid "*probe* _<x>_ _<y>_ _<z>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:452
+msgid ""
+"With set, move toward a certain location. If the probe is tripped on the way "
+"stop motion, record the position and raise the probe tripped flag."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:453
+#, no-wrap
+msgid "*teleop_enable* [ on | off ]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:456
+msgid ""
+"With get, any parameter is ignored and the current teleop mode is returned.  "
+"With set, sets the teleop mode as specified."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:459
+msgid ""
+"With get, returns the type of kinematics functions used (identity=1, "
+"serial=2, parallel=3, custom=4)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:460
+#, no-wrap
+msgid "*override_limits* { on | off }"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:465
+msgid ""
+"With get, any parameter is ignored and the override_limits setting is "
+"returned.  With set, the override_limits parameter is set as specified.  If "
+"override_limits is on, disables end of travel hardware limits to allow "
+"jogging off of a limit.  If parameters is off, then hardware limits are "
+"enabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/linuxcncrsh.1.adoc:466
+#, no-wrap
+msgid "*optional_stop* {0|1}"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:469
+msgid ""
+"With get, any parameter is ignored and the current \"optional stop on M1\" "
+"setting is returned. With set, the setting is set as specified."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/linuxcncrsh.1.adoc:470
+#, no-wrap
+msgid "Example Session"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:475
+msgid ""
+"This section shows an example session to the local machine (*localhost*).  "
+"Bold items are typed by you, non-bold is machine output.  Default values are "
+"shown for --port _PORT_NUMBER_ (*5007*), --conectpw _PASSWORD_ (*EMC*), and "
+"--enablepw _PASSWORD_ (*EMCTOO*)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:481
+msgid ""
+"The user connects to linuxcncrsh, handshakes with the server (hello), "
+"enables machine commanding from this session (set enable), brings the "
+"machine out of E-stop (set estop off) and turns it on (set machine on), "
+"homes all the axes, switches the machine to mdi mode, sends an MDI G-code "
+"command, then disconnects and shuts down LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:515
+#, no-wrap
+msgid ""
+" > *telnet localhost 5007* +\n"
+" Trying 127.0.0.1... +\n"
+" Connected to 127.0.0.1 +\n"
+" Escape character is '^]'. +\n"
+" *hello EMC user-typing-at-telnet 1.0* +\n"
+" HELLO ACK EMCNETSVR 1.1 +\n"
+" *set enable EMCTOO* +\n"
+" set enable EMCTOO +\n"
+" *set mode manual* +\n"
+" set mode manual +\n"
+" *set estop off* +\n"
+" set estop off +\n"
+" *set machine on* +\n"
+" set machine on +\n"
+" *set home 0* +\n"
+" set home 0 +\n"
+" *set home 1* +\n"
+" set home 1 +\n"
+" *set home 2* +\n"
+" set home 2 +\n"
+" *set mode mdi* +\n"
+" set mode mdi +\n"
+" *set mdi g0x1* +\n"
+" set mdi g0x1 +\n"
+" *help* +\n"
+" help +\n"
+" Available commands: Hello <password> <client name> <protocol version>\n"
+" Get <emc command> Set <emc command> Shutdown Help <command> +\n"
+" *help get* +\n"
+" help get +\n"
+" Usage: Get <emc command> Get commands require that a hello has been\n"
+" successfully negotiated. Emc command may be one of: Abs_act_pos\n"
+" Abs_cmd_pos +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:516
+#, no-wrap
+msgid "... * +\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncrsh.1.adoc:518
+#, no-wrap
+msgid ""
+"*shutdown* +\n"
+"shutdown +\n"
+"Connection closed by foreign host.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/linuxcncsvr.1.adoc:1
+#, no-wrap
+msgid "linuxcncsvr(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncsvr.1.adoc:6
+msgid "linuxcncsvr - Allows network access to LinuxCNC internals via NML"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncsvr.1.adoc:10
+#, no-wrap
+msgid "*linuxcncsvr*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcncsvr.1.adoc:14
+msgid "FIXME: Missing"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/linuxcnctop.1.adoc:1
+#, no-wrap
+msgid "linuxcnctop(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnctop.1.adoc:6
+msgid "linuxcnctop - live LinuxCNC status description"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnctop.1.adoc:10
+#, no-wrap
+msgid "*linuxcnctop* *-ini* _INIFILE_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnctop.1.adoc:15
+#, no-wrap
+msgid ""
+"*linuxcnctop* displays much of the LinuxCNC state in a live format\n"
+"similar to the Linux \"top\" command.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnctop.1.adoc:18
+msgid ""
+"It is more fully documented in the AXIS GUI documentation but can be run "
+"standalone or with other GUIs."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/linuxcnctop.1.adoc:24
+msgid "https://linuxcnc.org/docs/html/gui/axis.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/maho600gui.1.adoc:1
+#, no-wrap
+msgid "maho600gui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/maho600gui.1.adoc:6
+msgid "maho600gui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/maho600gui.1.adoc:11
+#, no-wrap
+msgid ""
+"*maho600gui* is one of the sample *Vismach* GUIs for LinuxCNC,\n"
+"simulating a Maho 600 CNC Milling Machine.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/max5gui.1.adoc:1
+#, no-wrap
+msgid "max5gui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/max5gui.1.adoc:6
+msgid "max5gui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/max5gui.1.adoc:11
+#, no-wrap
+msgid ""
+"*max5gui* is one of the sample *Vismach* GUIs for LinuxCNC, simulating a\n"
+"5 axis CNC Milling Machine.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/mb2hal.1.adoc:1
+#, no-wrap
+msgid "mb2hal(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:6
+msgid "mb2hal - HAL non-realtime component for Modbus"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mb2hal.1.adoc:9
+#, no-wrap
+msgid "Default component name"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:11
+msgid "loadusr -W mb2hal config=config_file.ini"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mb2hal.1.adoc:11
+#, no-wrap
+msgid "Custom component name"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:13
+msgid "loadusr -Wn mymodule mb2hal config=config_file.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:18
+msgid ""
+"MB2HAL is a generic non-realtime HAL component to communicate with one or "
+"more Modbus devices.  It supports Modbus RTU and Modbus TCP."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:20
+msgid ""
+"See https://linuxcnc.org/docs/html/drivers/mb2hal.html[] for more "
+"information."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:23
+#, no-wrap
+msgid "fnct_01_read_coils:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:27 src/man/man1/mb2hal.1.adoc:32
+#, no-wrap
+msgid ""
+"*mb2hal.m.n.bit* bit out +\n"
+"*mb2hal.m.n.bit-inv* bit out\n"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:28
+#, no-wrap
+msgid "fnct_02_read_discrete_inputs:"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:33
+#, no-wrap
+msgid "fnct_03_read_holding_registers:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:37 src/man/man1/mb2hal.1.adoc:42
+#, no-wrap
+msgid ""
+"*mb2hal.m.n.float* float out +\n"
+"*mb2hal.m.n.int* s32 out\n"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:38
+#, no-wrap
+msgid "fnct_04_read_input_registers:"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:43
+#, no-wrap
+msgid "fnct_05_write_single_coil:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mb2hal.1.adoc:45
+#, no-wrap
+msgid "*mb2hal.m.n.bit* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:47
+msgid "NELEMENTS needs to be 1 or PIN_NAMES must contain just one name."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:48
+#, no-wrap
+msgid "fnct_06_write_single_register:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:51 src/man/man1/mb2hal.1.adoc:64
+#, no-wrap
+msgid "*mb2hal.m.n.float* float in\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mb2hal.1.adoc:52 src/man/man1/mb2hal.1.adoc:65
+#, no-wrap
+msgid "*mb2hal.m.n.int* s32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:56
+#, no-wrap
+msgid ""
+"NELEMENTS needs to be 1 or PIN_NAMES must contain just one name.\n"
+"Both pin values are added and limited to 65535 (UINT16_MAX). Use one and let "
+"the other open (read as 0)."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:57
+#, no-wrap
+msgid "fnct_15_write_multiple_coils:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:60
+#, no-wrap
+msgid "*mb2hal.m.n.bit* bit in\n"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:61
+#, no-wrap
+msgid "fnct_16_write_multiple_registers:"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/mb2hal.1.adoc:69
+#, no-wrap
+msgid "Each transaction"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mb2hal.1.adoc:71
+#, no-wrap
+msgid "*mb2hal.m.num_errors* u32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:73
+msgid "Error counter"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:77
+#, no-wrap
+msgid ""
+"m = HAL_TX_NAME or transaction number if not set\n"
+"n = element number (NELEMENTS)"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/mb2hal.1.adoc:82
+#, no-wrap
+msgid ""
+"mb2hal.00.01.int (TRANSACTION_00, second register)\n"
+"mb2hal.readStatus.01.bit (HAL_TX_NAME=readStatus, first bit)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mb2hal.1.adoc:86
+msgid "Victor Rocco"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/mdi.1.adoc:1
+#, no-wrap
+msgid "mdi(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mdi.1.adoc:7
+msgid ""
+"mdi - Send G-code commands from the terminal to the running LinuxCNC "
+"instance"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mdi.1.adoc:11
+#, no-wrap
+msgid "*mdi*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mdi.1.adoc:16
+#, no-wrap
+msgid ""
+"*mdi* sends G-code commands to LinuxCNC.\n"
+"The command starts an envirmonemt in which G-code commands are sent to the "
+"interpreter and machine feedback is displayed.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mdi.1.adoc:20
+msgid "send a single command and exit:"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/mdi.1.adoc:22
+#, no-wrap
+msgid "mdi m2 s1400\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mdi.1.adoc:25
+msgid "interactive session"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/mdi.1.adoc:31
+#, no-wrap
+msgid ""
+"$mdi\n"
+"MDI> m3 s1000\n"
+"MDI> G0 X100\n"
+"MDI>` ^Z\n"
+"$stopped\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mdi.1.adoc:36 src/man/man1/melfagui.1.adoc:19
+#: src/man/man1/millturn.1.adoc:19
+#, no-wrap
+msgid "*linuxcnc(1)*\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/melfagui.1.adoc:1
+#, no-wrap
+msgid "melfagui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/melfagui.1.adoc:6
+msgid "melfagui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/melfagui.1.adoc:11
+#, no-wrap
+msgid ""
+"*melfagui* is one of the sample *Vismach* GUIs for LinuxCNC, simulating\n"
+"a Mitsubishi serial manipulator\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/melfagui.1.adoc:38 src/man/man1/millturn.1.adoc:38
+#: src/man/man1/modcompile.1.adoc:37 src/man/man1/qtplasmac_gcode.1.adoc:36
+#: src/man/man1/setup_designer.1.adoc:36 src/man/man1/tool_mmap_read.1.adoc:36
+#: src/man/man1/tool_watch.1.adoc:38 src/man/man1/xyzab-tdr-gui.1.adoc:37
+msgid "Copyright © 2023 Andy Pugh."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/milltask.1.adoc:1
+#, no-wrap
+msgid "milltask(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:6
+msgid "milltask - Non-realtime task controller for LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:14
+#, no-wrap
+msgid ""
+"*milltask* is an internal process of LinuxCNC. It is generally not\n"
+"invoked directly but by an INI file setting: *[TASK]TASK=milltask*.\n"
+"The *milltask* process creates the `ini.\\*` HAL pins listed below and owned "
+"by the *inihal* component.\n"
+"These pins may be modified while LinuxCNC is running to alter values\n"
+"that are typically specified statically in an INI file.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:23
+msgid ""
+"The *inihal* pins are sampled in every task cycle, however, commands "
+"affected by their values typically use the value present at the time when "
+"the command is processed. Such commands include all codes handled by the "
+"interpreter (*G-code* programs and *MDI* commands) and NML *jogging* "
+"commands issued by a GUI (including *halui*). *Wheel jogging* is implemented "
+"in the realtime motion module so *inihal* pin changes (e.g., "
+"`ini.\\*.max_velocity`, `ini.*.max_acceleration`) may be honored as soon as "
+"altered values are propagated to the motion module."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/milltask.1.adoc:26
+#, no-wrap
+msgid "Per-joint pins (N == joint number)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:28
+#, no-wrap
+msgid "**ini.**_N_**.backlash**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:30
+msgid "Allows adjustment of \\[JOINT_N]*BACKLASH*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:30
+#, no-wrap
+msgid "**ini.**_N_**.ferror**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:32
+msgid "Allows adjustment of \\[JOINT_N]*FERROR*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:32
+#, no-wrap
+msgid "**ini.**_N_**.min_ferror**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:34
+msgid "Allows adjustment of \\[JOINT_N]*MIN_FERROR*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:34
+#, no-wrap
+msgid "**ini.**_N_**.min_limit**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:36
+msgid "Allows adjustment of \\[JOINT_N]*MIN_LIMIT*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:36
+#, no-wrap
+msgid "**ini.**_N_**.max_limit**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:38
+msgid "Allows adjustment of \\[JOINT_N]*MAX_LIMIT*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:38
+#, no-wrap
+msgid "**ini.**_N_**.max_velocity**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:40
+msgid "Allows adjustment of \\[JOINT_N]*MAX_VELOCITY*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:40
+#, no-wrap
+msgid "**ini.**_N_**.max_acceleration**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:42
+msgid "Allows adjustment of \\[JOINT_N]*MAX_ACCELERATION*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:42
+#, no-wrap
+msgid "**ini.**_N_**.home**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:44
+msgid "Allows adjustment of \\[JOINT_N]*HOME*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:44 src/man/man1/milltask.1.adoc:46
+#, no-wrap
+msgid "**ini.**_N_**.home_offset**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:46
+msgid "Allows adjustment of \\[JOINT_N]*HOME_OFFSET*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:48
+msgid "Allows adjustment of \\[JOINT_N]*HOME_SEQUENCE*"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/milltask.1.adoc:49
+#, no-wrap
+msgid "Per-axis pins (L == axis letter)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:51
+#, no-wrap
+msgid "**ini.**_L_**.min_limit**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:53
+msgid "Allows adjustment of \\[AXIS_L]*MIN_LIMIT*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:53
+#, no-wrap
+msgid "**ini.**_L_**.max_limit**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:55
+msgid "Allows adjustment of \\[AXIS_L]*MAX_LIMIT*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:55
+#, no-wrap
+msgid "**ini.**_L_**.max_velocity**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:57
+msgid "Allows adjustment of \\[AXIS_L]*MAX_VELOCITY*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:57
+#, no-wrap
+msgid "**ini.**_L_**.max_acceleration**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:59
+msgid "Allows adjustment of \\[AXIS_L]*MAX_ACCELERATION*"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/milltask.1.adoc:60
+#, no-wrap
+msgid "Global pins"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:62
+#, no-wrap
+msgid "*ini.traj_default_acceleration*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:64
+msgid "Allows adjustment of \\[TRAJ]*DEFAULT_ACCELERATION*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:64
+#, no-wrap
+msgid "*ini.traj_default_velocity*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:66
+msgid "Allows adjustment of \\[TRAJ]*DEFAULT_VELOCITY*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:66
+#, no-wrap
+msgid "*ini.traj_max_acceleration*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:68
+msgid "Allows adjustment of \\[TRAJ]*MAX_ACCELERATION*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:68
+#, no-wrap
+msgid "*ini.traj_max_velocity*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:70
+msgid "Allows adjustment of \\[TRAJ]*MAX_VELOCITY*"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/milltask.1.adoc:71
+#, no-wrap
+msgid "Global pins (arc_blend trajectory planner)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:73
+#, no-wrap
+msgid "*ini.traj_arc_blend_enable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:75
+msgid "Allows adjustment of \\[TRAJ]*ARC_BLEND_ENABLE*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:75
+#, no-wrap
+msgid "*ini.traj_arc_blend_fallback_enable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:77
+msgid "Allows adjustment of \\[TRAJ]*ARC_BLEND_FALLBACK_ENABLE*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:77
+#, no-wrap
+msgid "*ini.traj_arc_blend_gap_cycles*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:79
+msgid "Allows adjustment of \\[TRAJ]*ARC_OPTIMIZATION_DEPTH*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:79
+#, no-wrap
+msgid "*ini.traj_arc_blend_optimization_depth*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:81
+msgid "Allows adjustment of \\[TRAJ]*ARC_BLEND_GAP_CYCLES*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/milltask.1.adoc:81
+#, no-wrap
+msgid "*ini.traj_arc_blend_ramp_freq*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:83
+msgid "Allows adjustment of \\[TRAJ]*ARC_BLEND_RAMP_FREQ*"
+msgstr ""
+
+#. type: SH
+#: src/man/man1/milltask.1.adoc:84 src/man/man1/mitsub_vfd.1.adoc:63
+#: src/man/man1/moveoff_gui.1.adoc:84 src/man/man1/sim_pin.1.adoc:36
+#: src/man/man1/xhc-whb04b-6.1.adoc:563 src/man/man3/hal_parport.3hal.adoc:65
+#: src/man/man3/hal_type_t.3.adoc:40 src/man/man3/rtapi_bool.3rtapi.adoc:23
+#: src/man/man3/rtapi_div_u64.3.adoc:39 src/man/man3/rtapi_get_time.3.adoc:59
+#: src/man/man3/rtapi_module_param.3.adoc:49 src/man/man3/rtapi_outb.3.adoc:37
+#: src/man/man3/rtapi_parport.3rtapi.adoc:74 src/man/man9/debounce.9.adoc:16
+#: src/man/man9/hm2_eth.9.adoc:137 src/man/man9/lineardeltakins.9.adoc:38
+#: src/man/man9/rosekins.9.adoc:28 man/man9/ddt.9:34
+#: man/man9/eoffset_per_angle.9:110 man/man9/feedcomp.9:37
+#: man/man9/lowpass.9:34 man/man9/spindle.9:87 man/man9/wcomp.9:39
+#, no-wrap
+msgid "NOTES"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:91
+msgid ""
+"The *inihal* pins cannot be linked or set in a HAL file that is specified by "
+"an INI file **[HAL]HALFILE** item because they are not created until "
+"*milltask* is started. The *inihal* pin values can be altered by independent "
+"halcmd programs specified by **[APPLICATION]APP** items or by GUIs that "
+"support a **[HAL]POSTGUI_HALFILE**."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/milltask.1.adoc:94
+msgid ""
+"The INI file is not automatically updated with values altered by *inihal* "
+"pin settings but can be updated using the calibration program (emccalib.tcl) "
+"when using a **[HAL]POSTGUI_HALFILE**."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/millturn.1.adoc:1
+#, no-wrap
+msgid "millturn(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/millturn.1.adoc:6
+msgid "millturn, millturngui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/millturn.1.adoc:11
+#, no-wrap
+msgid ""
+"*millturngui* is one of the sample *Vismach* GUIs for LinuxCNC,\n"
+"simulating a Mill-Turn machine.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/mitsub_vfd.1.adoc:1
+#, no-wrap
+msgid "mitsub_vfd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:9
+msgid ""
+"mitsub_vfd - HAL non-realtime component for Mitsubishi A500 F500 E500 A500 "
+"D700 E700 F700-series VFDs (others may work) This uses the COMPUTER LINK "
+"protocol _not_ MODBUS. The connection is made through the PU connector."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:13
+#, no-wrap
+msgid ""
+"*loadrt mitsub_vfd* [*--baud* _baudrate_] [*--port* _devicename_] "
+"**name1=**__number~1~__[,**name2=**__number~2~__...]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:14
+#, no-wrap
+msgid "*name1*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:15
+msgid "is user selectable (usually a description of the controlled device)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:15
+#, no-wrap
+msgid "__number~1~__"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:16
+msgid ""
+"is the slave number that was set on the VFD. Must be two digits (Parameter "
+"117)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:16
+#, no-wrap
+msgid "**name~__N__~=__number~N~__**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:17
+msgid "can be repeated for multiple VFD's connected together."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:17
+#, no-wrap
+msgid "*--baud* _baudrate_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:18
+msgid ""
+"is optional as it defaults to 9600, all networked vfds must be set to the "
+"same baudrate."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:18
+#, no-wrap
+msgid "*--port* _devicename_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:19
+msgid ""
+"is optional as it defaults to `ttyS0``, a common alternative is "
+"`/dev/ttyUSB0`."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:24
+msgid ""
+"The mitsub_vfd component interfaces a Mitsubishi VFD to LinuxCNC.  The VFD "
+"is connected via RS-485 serial to the computer's USB or serial port using a "
+"RS-232/RS-485 converter."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/mitsub_vfd.1.adoc:25
+#, no-wrap
+msgid "HARDWARE SETUP"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:31
+#, no-wrap
+msgid ""
+"reference manual 'communication option reference manual' and A500 technical "
+"manual for 500 series. Fr-A700 F700 E700 D700 technical manual for the 700 "
+"series.\n"
+"The inverter must be set manually for communication (you may have to set PR "
+"77 to 1 to unlock PR modification).\n"
+"You must power cycle the inverter for some of these, e.g. 79."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:33
+#, no-wrap
+msgid "*VFD INTERNAL PARAMETERS*:\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:34
+#, no-wrap
+msgid "*PARAMETER 79*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:35
+msgid "1 or 0"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:36
+#, no-wrap
+msgid "*PARAMETER 117*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:38
+#, no-wrap
+msgid ""
+"Station number - 1\n"
+"(can be optionally set 0 - 31) if component is also set"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:39
+#, no-wrap
+msgid "*PARAMETER 118*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:41
+#, no-wrap
+msgid ""
+"Communication speed 96\n"
+"(can be optionally set 48, 96, 192 if component is also set)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:42
+#, no-wrap
+msgid "*PARAMETER 119*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:44
+#, no-wrap
+msgid ""
+"Stop bit/data length - 1\n"
+"(8 bits, two stop - don't change)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:45
+#, no-wrap
+msgid "*PARAMETER 120*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:47
+#, no-wrap
+msgid ""
+"Parity - 0\n"
+"(no parity - don't change)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:48
+#, no-wrap
+msgid "*PARAMETER 121*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:50
+#, no-wrap
+msgid ""
+"COM tries - 10\n"
+"(if maximum 10 COM errors then inverter faults- can change.)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:51
+#, no-wrap
+msgid "*PARAMETER 122*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:53
+#, no-wrap
+msgid ""
+"COM check time interval 9999\n"
+"(never check - if communication is lost inverter will not know (can change))"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:54
+#, no-wrap
+msgid "*PARAMETER 123*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:56
+#, no-wrap
+msgid ""
+"Wait time - 9999\n"
+"No wait time is added to the serial data frame (don't change)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:57
+#, no-wrap
+msgid "*PARAMETER 124*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:59
+#, no-wrap
+msgid ""
+"CR selection - 0\n"
+"Don't change."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:60
+#, no-wrap
+msgid "*PARAMETER 549*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:62
+#, no-wrap
+msgid ""
+"Communication protocol - 0\n"
+"Computer link protocol - don't change - (not all VFDs have this)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:66
+msgid "This driver assumes certain other VFD settings:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:68
+msgid "That the motor frequency status is set to show Hertz."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:69
+msgid "That the status bit 3 is up to speed."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:70
+msgid "That the status bit 7 is alarm."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:74
+#, no-wrap
+msgid ""
+"Some models (eg E500) cannot monitor status.\n"
+"You must set set the monitor pin to false.\n"
+"In this case pins such as up-to-speed, amps, alarm and status bits are not "
+"useful."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:77
+#, no-wrap
+msgid "_VFD_NAME_**.fwd** (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:78
+msgid "Forward/reverse pin"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:78
+#, no-wrap
+msgid "_VFD_NAME_**.run** (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:79
+msgid "Run/stop pin"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:79
+#, no-wrap
+msgid "_VFD_NAME_**.debug** (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:81
+msgid "Set debug mode pin.  This will print many messages to the terminal."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:81
+#, no-wrap
+msgid "_VFD_NAME_**.monitor** (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:84
+msgid ""
+"Set monitor mode pin.  If false, request-status command will not be sent to "
+"VFD.  Status, amps, power, motor-feedback, and alarm would then not be "
+"useful."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:84
+#, no-wrap
+msgid "_VFD_NAME_**.estop** (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:86
+msgid ""
+"Set E-stop mode pin.  This will stop the VFD. Restarting requires the run "
+"pin to cycle."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:86
+#, no-wrap
+msgid "_VFD_NAME_**.fwd** (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:87
+msgid ""
+"Up-to-speed status pin Motor is at requested speed within VFD's settings "
+"tolerance."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:87
+#, no-wrap
+msgid "_VFD_NAME_**.alarm** (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:88
+msgid "Alarm status pin"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:88
+#, no-wrap
+msgid "_VFD_NAME_**.motor-cmd** (float, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:89
+msgid "The requested motor speed, in Hertz (Hz)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:89
+#, no-wrap
+msgid "_VFD_NAME_**.motor-fb** (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:90
+msgid "The motor feedback speed (from VFD) in Hertz (Hz)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:90
+#, no-wrap
+msgid "_VFD_NAME_**.motor-amps** (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:91
+msgid "The motor current, in amperes (A)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:91
+#, no-wrap
+msgid "_VFD_NAME_**.motor-power** (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:92
+msgid "The motor power"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:92 src/man/man1/mitsub_vfd.1.adoc:93
+#: src/man/man1/mitsub_vfd.1.adoc:94
+#, no-wrap
+msgid "_VFD_NAME_**.scale-cmd** (float, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:93 src/man/man1/mitsub_vfd.1.adoc:94
+#: src/man/man1/mitsub_vfd.1.adoc:95
+msgid "Motor command's scale setting defaults to 1"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:95
+#, no-wrap
+msgid "_VFD_NAME_**.stat-bit-0** (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:96 src/man/man1/mitsub_vfd.1.adoc:97
+#: src/man/man1/mitsub_vfd.1.adoc:98 src/man/man1/mitsub_vfd.1.adoc:100
+#: src/man/man1/mitsub_vfd.1.adoc:101 src/man/man1/mitsub_vfd.1.adoc:102
+msgid "Raw status bit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:96
+#, no-wrap
+msgid "_VFD_NAME_**.stat-bit-1** (bit, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:97
+#, no-wrap
+msgid "_VFD_NAME_**.stat-bit-2** (bit, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:98
+#, no-wrap
+msgid "_VFD_NAME_**.stat-bit-3** (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:99
+msgid ""
+"Raw status bit. Configure the VFD so that the function 'Up to frequency' or "
+"'motor-at-speed' is assigned to status bit 3 (parameter 191 for 700 series)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:99
+#, no-wrap
+msgid "_VFD_NAME_**.stat-bit-4** (bit, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:100
+#, no-wrap
+msgid "_VFD_NAME_**.stat-bit-5** (bit, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:101
+#, no-wrap
+msgid "_VFD_NAME_**.stat-bit-6** (bit, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/mitsub_vfd.1.adoc:102
+#, no-wrap
+msgid "_VFD_NAME_**.stat-bit-7** (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:103
+msgid ""
+"Raw status bit. Configure the VFD so that the function 'alarm' is assigned "
+"to status bit 7 (parameter 195 for 700 series)"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/mitsub_vfd.1.adoc:104
+#, no-wrap
+msgid "SAMPLE HAL"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/mitsub_vfd.1.adoc:132
+#, no-wrap
+msgid ""
+"loadusr -Wn coolant mitsub_vfd --port /dev/ttyUSB0 spindle=02 coolant=01\n"
+"# **************** Spindle VFD setup slave 2 ****************\n"
+"net spindle-vel-cmd spindle.motor-cmd\n"
+"net spindle-cw spindle.fwd\n"
+"net spindle-on spindle.run\n"
+"net spindle-at-speed spindle.up-to-speed\n"
+"net estop-out spindle.estop\n"
+"# cmd scaled to RPM (belt/gearbox driven)\n"
+"setp spindle.scale-cmd .135\n"
+"# feedback is in rpm (recipicale of command)\n"
+"setp spindle.scale-fb 7.411\n"
+"# turn on monitoring so feedback works\n"
+"setp spindle.monitor 1\n"
+"net spindle-speed-indicator spindle.motor-fb\n"
+"# *************** Coolant VFD setup slave 1 *****************\n"
+"net coolant-flood coolant.run\n"
+"net coolant-is-on coolant.up-to-speed\n"
+"# cmd and feedback scaled to hertz\n"
+"setp coolant.scale-cmd 1\n"
+"setp coolant.scale-fb 1\n"
+"# command full speed\n"
+"setp coolant.motor-cmd 60\n"
+"# allows us to see status\n"
+"setp coolant.monitor 1\n"
+"net estop-out coolant.estop\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/mitsub_vfd.1.adoc:137
+msgid ""
+"Some models, e.g. E500, cannot monitor status, so set the monitor pin to "
+"false.  In this case, pins such as up-to-speed, amps, alarm and status bits "
+"are not useful."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/modcompile.1.adoc:1
+#, no-wrap
+msgid "modcompile(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/modcompile.1.adoc:6
+msgid "modcompile - Utility for compiling Modbus drivers"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/modcompile.1.adoc:10
+#, no-wrap
+msgid ""
+"*modcompile* is used to compile modbus drivers that use the Mesa card "
+"UARTs.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/modcompile.1.adoc:14
+msgid "https://linuxcnc.org/docs/stable/html/drivers/mesa_modbus.html"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/modcompile.1.adoc:18 src/man/man1/ngcgui.1.adoc:19
+#: src/man/man1/qtplasmac_gcode.1.adoc:17 src/man/man1/setup_designer.1.adoc:17
+#: src/man/man1/tool_mmap_read.1.adoc:14 src/man/man1/tool_watch.1.adoc:19
+#: src/man/man1/xyzab-tdr-gui.1.adoc:15
+msgid "linuxcnc(1)*"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/monitor-xhc-hb04.1.adoc:1
+#, no-wrap
+msgid "monitor-xhc-hb04(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/monitor-xhc-hb04.1.adoc:6
+msgid "monitor-xhc-hb04 - monitors the XHC-HB04 pendant and warns of disconnection"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/monitor-xhc-hb04.1.adoc:10
+#, no-wrap
+msgid "*monitor-xhc-hb04*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/monitor-xhc-hb04.1.adoc:15
+#, no-wrap
+msgid ""
+"*monitor-xhc-hb04* is included to monitor disconnects and reconnects of the "
+"pendant.\n"
+"This script runs in the background and will pop up a message when the "
+"pendant is disconnected or reconnected.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/monitor-xhc-hb04.1.adoc:18
+msgid "Usage is optional; if used it is specified with INI file entry: ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/monitor-xhc-hb04.1.adoc:21
+msgid "APP = monitor-xhc-hb04 ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/monitor-xhc-hb04.1.adoc:25
+msgid "xhc-hb04(1), linuxcnc(1)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/motion-logger.1.adoc:1
+#, no-wrap
+msgid "motion-logger(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/motion-logger.1.adoc:6
+msgid "motion-logger - log motion commands sent from LinuxCNC's Task module"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/motion-logger.1.adoc:10
+#, no-wrap
+msgid "*motion-logger*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/motion-logger.1.adoc:15
+#, no-wrap
+msgid ""
+"*motion-logger* is a test program to log motion commands sent from\n"
+"LinuxCNC's Task module to the Motion module.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/motion-logger.1.adoc:17
+msgid "It is largely used by the regression tests and is poorly documented."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/moveoff_gui.1.adoc:1
+#, no-wrap
+msgid "moveoff_gui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:6
+msgid "moveoff_gui - a GUI for the moveoff component"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:10
+#, no-wrap
+msgid "*moveoff_gui* [*--help* | -- *-h* | *-?]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:12
+#, no-wrap
+msgid "*moveoff_gui* [_options_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:18
+msgid ""
+"Moveoff_gui is a sample graphical user interface (GUI) for controlling a HAL "
+"moveoff component to implement HAL-only offsets.  See the manpage (man "
+"moveoff) for *IMPORTANT* limitations and warnings."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:22
+msgid ""
+"Supported configurations must use a known kinematics module with "
+"`KINEMATICS_TYPE = KINEMATICS_IDENTITY`.  The modules currently supported "
+"are: *trivkins*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:25
+#, no-wrap
+msgid "*--help | -? | -- -h*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:27
+msgid "Show options and exit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:27
+#, no-wrap
+msgid "*-mode* *onpause* | always"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:32
+#, no-wrap
+msgid ""
+"+\n"
+"onpause: popup GUI to control offsets when program paused\n"
+"always: show GUI to control offsets always\n"
+"Default: *onpause*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:32
+#, no-wrap
+msgid "*-axes* _axis-names_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:37
+#, no-wrap
+msgid ""
+"+\n"
+"Letters from set of \\{x y z a b c u v w}\n"
+"Examples: -axes x, -axes xyz, -axes xz (no spaces)\n"
+"Default: *xyz*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:37
+#, no-wrap
+msgid "*-inc* _incrementvalue_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:41
+#, no-wrap
+msgid ""
+"+\n"
+"Specify one increment value per -inc (up to 4)\n"
+"Defaults: * 0.001 0.01 0.10 1.0*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:41
+#, no-wrap
+msgid "*-size* _integer_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:45
+#, no-wrap
+msgid ""
+"+\n"
+"Overall gui size is based on font size, typically 8 - 20\n"
+"Default: *14*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:45
+#, no-wrap
+msgid "*-loc* center | +x+y"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:50
+#, no-wrap
+msgid ""
+"+\n"
+"Initial location on screen\n"
+"Examples: -loc center, -loc +20+100\n"
+"Default: *center*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:50
+#, no-wrap
+msgid "*-autoresume*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:54
+#, no-wrap
+msgid ""
+"+\n"
+"Resume program when move-enable deasserted\n"
+"Default: notused"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:54
+#, no-wrap
+msgid "*-delay* _delay secs_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:58
+msgid ""
+"+ Delay for autoresume (allow time to restore spindle speed etc)  Default: "
+"*5*"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/moveoff_gui.1.adoc:59
+#, no-wrap
+msgid "OTHER OPTIONS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:62
+msgid "These options are available for special cases:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:63
+#, no-wrap
+msgid "*-noentry*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:67
+#, no-wrap
+msgid ""
+"+\n"
+"Disables creation of entry widgets\n"
+"Default: notused"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:67
+#, no-wrap
+msgid "*-no_resume_inhibit*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:71
+#, no-wrap
+msgid ""
+"+\n"
+"Disable use of resume-inhibit to controlling gui\n"
+"Default: notused"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:71
+#, no-wrap
+msgid "*-no_pause_requirement*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:75
+#, no-wrap
+msgid ""
+"+\n"
+"Disable check for halui.program.is-paused\n"
+"Default: notused"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:75
+#, no-wrap
+msgid "*-no_cancel_autoresume*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:79
+#, no-wrap
+msgid ""
+"+\n"
+"Useful for retracting offsets with simple external controls\n"
+"Default: notused"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/moveoff_gui.1.adoc:79
+#, no-wrap
+msgid "*-no_display*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:83
+#, no-wrap
+msgid ""
+"+\n"
+"Use when both external controls and external displays are in use\n"
+"Default: notused"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:87
+msgid "LinuxCNC must be running."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:90
+msgid "Halui must be loaded, typical INI file setting: ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:93
+msgid "HALUI = halui ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:96
+#, no-wrap
+msgid ""
+"The moveoff component must be loaded with the name 'mv' as:\n"
+"**loadrt moveoff names=**_mv **personality=**_number_of_axes_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:101
+msgid ""
+"If the pin mv.motion-enable is *not* connected when moveoff_gui is started, "
+"*controls will be provided* to enable offsets and set offset values.  If the "
+"pin *is* connected, *only a display* of offsets is shown and control must be "
+"made by *external* HAL connections."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:105
+msgid ""
+"If a pin named `*.resume-inhibit` exists and is not connected, it will be "
+"set while offsets are applied.  This pin may be provided by the controlling "
+"LinuxCNC GUI in use.  Use of the pin may be disabled with the option "
+"-no_resume_inhibit."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:111
+msgid ""
+"The -autoresume option uses `halui.program.resume` to automatically resume "
+"program execution when the move-enable pin is deactivated and all offsets "
+"are removed.  The resume pin is not activated until an additional interval "
+"(-delay delay_secs) elapses.  This delay interval may be useful for "
+"restarting related equipment (a spindle motor for example).  While timing "
+"the delay, a popup is offered to cancel the automatic program resumption."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:119
+msgid ""
+"The INI file in the configuration directory must provide HALFILEs to loadrt "
+"the moveoff component, connect its pins, and addf its read and write "
+"functions in the proper order. These steps can be done at runtime using an "
+"existing configuration INI file and specifying a system library HALFILE "
+"*hookup_moveoff.tcl* as illustrated below:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:121 src/man/man1/moveoff_gui.1.adoc:132
+#: src/man/man1/moveoff_gui.1.adoc:142 src/man/man1/moveoff_gui.1.adoc:152
+#: README.adoc:111 README.adoc:113
+msgid "```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:128
+msgid ""
+"HALUI = halui HALFILE = user_halfile_1 etc ...  HALFILE = user_halfile_n "
+"HALFILE = LIB:hookup_moveoff.tcl ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:130
+msgid ""
+"The `hookup_moveoff.tcl` HAL file will use INI file settings for the moveoff "
+"component control pins:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:138
+msgid "EPSILON = WAYPOINT_SAMPLE_SECS = WAYPOINT_THRESHOLD = BACKTRACK_ENABLE = ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:140
+msgid ""
+"The *hookup_moveoff.tcl* will use INI file settings for the moveoff per-axis "
+"limits:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:148
+msgid ""
+"OFFSET_MAX_VELOCITY = OFFSET_MAX_ACCELERATION = OFFSET_MAX_LIMIT = "
+"OFFSET_MIN_LIMIT = ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:150
+msgid ""
+"The moveoff_gui program should be specified in the APPLICATIONS stanza of "
+"the INI file, for example:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:156
+msgid ""
+"DELAY = delay_in_secs_to_allow_hal_connections APP = moveoff_gui -option1 "
+"-option2 ...  ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:161
+msgid ""
+"Simulation configurations that demonstrate the moveoff_gui and the moveoff "
+"component are located in:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:164
+#, no-wrap
+msgid ""
+"configs/sim/axis/moveoff (axis-ui)\n"
+"configs/sim/touchy/ngcgui (touchy-ui)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/moveoff_gui.1.adoc:165
+msgid "See also moveoff(9) for details on the component."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/ngcgui.1.adoc:1
+#, no-wrap
+msgid "ngcgui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/ngcgui.1.adoc:7
+msgid "ngcgui - a framework for conversational G-code generation on the controller"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/ngcgui.1.adoc:11
+#, no-wrap
+msgid "*ngcgui*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/ngcgui.1.adoc:15
+#, no-wrap
+msgid "*ngcgui* details: https://linuxcnc.org/docs/html/gui/ngcgui.html\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/panelui.1.adoc:1
+#, no-wrap
+msgid "panelui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/panelui.1.adoc:6
+msgid "panelui - interface buttons to LinuxCNC or HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/panelui.1.adoc:10
+#, no-wrap
+msgid "*panelui*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/panelui.1.adoc:18
+#, no-wrap
+msgid ""
+"*panelui* is a non-realtime component to interface buttons to LinuxCNC or "
+"HAL.\n"
+"It decodes MESA 7I73 style key-scan codes and calls the appropriate "
+"routine.\n"
+"It gets input from a realtime component - sampler.\n"
+"Sampler gets it's input from either the MESA 7i73 or sim_matrix_kb "
+"component.\n"
+"Panelui is configurable using an INI style text file to define button types, "
+"HAL pin types, and/or commands.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/panelui.1.adoc:21
+msgid ""
+"Full documentation can be found in the HTML or PDF docs: "
+"https://linuxcnc.org/docs/html/gui/panelui.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/pmx485-test.1.adoc:1
+#, no-wrap
+msgid "pmx485-test(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485-test.1.adoc:6
+msgid "pmx485-test - Modbus communications testing with a Powermax Plasma Cutter"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485-test.1.adoc:10
+#, no-wrap
+msgid "*pmx485-test*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485-test.1.adoc:15
+msgid ""
+"pmx485 is a python script for testing communications with a Hypertherm "
+"Powermax plasma cutter using the Modbus ASCII protocol over RS485."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485-test.1.adoc:19
+msgid "Select the correct port from the list of available ports."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485-test.1.adoc:21
+msgid "Check RS485 to establish communications."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485-test.1.adoc:24
+msgid ""
+"Changing MODE, CURRENT, or PRESSURE will change the corresponding value on "
+"the Powermax and the new value will be reported back to the test panel."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485-test.1.adoc:26
+msgid "Check PANEL to end communication."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485-test.1.adoc:30 src/man/man1/pmx485.1.adoc:24
+#: src/man/man1/qtplasmac-materials.1.adoc:28
+msgid "Phillip Carter & Gregory D Carl"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/pmx485.1.adoc:1
+#, no-wrap
+msgid "pmx485(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485.1.adoc:6
+msgid "pmx485 - Modbus communications with a Powermax Plasma Cutter."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485.1.adoc:10
+#, no-wrap
+msgid "*loadusr* -Wn pmx485 pmx485 /dev/ttyUSB0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485.1.adoc:15
+msgid ""
+"pmx485 is a non-realtime HAL component to communicate with a Hypertherm "
+"Powermax plasma cutter using the Modbus ASCII protocol over RS485."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pmx485.1.adoc:20
+msgid ""
+"See the Drivers section of the LinuxCNC Documentation for more information "
+"on pmx485."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/pncconf.1.adoc:1
+#, no-wrap
+msgid "pncconf(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pncconf.1.adoc:6
+msgid "pncconf - configuration wizard for Mesa cards"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pncconf.1.adoc:10
+#, no-wrap
+msgid "*pncconf*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pncconf.1.adoc:14
+#, no-wrap
+msgid "*pncconf* is used to configure systems that use Mesa cards.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pncconf.1.adoc:16
+msgid "Details: https://linuxcnc.org/docs/html/config/pncconf.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/puma560gui.1.adoc:1
+#, no-wrap
+msgid "puma560gui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/puma560gui.1.adoc:6
+msgid "puma560gui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/puma560gui.1.adoc:11
+#, no-wrap
+msgid ""
+"*puma560gui* is one of the sample *Vismach* GUIs for LinuxCNC,\n"
+"simulating a Puma 560 robot arm.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/pumagui.1.adoc:1
+#, no-wrap
+msgid "pumagui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pumagui.1.adoc:6
+msgid "pumagui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pumagui.1.adoc:11
+#, no-wrap
+msgid ""
+"*pumagui* is one of the sample *Vismach* GUIs for LinuxCNC, simulating a\n"
+"generic Puma style robot arm.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/pyngcgui.1.adoc:1
+#, no-wrap
+msgid "pyngcgui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyngcgui.1.adoc:6
+msgid "pyngcgui - Python implementation of NGCGUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyngcgui.1.adoc:10
+#, no-wrap
+msgid "*pyngcgui*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyngcgui.1.adoc:15
+#, no-wrap
+msgid ""
+"*pyngcgui* is an alternative implenentation of NGCGUI:\n"
+"https://linuxcnc.org/docs/html/gui/ngcgui.html\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyngcgui.1.adoc:19
+msgid "ngcgui(1), linuxcnc(1)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/pyui.1.adoc:1
+#, no-wrap
+msgid "pyui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyui.1.adoc:6
+msgid "pyui - utility for panelui"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyui.1.adoc:10
+#, no-wrap
+msgid "*loadusr pyui*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyui.1.adoc:14
+#, no-wrap
+msgid "*pyui* validates panelui.ini files.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/pyvcp.1.adoc:1
+#, no-wrap
+msgid "pyvcp(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp.1.adoc:6
+msgid "pyvcp - Virtual Control Panel for LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp.1.adoc:10
+#, no-wrap
+msgid "*pyvcp* [*-g* _WxH+X+Y_] [*-c* _component-name_] _myfile.xml_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp.1.adoc:17
+msgid ""
+"This sets the initial geometry of the root window.  Use 'WxH' for just size, "
+"'+X+Y' for just position, or 'WxH+X+Y' for both.  Size / position use pixel "
+"units. Position is referenced from top left."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp.1.adoc:20
+msgid ""
+"Use _component-name_ as the HAL component name.  If the component name is "
+"not specified, the basename of the XML file is used."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp.1.adoc:24
+msgid ""
+"_Python Virtual Control Panel_ in the LinuxCNC documentation for a "
+"description of the xml syntax, along with examples."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/pyvcp_demo.1.adoc:1
+#, no-wrap
+msgid "pyvcp_demo(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp_demo.1.adoc:6
+msgid "pyvcp_demo - Python Virtual Control Panel demonstration component"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp_demo.1.adoc:10
+#, no-wrap
+msgid "*pyvcp_demo*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp_demo.1.adoc:14
+#, no-wrap
+msgid "*pyvcp_demo* is mainly used by sample configurations.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp_demo.1.adoc:18
+msgid "pyvcp_demo filename1.xml filename2.hal [compname]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/pyvcp_demo.1.adoc:20
+msgid "If not provided, use compname == pyvcp"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/qtplasmac-materials.1.adoc:1
+#, no-wrap
+msgid "qtplasmac-materials(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac-materials.1.adoc:6
+msgid "qtplasmac-materials - Create a plasma materials file."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac-materials.1.adoc:10
+#, no-wrap
+msgid "*qtplasmac-materials*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac-materials.1.adoc:14
+msgid "qtplasmac-materials is a Python script for creating a materials file."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac-materials.1.adoc:17
+msgid ""
+"The file can be created by text entry or by importing text from a CAM tool "
+"file."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac-materials.1.adoc:22
+msgid ""
+"See the QtPlasmaC section of the LinuxCNC Documentation for more "
+"information."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac-materials.1.adoc:24
+msgid "https://linuxcnc.org/docs/devel/html/plasma/qtplasmac.html#_material_converter"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/qtplasmac_gcode.1.adoc:1
+#, no-wrap
+msgid "qtplasmac_gcode(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac_gcode.1.adoc:6
+msgid ""
+"qtplasmac_gcode - Python script shipping with Plasmac, a Plasma cutting "
+"system."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac_gcode.1.adoc:10
+#, no-wrap
+msgid ""
+"*qtplasmac_gcode* is used by qtplasmac and is not intended to be used "
+"standalone.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtplasmac_gcode.1.adoc:13
+msgid ""
+"See the QtPlasmaC section of the LinuxCNC Documentation for more "
+"information. https://linuxcnc.org/docs/devel/html/plasma/qtplasmac.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/qtvcp.1.adoc:1
+#, no-wrap
+msgid "qtvcp(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:6
+msgid "qtvcp - Qt-based virtual control panels"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:10
+#, no-wrap
+msgid "*qtvcp* [_OPTIONS_] myfile.ui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:14
+#, no-wrap
+msgid "*QtVCP* is a system for creating user interfaces for LinuxCNC.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:16
+msgid "Full documentation at https://linuxcnc.org/docs/html/gui/qtvcp.html"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:19
+#, no-wrap
+msgid "*-h, --help*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:21
+msgid "Show this help message and exit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:21
+#, no-wrap
+msgid "*-c* [_<NAME>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:23
+msgid "Set component name to NAME. Default is basename of UI file."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:23
+#, no-wrap
+msgid "*-a*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:25
+msgid "Set the window to always be on top."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:27
+msgid "Enable debug output."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:29
+msgid "Enable verbose debug output."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:31
+msgid "Enable only error debug output."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:31
+#, no-wrap
+msgid "*-g* [_<GEOMETRY>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:37
+msgid ""
+"Set geometry WIDTHxHEIGHT+XOFFSET+YOFFSET.  Values are in pixel units, "
+"XOFFSET/YOFFSET is referenced from top left of screen.  Use -g WIDTHxHEIGHT "
+"for just setting size or -g +XOFFSET+YOFFSET for just position.  + Example: "
+"`-g 200x400+0+100`"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:37
+#, no-wrap
+msgid "*-H* [_<FILE>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:39
+msgid ""
+"Execute HAL statements from _FILE_ with halcmd after the component is set up "
+"and ready."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:39
+#, no-wrap
+msgid "*-i*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:41
+msgid "Enable info output."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:41
+#, no-wrap
+msgid "*-m*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:43
+msgid "Force panel window to maximize."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:43
+#, no-wrap
+msgid "*-f*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:45
+msgid "Force panel window to fullscreen."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:45
+#, no-wrap
+msgid "*-t* [_<THEME>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:47
+msgid "Set Qt style. Default is system theme."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:47
+#, no-wrap
+msgid "*-x* [_<XID>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:49
+msgid ""
+"Reparent QtVCP into an existing window XID instead of creating a new top "
+"level window."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:49
+#, no-wrap
+msgid "*--push_xid*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:51
+msgid "Reparent window into a plug add push the plug xid number to standardout."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:51
+#, no-wrap
+msgid "*-u* [_<USERMOD>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:53
+msgid "File path of user defined handler file."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/qtvcp.1.adoc:53
+#, no-wrap
+msgid "*-o* [_<USEROPTS>_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/qtvcp.1.adoc:55
+msgid "Pass _USEROPTS_ strings to handler under self.w.USEROPTIONS_ list variable."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/rotarydelta.1.adoc:1
+#, no-wrap
+msgid "rotarydelta(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rotarydelta.1.adoc:6
+msgid "rotarydelta - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rotarydelta.1.adoc:11
+#, no-wrap
+msgid ""
+"*rotarydelta* is one of the sample *Vismach* GUIs for LinuxCNC,\n"
+"simulating a delta robot with rotary actuators\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/rs274.1.adoc:1
+#, no-wrap
+msgid "rs274(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:6
+msgid "rs274 - standalone G-code interpreter"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:10
+#, no-wrap
+msgid ""
+"*rs274* [*-p* interp.so] [*-t* tool.tbl] [*-v* var-file.var] [*-n* 0|1|2] "
+"[*-b*] [*-s*] [*-g*] [ __input_file__ [__output_file__] ]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:14
+#, no-wrap
+msgid "*rs274* Standalone G-code interpreter interface\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:16
+msgid ""
+"Usage: rs274 [-p interp.so] [-t tool.tbl] [-v var-file.var] [-n 0|1|2] [-b] "
+"[-s] [-g] [input file [output file]]"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/rs274.1.adoc:19
+#, no-wrap
+msgid "-p"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:20
+msgid "Specify the pluggable interpreter to use"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/rs274.1.adoc:20
+#, no-wrap
+msgid "-t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:21
+msgid "Specify the .tbl (tool table) file to use"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/rs274.1.adoc:21
+#, no-wrap
+msgid "-v"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:22
+msgid "Specify the .var (parameter) file to use"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:26
+#, no-wrap
+msgid ""
+"Specify the continue mode:\n"
+"0: continue\n"
+"1: enter MDI mode\n"
+"2: stop (default)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/rs274.1.adoc:26
+#, no-wrap
+msgid "-b"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:27
+msgid "Toggle the 'block delete' flag (default: OFF)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/rs274.1.adoc:27
+#, no-wrap
+msgid "-s"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:28
+msgid "Toggle the 'print stack' flag (default: OFF)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/rs274.1.adoc:28
+#, no-wrap
+msgid "-g"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:29
+msgid "Toggle the 'go (batch mode)' flag (default: OFF)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:30
+msgid "specify the .ini file (default: no ini file)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/rs274.1.adoc:30
+#, no-wrap
+msgid "-T"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:31
+msgid "call task_init()"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/rs274.1.adoc:31
+#, no-wrap
+msgid "-l"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:32
+msgid "specify the log_level (default: -1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rs274.1.adoc:40
+msgid "FIXME: Some good soul please fix the whitespace for the examples below"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/rs274.1.adoc:46
+#, no-wrap
+msgid ""
+"#<test> = 123.352 o101 while [[#<test> MOD 60 ] NE 0]\n"
+"(debug,#<test>) #<test> = [#<test> + 1] 101 endwhile M2\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/rs274.1.adoc:53
+#, no-wrap
+msgid ""
+"T1 P1 Z0.511 D0.125 ;1/8 end mill T2 P2 Z0.1 D0.0625 ;1/16\n"
+"end mill T3 P3 Z1.273 D0.201 ;#7 tap drill\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/rtapi_app.1.adoc:1
+#, no-wrap
+msgid "rtapi_app(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rtapi_app.1.adoc:6
+msgid "rtapi_app - creates a simulated real time environment"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rtapi_app.1.adoc:10
+#, no-wrap
+msgid "*rtapi_app*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rtapi_app.1.adoc:14
+#, no-wrap
+msgid "*rtapi_app* Creates a simulated real time environment.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/rtapi_app.1.adoc:16
+msgid ""
+"Used for loading real time modules on systems without real time (for "
+"simulation)."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/scaragui.1.adoc:1
+#, no-wrap
+msgid "scaragui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scaragui.1.adoc:6
+msgid "scaragui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scaragui.1.adoc:10
+#, no-wrap
+msgid ""
+"*scaragui* is one of the sample *Vismach* GUIs for LinuxCNC, simulating a "
+"SCARA style robot arm.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/schedrmt.1.adoc:1
+#, no-wrap
+msgid "schedrmt(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:6
+msgid "schedrmt - telnet based scheduler for LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:10
+#, no-wrap
+msgid ""
+"*schedrmt* {*--* *--port* _<port number>_ *--name* _<server name>_ "
+"*--connectpw* _<password>_ *--enablepw* _<password>_ *--sessions* _<max "
+"sessions>_ *--path* _<path>_ *-ini* _<INI file>_}\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:21
+msgid ""
+"With -- --port Waits for socket connections (Telnet) on specified socket, "
+"without port uses default port 5007.  With -- --name _<server name>_ Sets "
+"the server name to specified name for Hello.  With -- --connectpw "
+"_<password>_ Sets the connection password to _password_.  Default 'EMC'.  "
+"With -- --enablepw _<password>_ Sets the enable password to "
+"_password_. Default 'EMCTOO'.  With -- --sessions <max sessions> Sets the "
+"maximum number of simultaneous connextions to max sessions.  Default is no "
+"limit (-1).  With -- --path Sets the base path to program (G-Code) files, "
+"default is \"../../nc_files/\". Make sure to include the final slash (/).  "
+"With -- -ini _<INI file>_, uses specified _INI file_ instead of default "
+"'emc.ini'."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:27
+msgid ""
+"There are six commands supported, for which the commands set and get contain "
+"LinuxCNC-specific sub-commands based on the commands supported by emcsh, but "
+"where the \"emc_\" prefix is omitted. Commands and most parameters are not "
+"case-sensitive. The exceptions are passwords, file paths and text strings."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:29
+#, no-wrap
+msgid "==> HELLO <=="
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:34
+msgid ""
+"Hello <password> <client> <version> If a valid password was entered the "
+"server will respond with HELLO ACK <Server Name> <Server Version> here "
+"server name and server version are looked up from the implementation.  If an "
+"invalid password or any other syntax error occurs then the server responds "
+"with: `HELLO NAK`"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:34
+#, no-wrap
+msgid "==> Get <=="
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:35
+msgid ""
+"The get command includes one of the emc sub-commands, described below and "
+"zero or more additional parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:35
+#, no-wrap
+msgid "==> Set <=="
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:36
+msgid ""
+"The set command inclides one of the emc sub-commands, described below and "
+"one or more additional parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:36
+#, no-wrap
+msgid "==> Quit <=="
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:45
+msgid ""
+"The quit command disconnects the associated socket connection.  ==> Shutdown "
+"<==:: The shutdown command tells EMC to shutdown before quitting the "
+"connection.  This command may only be issued if the Hello has been "
+"successfully negotiated and the connection has control of the CNC (see "
+"enable sub-command below).  This command has no parameters. ==> Help <== The "
+"help command will return help information in text format over the telnet "
+"connection.  If no parameters are specified, it will itemize the available "
+"commands.  If a command is specified, it will provide usage information for "
+"the specified command.  Help will respond regardless of whether a \"Hello\" "
+"has been successfully negotiated."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:47
+#, no-wrap
+msgid "*EMC sub-commands*:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:51
+msgid ""
+"With get will return the current echo state, with set, sets the echo state.  "
+"When echo is on, all commands will be echoed upon receipt.  This state is "
+"local to each connection."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:55
+msgid ""
+"With get will return the current verbose state, with set, sets the verbose "
+"state.  When in verbose mode is on, all set commands return positive "
+"acknowledgement in the form SET _<COMMAND>_ ACK.  In addition, text error "
+"messages will be issued when in verbose mode.  This state is local to each "
+"connection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:56
+#, no-wrap
+msgid "enable _<pwd>_ | off"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:60
+msgid ""
+"With get will return On or Off to indicate whether the current connection is "
+"enabled to perform control functions.  With set and a valid password, the "
+"current connection is enabled for control functions.  `OFF` may not be used "
+"as a password and disables control functions for this connection."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:61
+#, no-wrap
+msgid "config"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:62 src/remap/remap.adoc:1651
+#: src/remap/remap.adoc:1655 src/remap/remap.adoc:1659
+msgid "TBD"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:63
+#, no-wrap
+msgid "comm_mode ascii | binary"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:67
+msgid ""
+"With get, will return the current communications mode.  With set, will set "
+"the communications mode to the specified mode.  The binary protocol is TBD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:68
+#, no-wrap
+msgid "comm_prot _<version no>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:72
+msgid ""
+"With get, returns the current protocol version used by the server.  With "
+"set, sets the server to use the specified protocol version, provided it is "
+"lower than or equal to the highest version number supported by the server "
+"implementation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:73
+#, no-wrap
+msgid "INIFILE"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:74
+msgid "Returns the path and file name of the current configuration INI file."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:75
+#, no-wrap
+msgid "plat"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:76
+msgid "Returns the platform for which this was compiled, e.g., linux_2_0_36"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:77
+#, no-wrap
+msgid "ini _<var>_ _<section>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:78
+msgid "Returns the string value of <var> in section <section>, in EMC_INIFILE."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:79
+#, no-wrap
+msgid "debug {__<new value>__}"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:84
+msgid ""
+"With get, returns the integer value of EMC_DEBUG, in the EMC.  Note that it "
+"may not be true that the local EMC_DEBUG variable here (in emcsh and the "
+"GUIs that use it) is the same as the EMC_DEBUG value in the EMC.  This can "
+"happen if the EMC is started from one INI file, and the GUI is started with "
+"another that has a different value for DEBUG.  With set, sends a command to "
+"the EMC to set the new debug level, and sets the EMC_DEBUG global here to "
+"the same value.  This will make the two values the same, since they really "
+"ought to be the same."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:85
+#, no-wrap
+msgid "QMode _<mode>_ stop | run | pause | resume (Set only) | error (Get only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:89
+msgid ""
+"With no arg, returns the program queue status as \"stop\", \"run\", "
+"\"pause\" or \"error\". Otherwise, sends a command to set the current mode "
+"to \"stop\", \"run\" or \"pause\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:90
+#, no-wrap
+msgid "QStatus _<Queue Size>_ _<First Tag Id>_ _<Last Tag Id>_ _<Queue CRC>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:97
+msgid ""
+"Get only, returns then number of programs in queue (Queue Size), the Tag id "
+"of the first program in the queue, the Tag id of the last program in the "
+"queue, and the CRC of all of the Tag Ids in the queue. The actual "
+"calculation of the CRC is not important, the purpose is to be able to "
+"compare the current CRC with the previous CRC. If they differ, then there "
+"has been a change to the size or order of the programs in queue."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:98
+#, no-wrap
+msgid "AutoTagId _<Start Id>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:101
+msgid ""
+"With get, returns the next autoincremented unique tag id to associate with a "
+"queue record. With set, resets auto tag generation to begin at the specified "
+"value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:102
+#, no-wrap
+msgid ""
+"PgmAdd _<priority>_ _<tag id>_ _<x>_ _<y>_ _<z>_ _<zone>_ _<file name>_ "
+"_<feed override>_ _<spindle override>_ _<tool>_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:110
+msgid ""
+"With set, adds a program to the queue with priority of the program, a unique "
+"tag identifying the program, the x, y and z offsets or zone for the origin "
+"of the program, the path + file name, the feed and spindle overrides to "
+"apply, and the default tool to use.  If tag id is zero, the tag id will be "
+"generated automatically.  If zone is zero, then the x, y, and z offsets will "
+"be used, otherwise zones 1 to 9 correspond to G54 to G59.3 respectively."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:111
+#, no-wrap
+msgid ""
+"PgmById _<tag id>_ [__priority__] [__tag id__] [_x_] [_y_] [_z_] [_zone_] "
+"[_file name_] [_feed override_] [_spindle override_] [_tool_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:114
+msgid ""
+"With get, returns the queue entry matching the specified tag id, including "
+"the priority, tag id, x, y, and z coordinates, the zone, file name, feed and "
+"spindle overrides and the default tool."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:115
+#, no-wrap
+msgid ""
+"PgmByIndex <_index_> [_priority_] [_tag id_] [_x_] [_y_] [_z_] [_zone_] "
+"[_file name_] [_feed override_] [_spindle override_] [_tool_]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:119
+msgid ""
+"With get, returns the queue entry matching the specified index into the "
+"queue, including the priority, tag id, x, y, and z coordinates, the zone, "
+"file name, feed and spindle overrides and the default tool."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:120
+#, no-wrap
+msgid "PgmAll"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:122
+msgid ""
+"With get, performs effectively a PgmByIndex for every entry in the queue.  "
+"Each result will be returned in the form: \"PGMBYINDEX ...\" with cr lf at "
+"the end of each record."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:123
+#, no-wrap
+msgid "PriorityById <_tag id_> <_priority_>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:126
+msgid ""
+"With get, returns the priority of the queue entry matching the specified "
+"tag.  With set, changes the priority of the queue entry to the specified "
+"priority."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:127
+#, no-wrap
+msgid "PriorityByIndex <_tag id_> <_priority_>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:130
+msgid ""
+"With get, returns the priority of the queue entry matching the specified "
+"index into the queue.  With set, changes the priority of the queue entry to "
+"the specified priority."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:131
+#, no-wrap
+msgid "DeleteById <_tag id_>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:132
+msgid "With set, deletes the queue entry matching the specified tag id."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:133
+#, no-wrap
+msgid "DeleteByIndex <_index_>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:134
+msgid ""
+"With set, deletes the queue entry matching the specified index into the "
+"queue."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/schedrmt.1.adoc:135
+#, no-wrap
+msgid "PollRate <_rate_>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/schedrmt.1.adoc:138
+msgid ""
+"With set, sets the rate at which the scheduler polls for information.  The "
+"default is 1.0 or one second. With get, returns the current poll rate."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/scorbot-er-3.1.adoc:1
+#, no-wrap
+msgid "scorbot-er-3(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:6
+msgid "scorbot-er-3 - to link the Intellitek Scorbot educational robot to LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:10
+#, no-wrap
+msgid ""
+"*scorbot-er-3* is a non-realtime component that interfaces the control box "
+"of a Scorbot ER-3 robot arm to the LinuxCNC HAL.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/scorbot-er-3.1.adoc:11
+#, no-wrap
+msgid "Joint 0"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:12
+msgid "rotation around the base"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/scorbot-er-3.1.adoc:12
+#, no-wrap
+msgid "Joint 1"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:13
+msgid "shoulder"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/scorbot-er-3.1.adoc:13
+#, no-wrap
+msgid "Joint 2"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:14
+msgid "elbow"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/scorbot-er-3.1.adoc:14
+#, no-wrap
+msgid "Joint 3"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:15
+msgid "wrist (+ is wrist up & rotate hand)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/scorbot-er-3.1.adoc:15
+#, no-wrap
+msgid "Joint 4"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:16
+msgid "wrist (+ is wrist down & rotate hand)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/scorbot-er-3.1.adoc:16
+#, no-wrap
+msgid "Joint 5"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:17 src/man/man1/scorbot-er-3.1.adoc:18
+msgid "unused"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/scorbot-er-3.1.adoc:17
+#, no-wrap
+msgid "Joint 6"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/scorbot-er-3.1.adoc:18
+#, no-wrap
+msgid "Joint 7"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/scorbot-er-3.1.adoc:19
+msgid "hand open/close (+ is close)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/sendkeys.1.adoc:1
+#, no-wrap
+msgid "sendkeys(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:6
+msgid "sendkeys - send input events based on pins or scancodes from HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:10
+#, no-wrap
+msgid "*loadusr sendkeys config=s8t5, 16, t12*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:17
+msgid ""
+"This component is intended as a partner component to matrix_kb or the "
+"hostmot2 7i73 driver. It accepts the key-up and key-down event codes from "
+"either of these and converts them to keystrokes sent from a virtual "
+"keyboard."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:19
+msgid "It also allows for keystrokes to be generated by individual HAL pins."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:25
+#, no-wrap
+msgid ""
+"The *config* parameter to the *loadusr* HAL command defines how many "
+"scancodes will be supported and how many individual pins are created.\n"
+"*config=s16* would support the 16 scancodes of a 4x4 matrix.\n"
+"*config=t10* would create 10 individual HAL pin triggers.\n"
+"*config=s16t10* would create one instance with both the above."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:28
+msgid ""
+"Multiple configs separated by commas will create multiple instances of the "
+"component.  The accepted codes can be seen in the extract from the linux "
+"headers here: <https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Scancodes>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:31
+msgid ""
+"The component requires the user to have write permissions to `/dev/uinput` "
+"which is not available by default.  To give access perform the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:33
+msgid "Create the uinput group and add the LinuxCNC user to it:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/sendkeys.1.adoc:37
+#, no-wrap
+msgid ""
+"sudo groupadd -f uinput\n"
+"sudo gpasswd -a username uinput\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:40
+msgid "Create a new entry in .B/etc/udev/rules.d/99-input.rules"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/sendkeys.1.adoc:43
+#, no-wrap
+msgid ""
+"sudo echo KERNEL==\"uinput\", GROUP=\"uinput\", MODE:=\"0660\" | sudo tee "
+"/etc/udev/rules.d/88-input.rules\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:46
+msgid "Reboot the machine. You can test that is has worked:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/sendkeys.1.adoc:50
+#, no-wrap
+msgid ""
+"ls -l /dev/uinput\n"
+"crw-rw---- 1 root uinput 10, 223 Nov 11 15:35 /dev/uinput\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:55
+msgid ""
+"It is possible to link the 7i73 codes to both the matrix_kb comp and this "
+"comp, so that some codes operate HAL pins and some send keystrokes.  Where "
+"the option exists it is _MUCH_ better to use HAL pins for things like "
+"jogging and machine control.  This component should really be used only for "
+"text entry and GUI operations."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:60
+msgid ""
+"Each key on the matrix is allocated a scan code.  The simplest way to "
+"configure the component is to load the component and open a halmeter showing "
+"`sendkeys.0.current-event`.  Note the code for each physical key.  (If keys "
+"do not give consistent results then you probably need to toggle the value of "
+"the `matrix_kb.0.negative-logic` pin and/or invert io pins)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:62
+msgid "Then edit the HAL file to assign a key event to each scancode. For example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/sendkeys.1.adoc:65
+#, no-wrap
+msgid "setp sendkeys.0.scan-event-21 34\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:69
+msgid ""
+"To set a button to type the letter \"G\".  The key events related to each "
+"physical key need to be set up prior to the component activating, but after "
+"the component is loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:71
+msgid ""
+"To achieve this there is a pin **sendkeys._N_.init** which should be set to "
+"\"true\" once the events to be sent for each scancode and pin have been set "
+"up."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:73
+msgid ""
+"To generate keystrokes from other sources note that a keydown is simply "
+"`0xC0 & keycode and keyup is 0x80 & keycode`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/sendkeys.1.adoc:76
+#, no-wrap
+msgid "**sendkeys.**_N_**.keycode** u32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:78
+msgid "Connect to scancode generator."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/sendkeys.1.adoc:79
+#, no-wrap
+msgid "**sendkeys.**_N_**.current-event** s32 out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:81
+msgid "shows the current scancode without keyup / keydown markers."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/sendkeys.1.adoc:82
+#, no-wrap
+msgid "**sendkeys.**_N_**.init** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:84
+msgid "set this pin TRUE once all the event parameters have been set."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/sendkeys.1.adoc:87
+#, no-wrap
+msgid "**sendkeys.**_N_**.scan-event-_MM_** u32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:89
+msgid "assign the uinput event codes associated with each scancode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/sendkeys.1.adoc:90
+#, no-wrap
+msgid "**sendkeys.**_N_**.pin-event-_MM_** u32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sendkeys.1.adoc:92
+msgid "assign the uinput codes associated with each HAL bit pin."
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/sendkeys.1.adoc:98
+#, no-wrap
+msgid ""
+"loadusr -W sendkeys config=16t2\n"
+"net scancodes hm2_7i73.0.0.keycode => sendkeys.0.keycode\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/sendkeys.1.adoc:118
+#, no-wrap
+msgid ""
+"setp sendkeys.0.scan-event-00 34 # Key G\n"
+"setp sendkeys.0.scan-event-01  2 # Key 1\n"
+"setp sendkeys.0.scan-event-02  3 # Key 2\n"
+"setp sendkeys.0.scan-event-03  4 # Key 3\n"
+"setp sendkeys.0.scan-event-04 50 # Key M\n"
+"setp sendkeys.0.scan-event-05 05 # Key 4\n"
+"setp sendkeys.0.scan-event-06 06 # Key 5\n"
+"setp sendkeys.0.scan-event-07 07 # Key 6\n"
+"setp sendkeys.0.scan-event-08 31 # Key S\n"
+"setp sendkeys.0.scan-event-09  8 # Key 7\n"
+"setp sendkeys.0.scan-event-10  9 # Key 8\n"
+"setp sendkeys.0.scan-event-11 10 # Key 9\n"
+"setp sendkeys.0.scan-event-12 20 # Key T\n"
+"setp sendkeys.0.scan-event-13 11 # Key 0\n"
+"setp sendkeys.0.scan-event-14 52 # Key Dot\n"
+"setp sendkeys.0.scan-event-15 14 # Backspace\n"
+"setp sendkeys.0.pin-event-00 29 # Left Ctrl\n"
+"setp sendkeys.0.pin-event-01 57 # Space\n"
+"setp sendkeys.0.init 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/sendkeys.1.adoc:121
+#, no-wrap
+msgid ""
+"#Send Ctl + Space from one trigger\n"
+"net clear-errors parport.0.pin.00.in sendkeys.0.trigger-00 "
+"sendkeys.0.trigger-01\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/setup_designer.1.adoc:1
+#, no-wrap
+msgid "setup_designer(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/setup_designer.1.adoc:6
+msgid "setup_designer - A script to configure the system for use of QTdesigner"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/setup_designer.1.adoc:11
+#, no-wrap
+msgid ""
+"*setup_designer* Run this script to prepare your system for custom GUI\n"
+"creatiuon using the QT toolset.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/setup_designer.1.adoc:13
+msgid "See the QTVCP documentation for more details."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/shuttle.1.adoc:1
+#, no-wrap
+msgid "shuttle(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:7
+msgid ""
+"shuttle - control HAL pins with the ShuttleXpress, ShuttlePRO, and "
+"ShuttlePRO2 device made by Contour Design"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:11
+#, no-wrap
+msgid "*loadusr shuttle* [_DEVICE_ ...]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:16
+msgid ""
+"shuttle is a non-realtime HAL component that interfaces Contour Design's "
+"ShuttleXpress, ShuttlePRO, and ShuttlePRO2 devices with LinuxCNC's HAL."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/shuttle.1.adoc:34 src/man/man1/xhc-hb04.1.adoc:30
+#: src/man/man1/xhc-whb04b-6.1.adoc:70
+#, no-wrap
+msgid "UDEV"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:38
+msgid ""
+"The shuttle driver needs read permission to the Shuttle devices' "
+"/dev/hidraw* device files.  This can be accomplished by adding a file "
+"*/etc/udev/rules.d/99-shuttle.rules*, with the following contents:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/shuttle.1.adoc:42
+#, no-wrap
+msgid ""
+"SUBSYSTEM==\"hidraw\", ATTRS\\{idVendor}==\"0b33\",\n"
+"ATTRS\\{idProduct}==\"0020\", MODE=\"0444\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/shuttle.1.adoc:45
+#, no-wrap
+msgid ""
+"SUBSYSTEM==\"hidraw\", ATTRS\\{idVendor}==\"05f3\",\n"
+"ATTRS\\{idProduct}==\"0240\", MODE=\"0444\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/shuttle.1.adoc:48
+#, no-wrap
+msgid ""
+"SUBSYSTEM==\"hidraw\", ATTRS\\{idVendor}==\"0b33\",\n"
+"ATTRS\\{idProduct}==\"0030\", MODE=\"0444\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:53
+msgid ""
+"The LinuxCNC Debian package installs an appropriate udev file automatically, "
+"but if you are building LinuxCNC from source and are not using the Debian "
+"packaging, you'll need to install this file by hand.  If you install the "
+"file by hand you'll need to tell udev to reload its rules files by running "
+"`udevadm control --reload-rules`."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/shuttle.1.adoc:54
+#, no-wrap
+msgid "A warning about the Jog Wheel"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:60
+msgid ""
+"The Shuttle devices have an internal 8-bit counter for the current jog-wheel "
+"position.  The shuttle driver can not know this value until the Shuttle "
+"device sends its first event.  When the first event comes into the driver, "
+"the driver uses the device's reported jog-wheel position to initialize "
+"counts to 0.  This means that if the first event is generated by a jog-wheel "
+"move, that first move will be lost."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:69
+msgid ""
+"All HAL pin names are prefixed with `shuttle` followed by the index of the "
+"device (the order in which the driver found them), for example `shuttle.0` "
+"or \"`huttle.2`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/shuttle.1.adoc:70
+#, no-wrap
+msgid "_(prefix).button-(number)_ (bit out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/shuttle.1.adoc:71
+#, no-wrap
+msgid "_(prefix).button-(number)-not_ (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:74
+#, no-wrap
+msgid ""
+"The momentary buttons. \"(number)\" identifies which button corresponds to "
+"the HAL pin.\n"
+"The \"button-(number)\" pins are True when the button is pushed, the "
+"\"button-(number)-not\" pins are True when the button is not pushed.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/shuttle.1.adoc:74
+#, no-wrap
+msgid "_(prefix).counts_ (s32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:76
+#, no-wrap
+msgid "Accumulated counts from the jog wheel (the inner wheel).\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/shuttle.1.adoc:76
+#, no-wrap
+msgid "_(prefix).spring-wheel-s32_ (s32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:79
+#, no-wrap
+msgid ""
+"The current deflection of the spring-wheel (the outer wheel).\n"
+"It's 0 at rest, and ranges from -7 at the counter-clockwise extreme to +7 at "
+"the clockwise extreme.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/shuttle.1.adoc:79
+#, no-wrap
+msgid "_(prefix).spring-wheel-f_ (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/shuttle.1.adoc:82
+msgid ""
+"The current deflection of the spring-wheel (the outer wheel).  It's 0.0 at "
+"rest, -1.0 at the counter-clockwise extreme, and +1.0 at the clockwise "
+"extreme.  (The Shuttle devices report the spring-wheel position as an "
+"integer from -7 to +7, so this pin reports only 15 discrete values in its "
+"range.)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/sim_pin.1.adoc:1
+#, no-wrap
+msgid "sim_pin(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:6
+msgid "sim_pin - GUI for displaying and setting one or more HAL inputs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:10
+#, no-wrap
+msgid "**sim_pin* _[Options]_ _name1_ [_name2_ [_name3_ ...]]*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:12
+msgid "_Options_: *--help* (shows help text) *--title title_string*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:15
+msgid ""
+"For bit items, the name may include a /mode= specifier: "
+"_namei_*/mode=*[*pulse* | *toggle* | *hold*] (default is toggle)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:20
+msgid "HAL boolean items (bit) and numerical items (u32, s32, float) are supported."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:22
+msgid "If the named input is a numerical type, the GUI displays:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:28
+#, no-wrap
+msgid ""
+"*Entry* Entry widget for value or a valid Tcl expression. +\n"
+"*Set* Pushbutton to set new value from Entry (or use <RETURN>) +\n"
+"*Reset* Pushbutton to reset to the value present on initiation If the\n"
+"input is a *bit* type, the GUI shows a single pushbutton that is\n"
+"controlled by radio-button selectors:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:32
+#, no-wrap
+msgid ""
+"mode=**pulse** Pulse input to 1 for each pushbutton press\n"
+"mode=**toggle** Toggle input for each pushbutton press\n"
+"mode=**hold** Set input to 1 while pushbutton pressed"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:35
+msgid ""
+"If the bit item mode begins with an uppercase letter, the radio buttons for "
+"selecting other modes are not shown"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:39
+msgid "LinuxCNC or a standalone HAL application must be running"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:42
+msgid ""
+"A named item can specify a *pin*, *param*, or *signal*. The named item must "
+"be writable:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:46
+#, no-wrap
+msgid ""
+"*pin IN or I/O* (and not connected to a signal with a writer) +\n"
+"*param RW* +\n"
+"*signal connected to a writable pin*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:51
+#, no-wrap
+msgid ""
+"*sim_pin* can be used interactively from a shell command line or started\n"
+"automatically from a configuration INI file.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:55
+msgid "Example for INI file usage:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/sim_pin.1.adoc:59
+#, no-wrap
+msgid ""
+"[APPLICATIONS] DELAY = 5 APP = *sim_pin* \\\n"
+"halui.machine.off/mode=pulse \\\n"
+"ini.traj_arc_blend_enable \\\n"
+"motion-command-handler-tmax"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/simulate_probe.1.adoc:1
+#, no-wrap
+msgid "simulate_probe(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/simulate_probe.1.adoc:6
+msgid "simulate_probe - simulate a probe input"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/simulate_probe.1.adoc:10
+#, no-wrap
+msgid "*simulate_probe*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/simulate_probe.1.adoc:15
+#, no-wrap
+msgid ""
+"*simulate_probe* Creates an on-screen GUI button to simulate touch probe "
+"input.\n"
+"Typically used in sim configs or debugging.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/stepconf.1.adoc:1
+#, no-wrap
+msgid "stepconf(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/stepconf.1.adoc:6
+msgid "stepconf - A configuration wizard for parallel-port based machines."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/stepconf.1.adoc:10
+#, no-wrap
+msgid "*stepconf*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/stepconf.1.adoc:14
+#, no-wrap
+msgid ""
+"*stepconf* aids in the configuration of machines using the parallel port "
+"interface.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/stepconf.1.adoc:16
+msgid "Detailed docs: https://linuxcnc.org/docs/html/config/stepconf.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/svd-ps_vfd.1.adoc:1
+#, no-wrap
+msgid "svd-ps_vfd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:6
+msgid "svd-ps_vfd - HAL non-realtime component for SVD-P(S) VFDs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:11
+#, no-wrap
+msgid "*svd-ps_vfd* [_OPTIONS_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:16
+msgid ""
+"The svd-ps_vfd component interfaces a Soyan Power SVD-P(S) VFD to the "
+"LinuxCNC HAL.  The VFD is connected via RS-485 to the LinuxCNC computer."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:18
+msgid "The SVD-P(S) VFDs are also sold under the LAPOND brand."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:22
+msgid ""
+"The SVD-P(S) VFDs do not come with a Modbus daughterboard by default, it "
+"needs to be purchased separately."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:27
+msgid ""
+"The sad-ps_vfd component uses standard Modbus protocol communication, which "
+"requires that one parameter be changed from the default settings:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:29
+msgid "PD-05 = 1 (Standard Modbus protocol)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:31
+msgid ""
+"The following settings have been tested successfully and are the default per "
+"Soyans documentation:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:33
+msgid "PD-00 = 6005 (9600 baud)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:35
+msgid "PD-01 = 0 (8N2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:37
+msgid "PD-02 = 1 (Slave address)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:39
+msgid "PD-03 = 2 (Response delay)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:41
+msgid "PD-04 = 0 (Communication timeout)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:43
+msgid "PD-06 = 0 (Current resolution)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:52
+#, no-wrap
+msgid ""
+"For Modbus communication, set number of data bits to _N_.\n"
+"_N_ must be between 5 and 8 inclusive. (default 8)\n"
+"*-p*, *--parity* [Even,Odd,None]\n"
+"  For Modbus communication, set serial parity to Even, Odd, or None.\n"
+"  (default None)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:56
+msgid ""
+"For Modbus communication, set baud rate to _N_.  It is an error if the rate "
+"is not one of the following: 1200, 2400, 4800, 9600, 19200, 38400 (default "
+"9600)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:59
+msgid "For Modbus communication set serial stop bits to 1 or 2.  (default 2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:63
+msgid ""
+"For Modbus communication, set Modbus target (slave) number.  This must match "
+"the device number you set on the Huanyang GT VFD.  (default 1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:65
+msgid ""
+"For Modbus communication, set the name of the serial device node to "
+"use. (default /dev/ttyS0)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:69
+msgid "The motor's max speed in RPM."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:71
+msgid "This is the maximum output frequency of the VFD in Hz."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:73
+msgid "This is the minimum output frequency of the VFD in Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:76
+#, no-wrap
+msgid "*svd-ps_vfd.period* (float, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:81
+msgid ""
+"The period for the driver's update cycle, in seconds.  This is how "
+"frequently the driver will wake up, check its HAL pins, and communicate with "
+"the VFD.  Must be between 0.001 and 2.000 seconds.  Default: 0.1 seconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:82
+#, no-wrap
+msgid "*svd-ps_vfd.speed-cmd* (float, in)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:85
+#, no-wrap
+msgid "*svd-ps_vfd.speed-fb* (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:88
+#, no-wrap
+msgid "*svd-ps_vfd.at-speed* (bit, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:92
+#, no-wrap
+msgid "*svd-ps_vfd.freq-cmd* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:95
+msgid ""
+"The requested output frequency, in Hz.  This is set from the `.speed-cmd` "
+"value, and is just shown for debugging purposes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:96
+#, no-wrap
+msgid "*svd-ps_vfd.freq-fb* (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:99
+#, no-wrap
+msgid "*svd-ps_vfd.spindle-on* (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:102
+msgid ""
+"Set this pin True to command the spindle on, at the speed requested on the "
+"`.speed-cmd` pin.  Set this pin False to command the spindle off."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:103
+#, no-wrap
+msgid "*svd-ps_vfd.output-voltage* (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:106
+#, no-wrap
+msgid "*svd-ps_vfd.output-current* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:108
+msgid "The current that the motor is currently drawing from the VFD, in Amperes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:109
+#, no-wrap
+msgid "*hsvd-ps_vfd.output-power* (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:112
+#, no-wrap
+msgid "*svd-ps_vfd.dc-bus-voltage* (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:115
+#, no-wrap
+msgid "*svd-ps_vfd.modbus-errors* (u32, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:119
+#, no-wrap
+msgid "*svd-ps_vfd.input-terminal* (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:121
+#, no-wrap
+msgid "*svd-ps_vfd.AI1* (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/svd-ps_vfd.1.adoc:123
+#, no-wrap
+msgid "*svd-ps_vfd.AI2* (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/svd-ps_vfd.1.adoc:128
+msgid "Tinic Uro"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/teach-in.1.adoc:1
+#, no-wrap
+msgid "teach-in(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/teach-in.1.adoc:6
+msgid "teach-in - jog the machine to a position, and record the state"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/teach-in.1.adoc:10
+#, no-wrap
+msgid "*teach-in* [> _outfile_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/teach-in.1.adoc:14
+#, no-wrap
+msgid "*teach-in* is a script to learn set positions for later use by a script.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/teach-in.1.adoc:17
+msgid ""
+"A dialog box is shown with options to choose the coordinate system.  Each "
+"press of the \"Learn\" button outputs a line of text to stdout or the file "
+"chosen at load time."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/teach-in.1.adoc:19
+msgid "Line format: line-no X Y Z flood mist spindle"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/tool_mmap_read.1.adoc:1
+#, no-wrap
+msgid "tool_mmap_read(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tool_mmap_read.1.adoc:6
+msgid ""
+"tool_mmap_read - A component of the tool database system (an alternative to "
+"the classic tooltable)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tool_mmap_read.1.adoc:10
+#, no-wrap
+msgid "*tool_mmap_read* is not intended to be invoked by the user.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tool_mmap_read.1.adoc:17
+msgid ""
+"See the Tool Database Interface section of the LinuxCNC Documentation for "
+"more information at "
+"https://linuxcnc.org/docs/stable/html/tooldatabase/tooldatabase.html."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/tool_watch.1.adoc:1
+#, no-wrap
+msgid "tool_watch(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tool_watch.1.adoc:7
+msgid ""
+"tool_watch - A component of the tool database system (an alternative to the "
+"classic tooltable)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tool_watch.1.adoc:11
+#, no-wrap
+msgid "*tool_watch* is not intended to be invoked by the user.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tool_watch.1.adoc:15
+msgid ""
+"See the Tool Database Interface section of the LinuxCNC Documentation for "
+"more information.  "
+"https://linuxcnc.org/docs/stable/html/tooldatabase/tooldatabase.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/tooledit.1.adoc:1
+#, no-wrap
+msgid "tooledit(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tooledit.1.adoc:6
+msgid "tooledit - tool table editor"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tooledit.1.adoc:10
+#, no-wrap
+msgid "*tooledit*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tooledit.1.adoc:14
+#, no-wrap
+msgid "*tooledit* a graphical tool table editor\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/tooledit.1.adoc:16
+msgid "details:"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/touchy.1.adoc:1
+#, no-wrap
+msgid "touchy(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/touchy.1.adoc:6
+msgid "touchy - TOUCHY LinuxCNC Graphical User Interface"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/touchy.1.adoc:10
+#, no-wrap
+msgid "*touchy* *-ini* _<INI file>_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/touchy.1.adoc:15
+#, no-wrap
+msgid ""
+"*touchy* is one of the Graphical User Interfaces (GUI) for LinuxCNC.\n"
+"It gets run by the runscript usually.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/touchy.1.adoc:23
+msgid ""
+"The INI file is the main piece of an LinuxCNC configuration.  It is not the "
+"entire configuration; there are various other files that go with it (NML "
+"files, HAL files, TBL files, VAR files).  It is, however, the most important "
+"one, because it is the file that holds the configuration together.  It can "
+"adjust a lot of parameters itself, but it also tells *LinuxCNC* which other "
+"files to load and use."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/update_ini.1.adoc:1
+#, no-wrap
+msgid "update_ini(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/update_ini.1.adoc:6
+msgid "update_ini - converts 2.7 format INI files to 2.8 format"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/update_ini.1.adoc:10
+#, no-wrap
+msgid "*update_ini* [*-f*] [*-d*] _<INI_ file>_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/update_ini.1.adoc:14
+#, no-wrap
+msgid ""
+"*update_ini* is run automatically by the \"linuxcnc\" script when an INI "
+"file in the pre-joints-axes format is opened.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/update_ini.1.adoc:16
+msgid "-d causes a dialog box to be shown asking if the script should be run."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/update_ini.1.adoc:18
+msgid "-f is designed for auto-conversion and will not create the backup files."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/vfdb_vfd.1.adoc:1
+#, no-wrap
+msgid "vfdb_vfd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:6
+msgid ""
+"vfdb_vfd - HAL non-realtime component for Delta VFD-B Variable Frequency "
+"Drives"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:10
+#, no-wrap
+msgid "*vfdb_vfd* [OPTIONS]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:15
+msgid ""
+"This manual page explains the *vfdb_vfd* component.  This component reads "
+"and writes to the VFD-B device via a Modbus connection."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:17
+#, no-wrap
+msgid "*vfdb_vfd* is for use with LinuxCNC.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/vfdb_vfd.1.adoc:18
+#, no-wrap
+msgid "QUICK START"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:24
+msgid ""
+"The VFD-B ships in a configuration that can not talk to this driver. The "
+"VFD-B must be reconfigured via the face plate by the integrator before it "
+"will work. This section gives a brief description of what changes need to be "
+"made, consult your Delta VFD-B manual for more details."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:26
+#, no-wrap
+msgid "Switch the VFD-B to Modbus RTU frame format"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/vfdb_vfd.1.adoc:29
+msgid ""
+"Switch parameter 09-04 from the factory default of 0 (Ascii framing) to 3, "
+"4, or 5 (RTU framing).  The setting you choose will determine several serial "
+"parameters in addition to the Modbus framing protocol."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:29
+#, no-wrap
+msgid "Set the frequency control source to be Modbus, not the keypad"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/vfdb_vfd.1.adoc:31
+msgid ""
+"Switch parameter 02-00 from factory default of 00 (keypad control) to 5 "
+"(control from RS-485)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:31
+#, no-wrap
+msgid "Set the run/stop control source to be Modbus, not the keypad"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man1/vfdb_vfd.1.adoc:33
+msgid ""
+"Switch parameter 02-01 from the factory default of 0 (control from keypad) "
+"to 3 (control from Modbus, with Stop enabled on the keypad)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:37 src/man/man1/vfs11_vfd.1.adoc:20
+#, no-wrap
+msgid "-n --name <halname>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:39 src/man/man1/vfs11_vfd.1.adoc:22
+msgid "set the HAL component name"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:40 src/man/man1/vfs11_vfd.1.adoc:23
+#, no-wrap
+msgid "-d --debug"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:43
+msgid ""
+"Turn on debugging messages.  Also toggled by sending a USR1 signal to the "
+"vfdb_vfd process."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:44 src/man/man1/vfs11_vfd.1.adoc:26
+#, no-wrap
+msgid "-m --modbus-debug"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:48
+msgid ""
+"Turn on Modbus debugging messages.  This will cause all Modbus messages to "
+"be printed in hex on the terminal.  Also toggled by sending a USR2 signal to "
+"the vfdb_vfd process."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:49 src/man/man1/vfs11_vfd.1.adoc:31
+#, no-wrap
+msgid "-I --ini <INI file>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:53
+msgid ""
+"take configuration from this _INI file_.  Defaults to environment variable "
+"INI_FILE_NAME.  Most vfdb_vfd configuration comes from the INI file, not "
+"from command-line arguments."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:54 src/man/man1/vfs11_vfd.1.adoc:34
+#, no-wrap
+msgid "-S --section <section name>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:56
+msgid "take configuration from this section in the INI file. Defaults to 'VFD-B'."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:57 src/man/man1/vfs11_vfd.1.adoc:37
+#, no-wrap
+msgid "-r --report-device"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:59
+msgid "report device propertiers on console at startup"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/vfdb_vfd.1.adoc:60
+#, no-wrap
+msgid "INI CONFIG VARIABLES"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:64
+msgid ""
+"Set to a non-zero value to enable general debug output from the VFD-B "
+"driver. Optional."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:65
+#, no-wrap
+msgid "MODBUS_DEBUG"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:67
+msgid ""
+"Set to a non-zero value to enable modbus debug output from the VFD-B "
+"driver. Optional."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:68
+#, no-wrap
+msgid "DEVICE"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:70
+msgid ""
+"Serial port device file to use for Modbus communication with the "
+"VFD-B. Defaults to '/dev/ttyS0'."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:71
+#, no-wrap
+msgid "BAUD"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:73
+msgid "Modbus baud rate. Defaults to 19200."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:74
+#, no-wrap
+msgid "BITS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:76
+msgid "Modbus data bits. Defaults to 8."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:77
+#, no-wrap
+msgid "PARITY"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:79
+msgid "Modbus parity. Defaults to Even. Accepts 'Even', 'Odd', or 'None'."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:80
+#, no-wrap
+msgid "STOPBITS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:82
+msgid "Modbus stop bits. Defaults to 1."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:83
+#, no-wrap
+msgid "TARGET"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:85
+msgid "Modbus target number of the VFD-B to speak to. Defaults to 1."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:86
+#, no-wrap
+msgid "POLLCYCLES"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:89
+msgid ""
+"Only read the less important variables from the VFD-B once in this many poll "
+"cycles. Defaults to 10."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:90
+#, no-wrap
+msgid "RECONNECT_DELAY"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:93
+msgid ""
+"If the connection to the VFD-B is broken, wait this many seconds before "
+"reconnecting. Defaults to 1."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:94
+#, no-wrap
+msgid "MOTOR_HZ, MOTOR_RPM"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:97
+msgid ""
+"The frequency of the motor (in Hz) and the corresponding speed of the motor "
+"(in RPM).  This information is provided by the motor manufacturer, and is "
+"generally printed on the motor's name plate."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:102
+msgid "True when drive is at commanded speed (see _speed-tolerance_ below)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:103 src/man/man1/vfs11_vfd.1.adoc:60
+#, no-wrap
+msgid "<name>.enable (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:105
+msgid ""
+"Enable the VFD. If False, all operating parameters are still read but "
+"control is released and panel control is enabled (subject to VFD setup)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:108
+msgid ""
+"Current target frequency in HZ as set through speed-command (which is in "
+"RPM), from the VFD."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:111
+msgid "Current output frequency of the VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:112 src/man/man1/vfs11_vfd.1.adoc:78
+#, no-wrap
+msgid "<name>.inverter-load-percentage (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:114
+msgid "Current load report from VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:115 src/man/man1/vfs11_vfd.1.adoc:81
+#, no-wrap
+msgid "<name>.is-e-stopped (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:117
+msgid "The VFD is in emergency stop status (blinking \"E\" on panel)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:120
+msgid "True when the VFD reports 0 Hz output."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:121 src/man/man1/vfs11_vfd.1.adoc:88
+#, no-wrap
+msgid "<name>.jog-mode (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:124
+msgid ""
+"1 for ON and 0 for OFF, enables the VFD-B 'jog mode'.  Speed control is "
+"disabled. This might be useful for spindle orientation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:125
+#, no-wrap
+msgid "<name>.max-rpm (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:131
+msgid ""
+"Actual RPM limit based on maximum frequency the VFD may generate, and the "
+"motors nameplate values.  For instance, if _nameplate-HZ_ is 50, and "
+"_nameplate-RPM_ is 1410, but the VFD may generate up to 80Hz, then _max-rpm_ "
+"would read as 2256 (80*1410/50).  The frequency limit is read from the VFD "
+"at startup.  To increase the upper frequency limit, the UL and FH parameters "
+"must be changed on the panel.  See the VFD-B manual for instructions how to "
+"set the maximum frequency."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:132 src/man/man1/vfs11_vfd.1.adoc:100
+#, no-wrap
+msgid "<name>.modbus-ok (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:134
+msgid ""
+"True when the Modbus session is successfully established and the last 10 "
+"transactions returned without error."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:137
+msgid "Estimated current RPM value, from the VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:138
+#, no-wrap
+msgid "<name>.motor-RPS (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:140
+msgid "Estimated current RPS value, from the VFD."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:143 src/man/man1/vfdb_vfd.1.adoc:146
+msgid "From the VFD."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:150
+msgid ""
+"Speed sent to VFD in RPM. It is an error to send a speed faster than the "
+"Motor Max RPM as set in the VFD."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:153
+msgid "1 for ON and 0 for OFF sent to VFD, only on when running."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:154 src/man/man1/vfs11_vfd.1.adoc:127
+#, no-wrap
+msgid "<name>.max-speed (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:157
+msgid ""
+"Ignore the loop-time parameter and run Modbus at maximum speed, at the "
+"expense of higher CPU usage. Suggested use during spindle positioning."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:158 src/man/man1/vfs11_vfd.1.adoc:131
+#, no-wrap
+msgid "<name>.status (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:160
+msgid "Drive Status of the VFD (see the VFD manual). A bitmap."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:161
+#, no-wrap
+msgid "<name>.error-count (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:163
+msgid "Total number of transactions returning a Modbus error."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:164
+#, no-wrap
+msgid "<name>.error-code (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:166
+msgid "Most recent Error Code from VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:167
+#, no-wrap
+msgid "<name>.frequency-limit (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:169
+msgid "Upper limit read from VFD setup."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:174
+msgid "How often the Modbus is polled (default interval 0.1 seconds)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:179
+msgid ""
+"Nameplate Hz of motor (default 50). Used to calculate target frequency "
+"(together with _nameplate-RPM_ ) for a target RPM value as given by "
+"speed-command."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:182 src/man/man1/vfs11_vfd.1.adoc:154
+msgid "Nameplate RPM of motor (default 1410)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfdb_vfd.1.adoc:183 src/man/man1/vfs11_vfd.1.adoc:155
+#, no-wrap
+msgid "<name>.rpm-limit (float, RW)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:185
+msgid "Do-not-exceed soft limit for motor RPM (defaults to _nameplate-RPM_ )."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:188
+msgid ""
+"Speed tolerance (default 0.01) for determining whether spindle is at speed "
+"(0.01 meaning: output frequency is within 1% of target frequency)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:195
+msgid ""
+"The vfdb_vfd driver takes precedence over panel control while it is enabled "
+"(see _.enable_ pin), effectively disabling the panel.  Clearing the "
+"_.enable_ pin re-enables the panel.  Pins and parameters can still be set, "
+"but will not be written to the VFD untile the .enable pin is set.  Operating "
+"parameters are still read while bus control is disabled."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:197
+msgid ""
+"Exiting the vfdb_vfd driver in a controlled way will release the VFD from "
+"the bus and restore panel control."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:200
+msgid ""
+"See the LinuxCNC Integrators Manual for more information.  For a detailed "
+"register description of the Delta VFD-B, see the VFD manual."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfdb_vfd.1.adoc:204
+msgid "Yishin Li; based on vfd11_vfd by Michael Haberler."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/vfs11_vfd.1.adoc:1
+#, no-wrap
+msgid "vfs11_vfd(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:6
+msgid ""
+"vfs11_vfd - HAL non-realtime component for Toshiba-Schneider VF-S11 Variable "
+"Frequency Drives"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:10
+#, no-wrap
+msgid "*vfs11_vfd* [OPTIONS]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:15
+msgid ""
+"This manual page explains the *vfs11_vfd* component.  This component reads "
+"and writes to the vfs11 via a Modbus connection."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:17
+#, no-wrap
+msgid "*vfs11_vfd* is for use with LinuxCNC.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:25
+msgid ""
+"Turn on debugging messages. Also toggled by sending a USR1 signal to the "
+"vfs11_vfd process."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:30
+msgid ""
+"Turn on Modbus debugging messages.  This will cause all Modbus messages to "
+"be printed in hex on the terminal.  Also toggled by sending a USR2 signal to "
+"the vfs11_vfd process."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:33
+msgid ""
+"takes configuration from this INI file. Defaults to environment variable "
+"INI_FILE_NAME."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:36
+msgid "take configuration from this section in the INI file. Defaults to 'VFS11'."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:39
+msgid "Reports device propertiers on console at startup."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:42
+#, no-wrap
+msgid "<name>.acceleration-pattern (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:45
+msgid ""
+"when true, set acceleration and deceleration times as defined in registers "
+"F500 and F501 respectively.  Used in PID loops to choose shorter ramp times "
+"to avoid oscillation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:46
+#, no-wrap
+msgid "<name>.alarm-code (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:50
+msgid ""
+"non-zero if drive is in alarmed state.  Bitmap describing alarm information "
+"(see register FC91 description).  Use _err-reset_ (see below) to clear the "
+"alarm."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:53
+msgid "when drive is at commanded speed (see _speed-tolerance_ below)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:54
+#, no-wrap
+msgid "<name>.current-load-percentage (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:56
+msgid "reported from the VFD"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:57
+#, no-wrap
+msgid "<name>.dc-brake (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:59
+msgid "engage the DC brake. Also turns off spindle-on."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:63
+msgid ""
+"enable the VFD. If false, all operating parameters are still read but "
+"control is released and panel control is enabled (subject to VFD setup)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:67
+msgid ""
+"reset errors (alarms a.k.a Trip and e-stop status).  Resetting the VFD may "
+"cause a 2-second delay until it's rebooted and Modbus is up again."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:68
+#, no-wrap
+msgid "<name>.estop (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:71
+msgid ""
+"put the VFD into emergency-stopped status.  No operation possible until "
+"cleared with _err-reset_ or powercycling."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:74
+msgid ""
+"current target frequency in Hz as set through speed-command (which is in "
+"RPM), from the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:77
+msgid "current output frequency of the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:80
+msgid "current load report from VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:84
+msgid ""
+"the VFD is in emergency stop status (blinking \"E\" on panel).  Use "
+"_err-reset_ to reboot the VFD and clear the e-stop status."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:87
+msgid "true when the VFD reports 0 Hz output"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:92
+msgid ""
+"1 for ON and 0 for OFF, enables the VF-S11 'jog mode'.  Speed control is "
+"disabled, and the output frequency is determined by register F262 (preset to "
+"5 Hz).  This might be useful for spindle orientation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:93
+#, no-wrap
+msgid "<name>.max-rpm (float, R)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:99
+msgid ""
+"actual RPM limit based on maximum frequency the VFD may generate, and the "
+"motors nameplate values.  For instance, if _nameplate-HZ_ is 50, and "
+"_nameplate-RPM__ is 1410, but the VFD may generate up to 80Hz, then "
+"_max-rpm_ would read as 2256 (80*1410/50).  The frequency limit is read from "
+"the VFD at startup.  To increase the upper frequency limit, the UL and FH "
+"parameters must be changed on the panel.  See the VF-S11 manual for "
+"instructions how to set the maximum frequency."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:102
+msgid ""
+"true when the Modbus session is successfully established and the last 10 "
+"transactions returned without error."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:105
+msgid "estimated current RPM value, from the VFD"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:106
+#, no-wrap
+msgid "<name>.output-current-percentage (float, out)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:109
+#, no-wrap
+msgid "<name>.output-voltage-percentage (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:117
+msgid ""
+"speed sent to VFD in RPM. It is an error to send a speed faster than the "
+"Motor Max RPM as set in the VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:120
+msgid "1 for FWD and 0 for REV, sent to VFD"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:130
+msgid ""
+"ignore the loop-time parameter and run Modbus at maximum speed, at the "
+"expense of higher CPU usage.  Suggested use during spindle positioning."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:133
+msgid ""
+"Drive Status of the VFD (see the TOSVERT VF-S11 Communications Function "
+"Instruction Manual, register FD01). A bitmap."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:134
+#, no-wrap
+msgid "<name>.trip-code (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:136
+msgid "trip code if VF-S11 is in tripped state."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:139
+msgid "total number of transactions returning a Modbus error"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/vfs11_vfd.1.adoc:142
+#, no-wrap
+msgid "<name>.frequency-limit (float, RO)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:144
+msgid "upper limit read from VFD setup."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:147
+msgid "how often the Modbus is polled (default interval 0.1 seconds)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:151
+msgid ""
+"Nameplate Hz of motor (default 50).  Used to calculate target frequency "
+"(together with _nameplate-RPM_ ) for a target RPM value as given by "
+"speed-command."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:157
+msgid "do-not-exceed soft limit for motor RPM (defaults to _nameplate-RPM_ )."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:160
+msgid ""
+"speed tolerance (default 0.01) for determining whether spindle is at speed "
+"(0.01 meaning: output frequency is within 1% of target frequency)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:168
+msgid ""
+"The vfs11_vfd driver takes precedence over panel control while it is enabled "
+"(see _.enable` pin), effectively disabling the panel.  Clearing the "
+"`.enable` pin re-enableds the panel.  Pins and parameters can still be set, "
+"but will not be written to the VFD untile the `.enable` pin is set.  "
+"Operating parameters are still read while bus control is disabled."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:170
+msgid ""
+"Exiting the vfs11_vfd driver in a controlled will release the VFD from the "
+"bus and restore panel control."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:175
+msgid ""
+"See the LinuxCNC Integrators Manual for more information.  For a detailed "
+"register description of the Toshiba VFD's, see the \"TOSVERT VF-S11 "
+"Communications Function Instruction Manual\" (Toshiba document number "
+"E6581222)  and the \"TOSVERT VF-S11 Instruction manual\" (Toshiba document "
+"number E6581158)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/vfs11_vfd.1.adoc:179
+msgid "Michael Haberler; based on gs2_vfd by Steve Padnos and John Thornton."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/xhc-hb04-accels.1.adoc:1
+#, no-wrap
+msgid "xhc-hb04-accels(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04-accels.1.adoc:6
+msgid "xhc-hb04-accels - Obsolete script for jogging wheel"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04-accels.1.adoc:10
+#, no-wrap
+msgid "*xhc-hb04-accels*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04-accels.1.adoc:15
+#, no-wrap
+msgid ""
+"*xhc-hb04-accels* Obsolete script, xhc-hb04.tcl now controls reduced\n"
+"wheel jogging accels.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/xhc-hb04.1.adoc:1
+#, no-wrap
+msgid "xhc-hb04(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:6
+msgid "xhc-hb04 - HAL non-realtime component for the xhc-hb04 pendant."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:12
+msgid ""
+"The xhc-hb04 component supports a common USB pendant that provides a number "
+"of pushbuttons, a manual pulse generator (mpg or jog wheel), and a selector "
+"switch for the wheel."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:16
+msgid ""
+"There are at least two hardware versions -- one with 16 buttons and a more "
+"common one with 18 buttons. The information herein is based on the 18 button "
+"device with a USB Vendor:Product code of 10CE:EB70."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:24
+msgid ""
+"In addition to buttons, the pendant provides an LCD display for the current "
+"stepsize multiplier (from a set of available integer values), position "
+"(absolute and relative, labeled MC and WC respectively), feedrate (override "
+"percent and value in units per minute), and spindle speed (override percent "
+"and value in revolutions per minute (RPM)). The display is managed by a "
+"rotary switch that selects one of four axes for wheel positioning, feed "
+"override, spindle override, or OFF."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:29
+msgid ""
+"The pendant display, its rotary selector switch, and the component pin names "
+"use designators x,y,z,a. While this arrangement presumes a machine "
+"configured as XYZA, the pins can be assigned independently as required in a "
+"HAL configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:36
+msgid ""
+"The xhc-hb04 executable needs permission for reading the pendant's USB "
+"device. Debian package installs (debs) handle this automatically but "
+"Run-In-Place (RIP) builds may need a udev rules file. This file should be "
+"created (using sudo and a text editor) as:"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:39
+#, no-wrap
+msgid "/etc/udev/rules.d/99-xhc-hb04.rules with the single line:\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:41
+#, no-wrap
+msgid ""
+"ATTR{idProduct}==\"eb70\", ATTR{idVendor}==\"10ce\", MODE=\"0666\", "
+"OWNER=\"root\", GROUP=\"plugdev\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:52
+msgid ""
+"The xhc-hb04 program can be run from the command line without LinuxCNC to "
+"test a pendant in a simulation mode. This standalone mode is used to "
+"identify the button codes produced for each button press and to verify "
+"proper counting of the jog wheel. The identified button codes can be used to "
+"create a *button-cfg-file*. When a *button-cfg-file* exists, pendant "
+"operation can be verified using the -I option to specify the file."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:56
+msgid "$ xhc-hb04 [options]"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:59
+#, no-wrap
+msgid "*-h* list command line options and exit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:60
+#, no-wrap
+msgid "*-I button-cfg-file* (see below for file format)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:61
+#, no-wrap
+msgid "*-H* run in real-time HAL mode (simulation mode is default)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:62
+#, no-wrap
+msgid "*-x* wait for pendant detection before creating HAL pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:63
+#, no-wrap
+msgid "*-s *_ n_ _n_ is one of the following stepsize sequences"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:67
+msgid ""
+"1: 1,10,100,1000 (default) 2: 1,5,10,20 3: 1,10,100 4: 1,5,10,20,50,100 5: "
+"1,10,50,100,1000 The stepsize selected is always multiplied by 0.001"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:68
+#, no-wrap
+msgid "button-cfg-file format"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:72
+msgid ""
+"Standard configuration files are provided in the distribution for known "
+"button configurations:"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:79
+#, no-wrap
+msgid ""
+"   /usr/share/linuxcnc/hallib/xhc-hb04-layout1.cfg\n"
+"   /usr/share/linuxcnc/hallib/xhc-hb04-layout2.cfg\n"
+"or for a RIP build:\n"
+"   rip_base_dir/lib/hallib/xhc-hb04-layout1.cfg\n"
+"   rip_base_dir/lib/hallib/xhc-hb04-layout2.cfg\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:83
+msgid ""
+"layout1 describes the 16 button pendant, layout2 describes the more common "
+"18 button pendant."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:86
+msgid ""
+"The button configuration file follows the same format as INI files but "
+"should use a file suffix of .cfg."
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:94
+#, no-wrap
+msgid ""
+"File format:\n"
+"  [XHC-HB04]\n"
+"  BUTTON=X1:button-thename1\n"
+"  BUTTON=X2:button-thename2\n"
+"  BUTTON=X3:button-thename3\n"
+"  etc.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:98
+msgid ""
+"XN is the code reported for a button press and button-thenameN is the name "
+"to be assigned to the pin created for the button."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:99 src/man/man1/xhc-whb04b-6.1.adoc:94
+#, no-wrap
+msgid "HAL Usage"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:102
+msgid "Use the -H option to specify HAL mode and other options as required:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:104
+msgid "_loadusr -W _ *xhc-hb04* _-H [Options]_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:106
+msgid "Example: _loadusr -W _ *xhc-hb04* _-H -I path_to_cfg_file -s 2_"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:107
+#, no-wrap
+msgid "Input Pins (Control)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:109
+#, no-wrap
+msgid "(bit in) _xhc-hb04.stepsize-up_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:112
+msgid ""
+"A 1 pulse on this pin changes the stepsize to the next higher stepsize in "
+"the stepsize sequence specified in the xhc-hb04 (loadusr) command."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:112
+#, no-wrap
+msgid "(bit in) _xhc-hb04.stepsize-down_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:115
+msgid ""
+"A 1 pulse on this pin changes the stepsize to the next lower stepsize in the "
+"stepsize sequence specified in the xhc-hb04 (loadusr) command."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:116
+#, no-wrap
+msgid "Input Pins (to the pendant LCD display)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:118
+#, no-wrap
+msgid "(float in) _xhc-hb04.[xyza].pos-absolute_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:123
+msgid ""
+"Absolute position display. The LCD display for pos-absolute is fixed format "
+"with a sign, 4 number digits and 3 fraction digits (+XXXX.XXX), require: "
+"-9999.999 <= value <= 9999.999 (typically connect to: "
+"halui.axis.N.pos-feedback)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:123
+#, no-wrap
+msgid "(float in) _xhc-hb04.[xyza].pos-relative_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:128
+msgid ""
+"Relative position display (typically connect to: "
+"halui.axis.N.pos-relative). The LCD display for pos-relative is fixed format "
+"with a sign, 4 number digits and 3 fraction digits (+XXXX.XXX), require: "
+"-9999.999 <= value <= 9999.999."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:128
+#, no-wrap
+msgid "(float in) _xhc-hb04.feed-override_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:132
+msgid ""
+"Feed-override value. The float value is converted to a 16 bit integer and "
+"multiplied by 100 in order to display as percent, require: 0 <= pinvalue <= "
+"655 (typically connect to: halui.feed-override.value)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:132
+#, no-wrap
+msgid "(float in) _xhc-hb04.feed-value_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:137
+msgid ""
+"Current Feed-value (units/sec). The float value is converted to a 16 bit "
+"integer and multiplied by 60 in order to display as units-per-minute, "
+"require: 0 <= pinvalue <= 1092 (65520 units-per-minute) (typically connect "
+"to: motion.current-vel)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:137
+#, no-wrap
+msgid "(float in) _xhc-hb04.spindle-override_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:142
+msgid ""
+"Spindle-override value. The float value is converted to a 16 bit integer and "
+"multiplied by 100 in order to display as percent, require: 0 <= pinvalue <= "
+"655) (typically connect to: halui.spindle-override.value)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:142
+#, no-wrap
+msgid "(float in) _xhc-hb04.spindle-rps_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:147
+msgid ""
+"Spindle speed in RPS (revolutions per second). The float value is converted "
+"to a 16 bit integer and multiplied by 60 in order to display as RPMs, "
+"require: 0 <= pinvalue <= 1092 (65520 RPM) (typically connect to: "
+"spindle.N.speed-out-rps-abs)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:147
+#, no-wrap
+msgid "(bit in) _xhc-hb04.inch-icon_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:149
+msgid "Use inch icon (default is mm):"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:150
+#, no-wrap
+msgid "Output Pins (Status)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:152
+#, no-wrap
+msgid "(bit out) _xhc-hb04.sleeping_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:154
+msgid "True when the driver receives a pendant inactive (sleeping) message."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:154
+#, no-wrap
+msgid "(bit out) _xhc-hb04.jog.enable-off_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:157
+msgid ""
+"True when the pendant rotary selector switch is in the OFF position or when "
+"the pendant is sleeping."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:157
+#, no-wrap
+msgid "(bit out) _xhc-hb04.enable-[xyza]_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:160
+msgid ""
+"True when the pendant rotary selector switch is in the [xyza] position and "
+"not sleeping."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:160
+#, no-wrap
+msgid "(bit out) _xhc-hb04.enable-spindle-override_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:164
+msgid ""
+"True when the pendant rotary selector switch is in the Spindle position and "
+"not sleeping (typically connect to: halui.spindle-override-count-enable)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:164
+#, no-wrap
+msgid "(bit out) _xhc-hb04.enable-feed-override_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:168
+msgid ""
+"True when the pendant rotary selector switch is in the feed position and not "
+"sleeping (typically connect to: halui.feed-override-count-enable)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:168
+#, no-wrap
+msgid "(bit out) _xhc-hb04.connected_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:171
+msgid "True when connection to the pendant is established over the USB interface."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:171
+#, no-wrap
+msgid "(bit out) _xhc-hb04.require_pendant_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:173
+msgid "True if driver started with the -x option."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:173
+#, no-wrap
+msgid "(s32 out) _xhc-hb04.stepsize_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:176
+msgid ""
+"Current stepsize in the stepsize sequence as controlled by the stepsize-up "
+"and/or stepsize-down pins."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:177
+#, no-wrap
+msgid "Output Pins (for jogging using axis.N.jog-counts)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:179
+#, no-wrap
+msgid "(s32 out) _xhc-hb04.jog.counts_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:183
+msgid ""
+"Number of counts of the wheel since start-up (50 counts per wheel "
+"revolution) (typically connect to axis.N.jog-counts (lowpass filtering may "
+"be helpful))."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:183
+#, no-wrap
+msgid "(s32 out) _xhc-hb04.jog.counts-neg_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:185
+msgid "The value of the xhc-hb04.jog.counts multiplied by -1."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:185
+#, no-wrap
+msgid "(float out) _xhc-hb04.jog.scale_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:188
+msgid ""
+"Value is the current stepsize multiplied by 0.001 (typically connect to "
+"axis.N.jog-scale)."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:189
+#, no-wrap
+msgid "Experimental: Pins for halui plus/minus jogging."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:192
+msgid "These pins provide some support for non-trivkins, world mode jogging."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:193
+#, no-wrap
+msgid "(float in) _xhc-hb04.jog.max-velocity_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:195
+msgid "Connect to halui.max-velocity.value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:195
+#, no-wrap
+msgid "(float out) _xhc-hb04.jog.velocity_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:197
+msgid "Connect to halui.jog-speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:197
+#, no-wrap
+msgid "(bit out) _xhc-hb04.jog.plus-[xyza]_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:199
+msgid "Connect to halui.jog.N.plus."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:199
+#, no-wrap
+msgid "(bit out) _xhc-hb04.jog.minus-[xyza]_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:201
+msgid "Connect to halui.jog.N.minus."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:201
+#, no-wrap
+msgid "(float out) _xhc-hb04.jog.increment_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:203
+msgid "Debug pin -- abs(delta_pos)."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:204
+#, no-wrap
+msgid "Button output pins (for the 18 button, layout2 pendant)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:207
+msgid "The output bit type pins are TRUE when the button is pressed."
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:212
+#, no-wrap
+msgid ""
+"ROW 1\n"
+"    (bit out) xhc-hb04.button-reset\n"
+"    (bit out) xhc-hb04.button-stop\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:218
+#, no-wrap
+msgid ""
+"ROW 2\n"
+"    (bit out) xhc-hb04.button-goto-zero\n"
+"    (bit out) xhc-hb04.button-rewind\n"
+"    (bit out) xhc-hb04.button-start-pause\n"
+"    (bit out) xhc-hb04.button-probe-z\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:224
+#, no-wrap
+msgid ""
+"ROW 3\n"
+"   (bit out) xhc-hb04.button-spindle\n"
+"   (bit out) xhc-hb04.button-half\n"
+"   (bit out) xhc-hb04.button-zero\n"
+"   (bit out) xhc-hb04.button-safe-z\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:230
+#, no-wrap
+msgid ""
+"ROW 4\n"
+"   (bit out) xhc-hb04.button-home\n"
+"   (bit out) xhc-hb04.button-macro-1\n"
+"   (bit out) xhc-hb04.button-macro-2\n"
+"   (bit out) xhc-hb04.button-macro-3\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:236
+#, no-wrap
+msgid ""
+"ROW 5\n"
+"   (bit out) xhc-hb04.button-step\n"
+"   (bit out) xhc-hb04.button-mode\n"
+"   (bit out) xhc-hb04.button-macro-6\n"
+"   (bit out) xhc-hb04.button-macro-7\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:238
+#, no-wrap
+msgid "Synthesized button pins"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:244
+msgid ""
+"Additional buttons are synthesized for buttons named *zero*, *goto-zero*, "
+"and *half*. These synthesized buttons are active when the button is pressed "
+"AND the selector-switch is set to the corresponding axis [xyza]."
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:249
+#, no-wrap
+msgid ""
+"   (bit out) xhc-hb04.button-zero-[xyza]\n"
+"   (bit out) xhc-hb04.button-goto-zero-[xyza]\n"
+"   (bit out) xhc-hb04.button-half-[xyza]\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:251
+#, no-wrap
+msgid "DEBUGGING"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:254
+msgid "For debugging USB activity, use environmental variable LIBUSB_DEBUG:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-hb04.1.adoc:255
+#, no-wrap
+msgid "export LIBUSB_DEBUG=[2 | 3 | 4]; xhc-hb04 [options]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:257
+msgid "2:warning, 3:info, 4:debug"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-hb04.1.adoc:258
+#, no-wrap
+msgid "Sim Configs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:262
+msgid ""
+"The distribution includes several simulation configurations in the "
+"directory:"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:267
+#, no-wrap
+msgid ""
+"   /usr/share/doc/linuxcnc/examples/sample-configs/sim/axis/xhc-hb04/\n"
+"or for a RIP build:\n"
+"   rip_base_dir/configs/sim/axis/xhc-hb04/\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:274
+msgid ""
+"These configurations use a distribution-provided script (xhc-hb04.tcl)  to "
+"configure the pendant and make necessary HAL connections according to a "
+"number of INI file settings. The script uses an additional HAL component "
+"(xhc_hb04_util) to provide common functionality and includes support for a "
+"standard method for the start-pause button."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:282
+msgid ""
+"The settings available include: 1) specify button-cfg-file for standard "
+"layout1 or layout2 2) select axes (up to 4 axes from set of x y z a b c u v "
+"w) 3) implement per-axis filtering coefficients 4) implement per-axis "
+"acceleration for mpg jogging 5) implement per-axis scale settings 6) select "
+"normal or velocity based jog modes 7) select stepsize sequence 8) option to "
+"initialize pin for inch or mm display icon 9)  option to require pendant on "
+"startup"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:286
+msgid ""
+"The sim configs illustrate button connections that: 1) connect pendant "
+"stepsize-up button to the step input pin. 2) connect buttons to halui.* pins "
+"3) connect buttons to motion.* pins"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:290
+msgid ""
+"Another script is included to monitor the pendant and report loss of USB "
+"connectivity. See the README and .txt files in the above directory for "
+"usage."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:296
+#, no-wrap
+msgid ""
+"*Note:* The sim configs use the AXIS GUI but the scripts are available\n"
+"with any HAL configuration or GUI. The same scripts can be used to adapt\n"
+"the xhc-hb04 to existing configurations provided that the halui, motion,\n"
+"and axis.N pins needed are not otherwise claimed. Instructions are\n"
+"included in README file in the directory named above.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:299
+msgid "Use halcmd to display the pins and signals used by the xhc-hb04.tcl script:"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man1/xhc-hb04.1.adoc:304
+#, no-wrap
+msgid ""
+"  halcmd show pin xhc-hb04       (show all xhc-hb04 pins)\n"
+"  halcmd show pin pendant_util   (show all pendant_util pins)\n"
+"  halcmd show sig pendant:       (show all pendant signals)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-hb04.1.adoc:308
+msgid "Frederick Rible (frible@teaser.fr)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/xhc-whb04b-6.1.adoc:1
+#, no-wrap
+msgid "xhc-whb04b-6(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:6
+msgid ""
+"xhc-whb04b-6 - Non-realtime jog dial HAL component for the wireless XHC "
+"WHB04B-6 USB device."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:10
+msgid "xhc-whb04b-6 [-h] | [-H] [OPTIONS]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:16
+msgid ""
+"The xhc-whb04b-6 HAL component supports the XHC WHB04B-6, a 6-axis wireless "
+"USB pendant.  It provides a number of push-buttons, a jogwheel, two rotary "
+"buttons for axis and speed / step selection and an ordinary LCD display."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:19
+msgid ""
+"The LCD display, having a very simple firmware interface, indicates the "
+"following listed information only.  No other information, such as custom "
+"data, can be printed."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:21
+msgid "Activated axis (X, Y, Z, A, B or C)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:22
+msgid "Current axis position of X, Y, Z and separately of A, B, C."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:23
+msgid ""
+"Whether machine (X, Y, Z, A, B or C) or relative (X1, Y1, Z1, A1, B1 or C1) "
+"coordinates are displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:24
+msgid ""
+"Step size or velocity depending on the operating mode (MPG or Step or "
+"Continuous)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:25
+msgid "Feedrate override"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:26
+msgid "Spindle Feedrate override"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:27
+msgid "Machine state such as reset."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:28
+msgid "Battery level"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:29
+msgid "Wireless signal strength"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:33
+msgid ""
+"The pendant display, its rotary selector switch, and the component pin names "
+"use designators x, y, z, a, b and c.  While this arrangement presumes a "
+"machine configured as X, Y, Z, A, B an C, the pins can be assigned "
+"independently as required in a HAL configuration."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:36
+#, no-wrap
+msgid "**-h**, **--help**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:37
+msgid "Prints the synopsis and the most commonly used commands."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:38
+#, no-wrap
+msgid "**-H**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:41
+msgid ""
+"Run xhc-whb04b-6 in HAL-mode instead of interactive mode.  When in HAL mode "
+"commands from device will be exposed to HAL's shred memory.  Interactive "
+"mode is useful for testing device connectivity and debugging."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:42
+#, no-wrap
+msgid "**-s**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:44
+msgid ""
+"Lead + jogwheel changes the spindle override speed.  Each tick will "
+"increase/decrease the spindle override."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:45
+#, no-wrap
+msgid "**-f**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:47
+msgid ""
+"MPG + jogwheel changes the feed override.  Each tick will "
+"increment/decrement the feed override."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:48
+#, no-wrap
+msgid "**-B**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:49
+msgid "Add 5 mm and 10 mm to Step feedrate output"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:50
+#, no-wrap
+msgid "**-t**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:52
+msgid ""
+"Wait with timeout for USB device then proceed, exit otherwise.  Without -t "
+"the timeout is implicitly infinite."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:53
+#, no-wrap
+msgid "**-u**, **-U**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:55
+msgid ""
+"Show received data from device.  With -U received and transmitted data will "
+"be printed. Output is prefixed with \"usb\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:56
+#, no-wrap
+msgid "**-p**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:57
+msgid "Show HAL pins and HAL related messages. Output is prefixed with \"hal\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:58
+#, no-wrap
+msgid "**-e**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:61
+msgid ""
+"Show captured events such as button pressed/released, jog dial, axis rotary "
+"button, and feed rotary button event.  Output is prefixed with \"event\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:62
+#, no-wrap
+msgid "**-a**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:63
+msgid "Enable all logging facilities without explicitly specifying each."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:64
+#, no-wrap
+msgid "**-c**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:66
+msgid ""
+"Enable checksum output which is necessary for debugging the checksum "
+"generator function.  Do not rely on this feature since it will be removed "
+"once the generator is implemented."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:67
+#, no-wrap
+msgid "**-n**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:69
+msgid ""
+"Force being silent and not printing any output except of errors.  This will "
+"also inhibit messages prefixed with \"init\"."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:77
+#, no-wrap
+msgid ""
+"The `xhc-whb04b-6` executable needs permission for reading the pendant's USB "
+"device. There may be the need for additional udev rules. If so, this file\n"
+"`/etc/udev/rules.d/99-xhc-whb04b-6.rules`\n"
+"should be created with the single line\n"
+"`ATTR{idProduct}==\"eb93\", ATTR{idVendor}==\"10ce\", MODE=\"0666\", "
+"OWNER=\"root\", GROUP=\"plugdev\"`."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:82
+msgid ""
+"The `xhc-whb04b-6` program can be run from the command line without LinuxCNC "
+"to test a pendant.  This standalone mode is used to identify the button "
+"codes produced for each button press and debug transmitted USB data."
+msgstr ""
+
+#. type: SH
+#: src/man/man1/xhc-whb04b-6.1.adoc:83 man/man9/eoffset_per_angle.9:101
+#: man/man9/logic.9:80 man/man9/moveoff.9:158 man/man9/ohmic.9:77
+#, no-wrap
+msgid "EXAMPLES"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:85
+#, no-wrap
+msgid "`xhc-whb04b-6 -ue`"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:87
+msgid ""
+"Start in simulation mode and prints incoming USB data transfer and generated "
+"key pressed/released events."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:87
+#, no-wrap
+msgid "`xhc-whb04b-6 -p`"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:89
+msgid ""
+"Start in simulation mode and prints HAL pin names and events distributed to "
+"HAL memory."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:89
+#, no-wrap
+msgid "`xhc-whb04b-6 -H`"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:91
+msgid "Start in HAL mode (Normal mode for real machine use)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:91
+#, no-wrap
+msgid "`xhc-whb04b-6 -HsfB`"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:93
+msgid ""
+"Start in HAL mode + Spindle Override + Feedrate Override + Big step "
+"(5/10&#8239;mm)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:98
+#, no-wrap
+msgid ""
+"Use the -H option to specify HAL mode and other options as required:\n"
+"`loadusr -W xhc-whb04b-6 -HsfB`"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man1/xhc-whb04b-6.1.adoc:99
+#, no-wrap
+msgid "Input/Output Signals"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:106
+msgid ""
+"Note: For each button an output pin is provided even if no functionality is "
+"realized with that signal.  For example, to stop a running program the Stop "
+"button pin may be directly connected to `halui.program.stop`.  However, to "
+"start/pause/resume a program, the corresponding button toggles besides "
+"`whb.button.start-pause` also the "
+"``whb.halui.program.``{`run`,`pause`,`resume`} signals accordingly."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:110
+msgid ""
+"Note: The Spindle+/Spindle- buttons do manipulate the spindle override.  The "
+"spindle speed is set with the respective combos Fn + Spindle^-^ and FN + "
+"Spindle^+^."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:112
+msgid ""
+"The following tables list all in-/output pins and state which signals they "
+"are meant to be connected to."
+msgstr ""
+
+#. type: Title ====
+#: src/man/man1/xhc-whb04b-6.1.adoc:113
+#, no-wrap
+msgid "Axis and Stepgen"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:116
+msgid "Signals utilized for moving axis."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:118
+msgid "_<N>_ ... denotes the axis number, which is of {x, y, z, a, b, c}."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:119
+#, no-wrap
+msgid "`whb.halui.home-all` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:122
+msgid ""
+"connect to `halui.home-all`, driven by M-Home.  Pin for requesting all axis "
+"to home.  See also `whb.button.m-home`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:122
+#, no-wrap
+msgid "`whb.halui.axis._<N>_.select` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:124
+msgid "connect to `halui.axis._<N>_.select`.  Pin to select axis."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:124
+#, no-wrap
+msgid "`whb.axis._<N>_.jog-counts` (s32,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:126
+msgid "connect to `axis._<N>_.jog-counts`.  The count pin of the jogwheel."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:126
+#, no-wrap
+msgid "`whb.axis._<N>_.jog-enable` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:130
+msgid ""
+"connect to `axis._<N>_.jog-enable`.  If true (and in manual mode), any "
+"change to \"jog-counts\" will result in motion.  If false, \"jog-counts\" is "
+"ignored."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:130
+#, no-wrap
+msgid "`whb.axis._<N>_.jog-scale` (float,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:133
+msgid ""
+"connect to `axis.`__<N>__`.jog-scale`.  The distance to move for each count "
+"on \"jog-counts\", in machine units."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:133
+#, no-wrap
+msgid "`whb.axis._<N>_.jog-vel-mode` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:138
+msgid ""
+"connect to `axis.`__<N>__`.jog-jog-vel-mode`.  If false the jogwheel "
+"operates in position mode.  The axis will move exactly jog-scale units for "
+"each count, regardless of how long that might take.  If true, the jogwheel "
+"operates in velocity mode - motion stops when the wheel stops, even if that "
+"means the commanded motion is not completed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:138
+#, no-wrap
+msgid "`whb.halui.max-velocity.value` (float,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:141
+msgid ""
+"connect to `halui.max-velocity.value`.  The maximum allowable velocity, in "
+"units per second (_<N>_ is two digit '0'-padded)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:141
+#, no-wrap
+msgid "`whb.halui.feed-override.scale` (float,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:143
+msgid ""
+"connect to `halui.feed-override.scale`.  The scaling for feed override "
+"value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:143
+#, no-wrap
+msgid "`whb.halui.axis.`__<N>__`.pos-feedback` (float,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:146
+msgid ""
+"connect to `halui.axis.`__<N>__`.pos-feedback`.  Feedback axis position in "
+"machine coordinates to be displayed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:146
+#, no-wrap
+msgid "`whb.halui.axis._<N>_.pos-relative` (float,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:149
+msgid ""
+"connect to `halui.axis.`__<N>__`.pos-relative`.  Commanded axis position in "
+"relative coordinates to be displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:153
+msgid "Signals utilized for toggling machine status."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:154
+#, no-wrap
+msgid "`whb.halui.machine.on` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:156
+msgid "Connect to `halui.machine.on`. Pin for requesting machine on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:156
+#, no-wrap
+msgid "`whb.halui.machine.is-on` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:158
+msgid "Connect to `halui.machine.is-on`. Pin that indicates machine is on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:158
+#, no-wrap
+msgid "`whb.halui.machine.off` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:160
+msgid "Connect to `halui.machine.off`. Pin for requesting machine off."
+msgstr ""
+
+#. type: Block title
+#: src/man/man1/xhc-whb04b-6.1.adoc:163
+#, no-wrap
+msgid "Signals utilized for operating a spindle."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:164
+#, no-wrap
+msgid "`whb.halui.spindle.start` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:166
+msgid "Connect to `halui.spindle.0.start`. Pin to start the spindle."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:166
+#, no-wrap
+msgid "`whb.halui.spindle.is-on` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:168
+msgid ""
+"Connect to `halui.spindle.0.on`. Pin to indicate spindle is on (either "
+"direction)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:168
+#, no-wrap
+msgid "`whb.halui.spindle.stop` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:170
+msgid "Connect to `halui.spindle.0.stop`. Pin to stop the spindle."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:170
+#, no-wrap
+msgid "`whb.halui.spindle.forward` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:172
+msgid "Connect to `halui.spindle.0.forward`. Pin to make the spindle go forward."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:172
+#, no-wrap
+msgid "`whb.halui.spindle.reverse` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:174
+msgid "Connect to `halui.spindle.0.reverse`. Pin to make the spindle go reverse."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:174
+#, no-wrap
+msgid "`whb.halui.spindle.decrease` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:176
+msgid "Connect to `halui.spindle.0.decrease`. Pin to decrease the spindle speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:176
+#, no-wrap
+msgid "`whb.halui.spindle.increase` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:178
+msgid "Connect to `halui.spindle.0.increase`. Pin to increase the spindle speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:178
+#, no-wrap
+msgid "`whb.halui.spindle-override.increase` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:181
+msgid ""
+"Connect to `halui.spindle.0.override.increase`.  Pin for increasing the "
+"spindle override by the amount of scale."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:181
+#, no-wrap
+msgid "`whb.halui.spindle-override.decrease` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:184
+msgid ""
+"Connect to `halui.spindle.0.override.decrease`.  Pin for decreasing the "
+"spindle override by the amount of scale."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:184
+#, no-wrap
+msgid "`whb.halui.spindle-override.value` (float,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:187
+msgid ""
+"Connect to `halui.spindle.0.override.value`.  The current spindle override "
+"value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:187
+#, no-wrap
+msgid "`whb.halui.spindle-override.scale` (float,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:190
+msgid ""
+"Connect to `halui.spindle.0.override.scale`.  The current spindle scaling "
+"override value."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:195
+msgid ""
+"Signals utilized for operating spindle and feed override.  The feed rotary "
+"button can serve in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:197
+msgid "Continuous move x% from max velocity"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:198
+msgid "Step move x mm"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:199
+msgid "MPG override feed/spindle"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:205
+#, no-wrap
+msgid ""
+"The special position Lead.\n"
+"*Continuous:* In this mode jogging is performed at the selected feed "
+"rate. As long the jogwheel turns, the selected axis moves.\n"
+"*Step:* In this mode the machine moves steps * wheel_counts at the currently "
+"selected step size and the current set feed rate in machine units. If the "
+"commanded position is not reached the machine keeps moving even the jogwheel "
+"is not turning.\n"
+"*Lead:* Manipulates the spindle override.\n"
+"*MPG:* Manipulates the feedrate override."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:210
+msgid ""
+"Note: As a consequence of 3 modes from manufacturer, switching the feed "
+"rotary button back from Lead revert to MPG mode, MPG mode is default mode at "
+"startup.  Depending on the mode before turning the rotary button, the feed "
+"override results in different values.  In MPG/CON the feed rate will change "
+"to 100%, 60%, ... and so forth. In Step mode the feed rate is specified in "
+"mm."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:211
+#, no-wrap
+msgid "`whb.halui.feed-override.value` (float,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:213
+msgid "Connect to `halui.feed-override.value`. The current feed override value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:213
+#, no-wrap
+msgid "`whb.halui.feed-override.decrease` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:215
+msgid ""
+"Connect to `halui.feed-override.decrease`. Pin for decreasing the feed "
+"override by amount of scale."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:215
+#, no-wrap
+msgid "`whb.halui.feed-override.increase` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:217
+msgid ""
+"Connect to `halui.feed-override.increase`. Pin for increasing the feed "
+"override by amount of scale."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:217
+#, no-wrap
+msgid "`whb.halui.feed-override.scale` (float,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:219
+msgid ""
+"Connect to `halui.feed-override.scale`. Pin for setting the scale on "
+"changing the feed override."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:219
+#, no-wrap
+msgid "`whb.halui.max-velocity.value` (float,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:221
+msgid "Connect to `halui.max-velocity.value`."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:225
+msgid "Signals for operating program and MDI mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:226
+#, no-wrap
+msgid "`whb.halui.program.run` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:228
+msgid "Connect to `halui.program.run` in for running a program."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:228
+#, no-wrap
+msgid "`whb.halui.program.is-running` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:230
+msgid "Connect to `halui.program.is-running` in indicating a program is running."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:230
+#, no-wrap
+msgid "`whb.halui.program.pause` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:232
+msgid "Connect to `halui.program.pause`. Pin for pausing a program."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:232
+#, no-wrap
+msgid "`whb.halui.program.is-paused` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:234
+msgid "Connect to `halui.program.is-paused`. Pin indicating a program is pausing."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:234
+#, no-wrap
+msgid "`whb.halui.program.resume` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:236
+msgid "Connect to `halui.program.resume`. Pin for resuming a program."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:236
+#, no-wrap
+msgid "`whb.halui.program.stop` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:238
+msgid "Connect to `program.stop`. Pin for stopping a program."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:238
+#, no-wrap
+msgid "`whb.halui.program.is-idle` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:240
+msgid "Connect to `halui.program.is-idle`. Pin indicating no program is running."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:240
+#, no-wrap
+msgid "`whb.halui.mode.auto` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:242
+msgid "Connect to `halui.mode.auto`. Pin for requesting auto mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:242
+#, no-wrap
+msgid "`whb.halui.mode.is-auto` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:244
+msgid "Connect to `halui.mode.is-auto`. Pin for indicating auto mode is on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:244
+#, no-wrap
+msgid "`whb.halui.mode.joint` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:246
+msgid "Connect to `halui.mode.joint` Pin for requesting joint by joint mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:246
+#, no-wrap
+msgid "`whb.halui.mode.is-joint` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:248
+msgid "Connect to `halui.mode.is-joint`. Pin indicating joint by joint mode is on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:248
+#, no-wrap
+msgid "`whb.halui.mode.manual` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:250
+msgid "Connect to `halui.mode.manual`. Pin for requesting manual mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:250
+#, no-wrap
+msgid "`whb.halui.mode.is-manual` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:252
+msgid "Connect to `halui.mode.is-manual`.  Pin indicating manual mode is on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:252
+#, no-wrap
+msgid "`whb.halui.mode.mdi` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:254
+msgid "Connect to `halui.mode.mdi`.  Pin for requesting MDI mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:254
+#, no-wrap
+msgid "`whb.halui.mode.is-mdi` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:256
+msgid "Connect to `halui.mode.is-mdi`.  Pin indicating MDI mode is on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:256
+#, no-wrap
+msgid "`whb.halui.mode.teleop` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:258
+msgid "Connect to `halui.mode.teleop`. Pin for requesting axis by axis mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:258
+#, no-wrap
+msgid "`whb.halui.mode.is-teleop` (bit,in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:260
+msgid "Connect to `halui.mode.is-teleop`. Pin indicating axis by axis mode is on."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:267
+msgid ""
+"For flexibility reasons each button provides an output pin even if no "
+"functionality is realized directly with that signal.  The Fn button can be "
+"combined with each other push-button.  This includes also RESET, Stop, "
+"Start/Pause, Macro-10, and Step|Continuous.  By default the more frequent "
+"used orange buttons are executed, whereas blue ones "
+"(`whb.button.macro-`__<M>__) by combining them with Fn (press Fn first then "
+"button)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:269
+msgid ""
+"Button macro needs to be added to your INI and needs to be edited for your "
+"own use:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:289
+#, no-wrap
+msgid ""
+"[HALUI]\n"
+"MDI_COMMAND=(debug,macro0)  # this one is for numbering but not used by "
+"pendant (need 1 to 16)\n"
+"MDI_COMMAND=(debug,macro1)\n"
+"MDI_COMMAND=(debug,macro2)\n"
+"MDI_COMMAND=(debug,macro3)\n"
+"MDI_COMMAND=(debug,macro4)\n"
+"MDI_COMMAND=(debug,macro5)\n"
+"MDI_COMMAND=(debug,macro6)\n"
+"MDI_COMMAND=(debug,macro7)\n"
+"MDI_COMMAND=(debug,macro8)\n"
+"MDI_COMMAND=(debug,macro9)\n"
+"MDI_COMMAND=(debug,macro10)\n"
+"MDI_COMMAND=(debug,macro11)\n"
+"MDI_COMMAND=(debug,macro12)\n"
+"MDI_COMMAND=(debug,macro13)\n"
+"MDI_COMMAND=(debug,macro14)\n"
+"MDI_COMMAND=(debug,macro15)\n"
+"MDI_COMMAND=(debug,macro16)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:292
+#, no-wrap
+msgid "*_<M>_* ... denotes an arbitrary macro number which is of {1, 2, ..., 16}\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:293
+#, no-wrap
+msgid "`whb.button.reset` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:297
+msgid ""
+"See `whb.halui.estop.`{`activate`, `reset`} True one Reset button down, "
+"false otherwise.  For toggling E-stop use whb.halui.estop .active and "
+".reset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:297
+#, no-wrap
+msgid "`whb.button.stop` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:300
+msgid ""
+"See `whb.halui.program.stop`. True on Stop button down, false otherwise.  "
+"For stopping a program use `whb.halui.program.stop`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:300
+#, no-wrap
+msgid "`whb.button.start-pause` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:304
+msgid ""
+"See `whb.halui.program.`{`run`, `pause`, `resume`}`.  True on Start-Pause "
+"button down, false otherwise.  For toggling start-pause use "
+"`whb.halui.program.run`, `.pause`, and `.resume`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:304
+#, no-wrap
+msgid "`whb.button.feed-plus` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:306
+msgid "True on Feed+ button down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:306
+#, no-wrap
+msgid "`whb.button.feed-minus` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:308
+msgid "True on Feed- button down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:308
+#, no-wrap
+msgid "`whb.button.spindle-plus` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:313
+msgid ""
+"See `halui.spindle.0.override.increase`.  True on Spindle+ button down, "
+"false otherwise.  This button is meant to manipulate the spindle override.  "
+"For increasing the spindle override use `halui.spindle.0.override.increase`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:313
+#, no-wrap
+msgid "`whb.button.spindle-minus` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:318
+msgid ""
+"See `halui.spindle.0.override.decrease`.  True on Spindle- button down, "
+"false otherwise.  This button is meant to manipulate the spindle override.  "
+"For decreasing the spindle override use `halui.spindle.0.override.decrease`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:318
+#, no-wrap
+msgid "`whb.button.m-home` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:321
+msgid ""
+"Connect to `halui.home-all`. True on M-Home button down, false otherwise.  "
+"Requests MDI mode before button pin is set. See also `whb.halui.mode.mdi`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:321
+#, no-wrap
+msgid "`whb.button.safe-z` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:325
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Safe-Z button down, false "
+"otherwise.  Requests MDI mode before button pin is set. See also "
+"`whb.halui.mode.mdi`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:325
+#, no-wrap
+msgid "`whb.button.w-home` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:329
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on W-Home button down, false "
+"otherwise.  Requests MDI mode before button pin is set. See also "
+"`whb.halui.mode.mdi`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:329
+#, no-wrap
+msgid "`whb.button.s-on-off` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:333
+msgid ""
+"See ``whb.halui.spindle.``{``start``, ``stop``} True on S-ON/OFF button "
+"down, false otherwise.  For toggling spindle on-off use "
+"`halui.spindle.0.start`.  For toggling spindle on-off use "
+"`halui.spindle.0.stop`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:333
+#, no-wrap
+msgid "`whb.button.fn` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:335
+msgid "True on Fn button down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:335
+#, no-wrap
+msgid "`whb.button.probe-z` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:338
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Probe-Z button down, false "
+"otherwise.  Requests MDI mode before button pin is set. See also "
+"`whb.halui.mode.mdi`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:338
+#, no-wrap
+msgid "`whb.button.macro-1` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:340
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-1 button (Fn + Feed+) "
+"down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:340
+#, no-wrap
+msgid "`whb.button.macro-2` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:342
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-2 button (Fn + Feed-) "
+"down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:342
+#, no-wrap
+msgid "`whb.button.macro-3` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:346
+msgid ""
+"See `whb.halui.spindle.increase` True on Macro-3 button (Fn + Spindle+) "
+"down, false otherwise.  This button is meant to manipulate the spindle "
+"speed.  For decreasing the spindle speed use whb.halui.spindle.increase."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:346
+#, no-wrap
+msgid "`whb.button.macro-4` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:350
+msgid ""
+"See `whb.halui.spindle.decrease` True on Macro-4 button down (Fn + "
+"Spindle-), false otherwise.  This button is meant to manipulate the spindle "
+"speed.  For decreasing the spindle speed use `whb.halui.spindle.decrease`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:350
+#, no-wrap
+msgid "`whb.button.macro-5` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:352
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-5 button down (Fn + "
+"M-HOME), false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:352
+#, no-wrap
+msgid "`whb.button.macro-6` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:354
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-6 button down (Fn + "
+"Safe-Z), false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:354
+#, no-wrap
+msgid "`whb.button.macro-7` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:356
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-7 button down (Fn + "
+"W-HOME), false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:356
+#, no-wrap
+msgid "`whb.button.macro-8` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:358
+msgid ""
+"Reserved for Spindle Direction True on Macro-8 button down (Fn + S-ON/OFF), "
+"false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:358
+#, no-wrap
+msgid "`whb.button.macro-9` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:360
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-9 button down (Fn + "
+"Probe-Z), false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:360
+#, no-wrap
+msgid "`whb.button.macro-10` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:366
+msgid ""
+"Reserved for toggle DRO Abs/rel.  True on Macro-10 button down, false "
+"otherwise.  Switches the display coordinates to relative coordinates.  On "
+"display the axis are denoted then as X1, Y1, Z1, A1, B1 and C1.  See also "
+"`whb.halui.axis.`__<N>__`.pos-relative`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:366
+#, no-wrap
+msgid "`whb.button.macro-11` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:368
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-11 button down (Fn + "
+"RESET), false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:368
+#, no-wrap
+msgid "`whb.button.macro-12` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:370
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-12 button (Fn + Stop) "
+"down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:370
+#, no-wrap
+msgid "`whb.button.macro-13` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:372
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-13 button (Fn + "
+"Start/Pause) down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:372
+#, no-wrap
+msgid "`whb.button.macro-14` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:374
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-14 button (Fn + "
+"Macro-10) down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:374
+#, no-wrap
+msgid "`whb.button.macro-15` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:376
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-15 button down (Fn + "
+"MPG), false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:376
+#, no-wrap
+msgid "`whb.button.macro-16` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:378
+msgid ""
+"Connect to `halui.mdi-command-`__<M>__ True on Macro-16 button (Fn + Step) "
+"down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:378
+#, no-wrap
+msgid "`whb.button.mode-continuous` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:380
+msgid "True on Continuous mode button down, false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:380
+#, no-wrap
+msgid "`whb.button.mode-step` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:382
+msgid "True on Step mode button down, false otherwise."
+msgstr ""
+
+#. type: Title ====
+#: src/man/man1/xhc-whb04b-6.1.adoc:383
+#, no-wrap
+msgid "Pendant"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:385
+#, no-wrap
+msgid "`whb.pendant.is-sleeping` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:387
+msgid ""
+"True as long pendant is in sleep mode (usually a few seconds after turned "
+"off), false otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man1/xhc-whb04b-6.1.adoc:387
+#, no-wrap
+msgid "`whb.pendant.is-connected` (bit,out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:389
+msgid "True as long pendant is not in sleep mode (turned on), false otherwise."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man1/xhc-whb04b-6.1.adoc:390
+#, no-wrap
+msgid "HAL Configuration Example"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:395
+msgid ""
+"Exercise caution if using copy and paste of this example code from the "
+"online web docs.  Certain characters are incompatibly encoded by the web "
+"site (minus becomes em-dash).  It is safer to copy and paste from "
+"https://raw.githubusercontent.com/LinuxCNC/linuxcnc/devel/src/hal/user_comps/xhc-whb04b-6/example-configuration.md[]."
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:403
+#, no-wrap
+msgid ""
+"#\n"
+"### Hal File xhc_whb04b_6.hal Example\n"
+"#\n"
+"# ######################################################################\n"
+"# load pendant components\n"
+"# ######################################################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:405
+#, no-wrap
+msgid "loadusr -W xhc-whb04b-6 -HsfB\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:409
+#, no-wrap
+msgid ""
+"# ######################################################################\n"
+"# pendant signal configuration\n"
+"# ######################################################################\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:414
+#, no-wrap
+msgid ""
+"# On/Off signals\n"
+"net machine.is-on                         halui.machine.is-on                   "
+"whb.halui.machine.is-on\n"
+"net pdnt.machine.on                       whb.halui.machine.on                  "
+"halui.machine.on\n"
+"net pdnt.machine.off                      whb.halui.machine.off                 "
+"halui.machine.off\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:423
+#, no-wrap
+msgid ""
+"# program related signals\n"
+"net pdnt.program.is-idle                  whb.halui.program.is-idle             "
+"halui.program.is-idle\n"
+"net pdnt.program.is-paused                whb.halui.program.is-paused           "
+"halui.program.is-paused\n"
+"net pdnt.program-is-running               whb.halui.program.is-running          "
+"halui.program.is-running\n"
+"net pdnt.program.resume                   whb.halui.program.resume              "
+"halui.program.resume\n"
+"net pdnt.program.pause                    whb.halui.program.pause               "
+"halui.program.pause\n"
+"net pdnt.program.run                      whb.halui.program.run                 "
+"halui.program.run\n"
+"net pdnt.program.stop                     whb.halui.program.stop                "
+"halui.program.stop\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:435
+#, no-wrap
+msgid ""
+"# machine mode related signals\n"
+"net pdnt.mode.auto                        whb.halui.mode.auto                   "
+"halui.mode.auto\n"
+"net pdnt.mode.manual                      whb.halui.mode.manual                 "
+"halui.mode.manual\n"
+"net pdnt.mode.mdi                         whb.halui.mode.mdi                    "
+"halui.mode.mdi\n"
+"net pdnt.mode.joint                       whb.halui.mode.joint                  "
+"halui.mode.joint\n"
+"net pdnt.mode.teleop                      whb.halui.mode.teleop                 "
+"halui.mode.teleop\n"
+"net pdnt.mode.is-auto                     halui.mode.is-auto                    "
+"whb.halui.mode.is-auto\n"
+"net pdnt.mode.is-manual                   halui.mode.is-manual                  "
+"whb.halui.mode.is-manual\n"
+"net pdnt.mode.is-mdi                      halui.mode.is-mdi                     "
+"whb.halui.mode.is-mdi\n"
+"net pdnt.mode.is-joint                    halui.mode.is-joint                   "
+"whb.halui.mode.is-joint\n"
+"net pdnt.mode.is-teleop                   halui.mode.is-teleop                  "
+"whb.halui.mode.is-teleop\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:440
+#, no-wrap
+msgid ""
+"# \"is-homed\" axis signal for allowing pendant when machine is not homed\n"
+"net pdnt.axis.X.is-homed                  halui.joint.0.is-homed                "
+"whb.halui.joint.x.is-homed\n"
+"net pdnt.axis.Y.is-homed                  halui.joint.1.is-homed                "
+"whb.halui.joint.y.is-homed\n"
+"net pdnt.axis.Z.is-homed                  halui.joint.2.is-homed                "
+"whb.halui.joint.z.is-homed\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:445
+#, no-wrap
+msgid ""
+"# \"selected axis\" signals\n"
+"net pdnt.axis.X.select                    whb.halui.axis.x.select               "
+"halui.axis.x.select\n"
+"net pdnt.axis.y.select                    whb.halui.axis.y.select               "
+"halui.axis.y.select\n"
+"net pdnt.axis.Z.select                    whb.halui.axis.z.select               "
+"halui.axis.z.select\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:449
+#, no-wrap
+msgid ""
+"net pdnt.axis.x.jog-scale                 whb.axis.x.jog-scale                  "
+"axis.x.jog-scale\n"
+"net pdnt.axis.y.jog-scale                 whb.axis.y.jog-scale                  "
+"axis.y.jog-scale\n"
+"net pdnt.axis.z.jog-scale                 whb.axis.z.jog-scale                  "
+"axis.z.jog-scale\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:453
+#, no-wrap
+msgid ""
+"net pdnt.axis.x.jog-counts                whb.axis.x.jog-counts                 "
+"axis.x.jog-counts\n"
+"net pdnt.axis.y.jog-counts                whb.axis.y.jog-counts                 "
+"axis.y.jog-counts\n"
+"net pdnt.axis.z.jog-counts                whb.axis.z.jog-counts                 "
+"axis.z.jog-counts\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:457
+#, no-wrap
+msgid ""
+"net pdnt.axis.x.jog-enable                whb.axis.x.jog-enable                 "
+"axis.x.jog-enable\n"
+"net pdnt.axis.y.jog-enable                whb.axis.y.jog-enable                 "
+"axis.y.jog-enable\n"
+"net pdnt.axis.z.jog-enable                whb.axis.z.jog-enable                 "
+"axis.z.jog-enable\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:461
+#, no-wrap
+msgid ""
+"net pdnt.axis.x.jog-vel-mode              whb.axis.x.jog-vel-mode               "
+"axis.x.jog-vel-mode\n"
+"net pdnt.axis.y.jog-vel-mode              whb.axis.y.jog-vel-mode               "
+"axis.y.jog-vel-mode\n"
+"net pdnt.axis.z.jog-vel-mode              whb.axis.z.jog-vel-mode               "
+"axis.z.jog-vel-mode\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:477
+#, no-wrap
+msgid ""
+"# macro buttons to MDI commands\n"
+"net pdnt.macro-1                          whb.button.macro-1                    "
+"halui.mdi-command-01             # use MDI command from main.ini\n"
+"net pdnt.macro-2                          whb.button.macro-2                    "
+"halui.mdi-command-02             # use MDI command from main.ini\n"
+"net pdnt.reserved.for.spindle+            whb.button.macro-3                                                     "
+"# Hardcoded for spindle+ whb.halui.spindle.increase\n"
+"net pdnt.reserved.for.spindle-            whb.button.macro-4                                                     "
+"# Hardcoded for spindle- whb.halui.spindle.decrease\n"
+"net pdnt.macro-5                          whb.button.macro-5                    "
+"halui.mdi-command-05             # use MDI command from main.ini\n"
+"net pdnt.macro-6                          whb.button.macro-6                    "
+"halui.mdi-command-06             # use MDI command from main.ini\n"
+"net pdnt.macro-7                          whb.button.macro-7                    "
+"halui.mdi-command-07             # use MDI command from main.ini\n"
+"net pdnt.reserved.for.spindle.dir         whb.button.macro-8                                                     "
+"# Hardcoded for spindle direction inside pendant\n"
+"net pdnt.macro-9                          whb.button.macro-9                    "
+"halui.mdi-command-09             # use MDI command from main.ini\n"
+"net pdnt.reserved.for.ABS-REL             whb.button.macro-10                                                    "
+"# Hardcoded for swap Dro  Relative/Absolute\n"
+"net pdnt.macro-14                         whb.button.macro-14                   "
+"halui.mdi-command-14             # use MDI command from main.ini\n"
+"net pdnt.reserved.for.flood               whb.button.macro-15                                                    "
+"# Hardcoded for halui.flood on/off\n"
+"net pdnt.reserved.for.mist                whb.button.macro-16                                                    "
+"# Hardcoded for halui.mist on/off\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:481
+#, no-wrap
+msgid ""
+"net pdnt.macro.11                         whb.button.macro-11                   "
+"halui.mdi-command-11             # use MDI command from main.ini\n"
+"net pdnt.macro.12                         whb.button.macro-12                   "
+"halui.mdi-command-12             # use MDI command from main.ini\n"
+"net pdnt.macro.13                         whb.button.macro-13                   "
+"halui.mdi-command-13             # use MDI command from main.ini\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:487
+#, no-wrap
+msgid ""
+"# flood and mist toggle signals\n"
+"net  pdnt.flood.is-on                     whb.halui.flood.is-on                 "
+"halui.flood.is-on                #return signal is on or off\n"
+"net  pdnt.flood.off                       whb.halui.flood.off                   "
+"halui.flood.off                  #reserved whb.button.macro-15\n"
+"net  pdnt.flood.on                        whb.halui.flood.on                    "
+"halui.flood.on                   #reserved whb.button.macro-15\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:491
+#, no-wrap
+msgid ""
+"net  pdnt.mist.is-on                      whb.halui.mist.is-on                  "
+"halui.mist.is-on                 #return signal is on or off\n"
+"net  pdnt.mist.off                        whb.halui.mist.off                    "
+"halui.mist.off                   #reserved whb.button.macro-16\n"
+"net  pdnt.mist.on                         whb.halui.mist.on                     "
+"halui.mist.on                    #reserved whb.button.macro-16\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:497
+#, no-wrap
+msgid ""
+"# default function button signals\n"
+"net pdnt.button.m-home                    whb.button.m-home                     "
+"halui.home-all                   # Homeing use built-in halui home all\n"
+"net pdnt.button.safe-z                    whb.button.safe-z                     "
+"halui.mdi-command-03             # Safe-z  use MDI command from main.ini\n"
+"net pdnt.button.w-home                    whb.button.w-home                     "
+"halui.mdi-command-04             # Unpark  use MDI command from main.ini\n"
+"net pdnt.button.probe-z                   whb.button.probe-z                    "
+"halui.mdi-command-08             # Probe-Z use MDI command from main.ini\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:504
+#, no-wrap
+msgid ""
+"# unused, just exposes pendant internal status or as basic button\n"
+"#net pdnt.mode-lead                        whb.halui.feed.selected-lead\n"
+"#net pdnt.mode-mpg-feed                    "
+"whb.halui.feed.selected-mpg-feed\n"
+"#net pdnt.mode-continuous                  "
+"whb.halui.feed.selected-continuous\n"
+"#net pdnt.mode-step                        whb.halui.feed.selected-step\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:516
+#, no-wrap
+msgid ""
+"#net pdnt.button.mode-mpg                  whb.button.mode-continuous\n"
+"#net pdnt.button.mode-step                 whb.button.mode-step\n"
+"#net pdnt.button.fn                        whb.button.fn\n"
+"#net pdnt.button.reset                     whb.button.reset\n"
+"#net pdnt.button.stop                      whb.button.stop\n"
+"#net pdnt.button.start-pause               whb.button.start-pause\n"
+"#net pdnt.button.s-on-off                  whb.button.s-on-off\n"
+"#net pdnt.button.spindle-plus              whb.button.spindle-plus\n"
+"#net pdnt.button.spindle-minus             whb.button.spindle-minus\n"
+"#net pdnt.button.feed-plus                 whb.button.feed-plus\n"
+"#net pdnt.button.feed-minus                whb.button.feed-minus\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:527
+#, no-wrap
+msgid ""
+"# spindle related signals\n"
+"net pdnt.spindle.is-on                    whb.halui.spindle.is-on               "
+"spindle.0.on\n"
+"net pdnt.spindle.start                    whb.halui.spindle.start               "
+"halui.spindle.0.start\n"
+"net pdnt.spindle.stop                     whb.halui.spindle.stop                "
+"halui.spindle.0.stop\n"
+"net pdnt.spindle.forward                  whb.halui.spindle.forward             "
+"halui.spindle.0.forward\n"
+"net pdnt.spindle.reverse                  whb.halui.spindle.reverse             "
+"halui.spindle.0.reverse\n"
+"net pdnt.spindle.increase                 whb.halui.spindle.increase            "
+"halui.spindle.0.increase         # reserved whb.button.macro-3\n"
+"net pdnt.spindle.decrease                 whb.halui.spindle.decrease            "
+"halui.spindle.0.decrease         # reserved whb.button.macro-4\n"
+"net pdnt.spindle-speed-abs                whb.halui.spindle-speed-cmd           "
+"spindle.0.speed-out-abs          # speed cmd from motion in rpm absolute\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:534
+#, no-wrap
+msgid ""
+"# spindle speed override signals\n"
+"net pdnt.spindle-override.scale           whb.halui.spindle-override.scale      "
+"halui.spindle.0.override.scale   # needed for both spindle+/- and "
+"spindleoverride+/- button\n"
+"net pdnt.spindle.override.value           halui.spindle.0.override.value        "
+"whb.halui.spindle-override.value # GUI feed rate related signals\n"
+"net pdnt.spindle.override.increase        "
+"whb.halui.spindle-override.increase   halui.spindle.0.override.increase\n"
+"net pdnt.spindle.override.decrease        "
+"whb.halui.spindle-override.decrease   halui.spindle.0.override.decrease\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:539
+#, no-wrap
+msgid ""
+"# GUI feed rate related signals can be used when program is running moving "
+"GUI slider\n"
+"net pdnt.feed-override.scale              whb.halui.feed-override.scale         "
+"halui.feed-override.scale        # needed for both FeedOverride+/- and "
+"rotary knob button\n"
+"net pdnt.max-velocity.value               whb.halui.max-velocity.value          "
+"halui.max-velocity.value         # needed for Mpg mode : button feed "
+"position% * max-velocity = Mpg feedrate\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:545
+#, no-wrap
+msgid ""
+"# take feed override min/max values from/to the GUI\n"
+"net pdnt.feed-override.value              halui.feed-override.value             "
+"whb.halui.feed-override.value    # GUI feed rate related signals\n"
+"net pdnt.feed-override.increase           whb.halui.feed-override.increase      "
+"halui.feed-override.increase\n"
+"net pdnt.feed-override.decrease           whb.halui.feed-override.decrease      "
+"halui.feed-override.decrease\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:551
+#, no-wrap
+msgid ""
+"# axis position related signals feedback\n"
+"net pdnt.axis.x.pos-feedback              halui.axis.x.pos-feedback             "
+"whb.halui.axis.x.pos-feedback\n"
+"net pdnt.axis.y.pos-feedback              halui.axis.y.pos-feedback             "
+"whb.halui.axis.y.pos-feedback\n"
+"net pdnt.axis.z.pos-feedback              halui.axis.z.pos-feedback             "
+"whb.halui.axis.z.pos-feedback\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man1/xhc-whb04b-6.1.adoc:557
+#, no-wrap
+msgid ""
+"# axis position related signals relative\n"
+"net pdnt.axis.x.pos-relative              halui.axis.x.pos-relative             "
+"whb.halui.axis.x.pos-relative\n"
+"net pdnt.axis.y.pos-relative              halui.axis.y.pos-relative             "
+"whb.halui.axis.y.pos-relative\n"
+"net pdnt.axis.z.pos-relative              halui.axis.z.pos-relative             "
+"whb.halui.axis.z.pos-relative\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:562
+msgid ""
+"https://github.com/linuxcnc/linuxcnc/tree/master/src/hal/user_comps/xhc-whb04b-6/[xhc-whb04b-6 "
+"developer documentation on GitHub]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:567
+msgid ""
+"The CRC code function is not disclosed by the manufacturer.  Thus the CRC "
+"value transmitted with each package is not checked yet.  Feel free to help "
+"us enhance the component."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:572
+msgid ""
+"This component was started by Raoul Rubien based on predecessor device "
+"component xhc-hb04.cc.  "
+"https://github.com/machinekit/machinekit/graphs/contributors gives you a "
+"more complete list of contributors."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:577
+msgid ""
+"The component was developed accidentally as leisure project.  The "
+"development started with the xhc-whb04 (4-axis wireless pendant) "
+"implementation as reference.  73 & many thanks to the developers who "
+"delivered provided an excellent preparatory work!"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xhc-whb04b-6.1.adoc:582
+msgid ""
+"Copyright (C) 2018 Raoul Rubien (github.com/rubienr) Updated for Linuxcnc "
+"2020 by alkabal_free.fr."
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/xyzab-tdr-gui.1.adoc:1
+#, no-wrap
+msgid "xyzab-tdr-gui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xyzab-tdr-gui.1.adoc:6
+msgid "xyzab-tdr-gui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xyzab-tdr-gui.1.adoc:11
+#, no-wrap
+msgid ""
+"*xyzab-tdr-gui* is one of the sample *Vismach* GUIs for LinuxCNC,\n"
+"simulating a dual-rotary machine with switchable kinematics.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xyzab-tdr-gui.1.adoc:18
+msgid ""
+"See the main LinuxCNC documentation for more details: "
+"https://linuxcnc.org/docs/html/gui/vismach.html"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/xyzac-trt-gui.1.adoc:1
+#, no-wrap
+msgid "xyzac-trt-gui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xyzac-trt-gui.1.adoc:6
+msgid "xyzac-trt-gui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xyzac-trt-gui.1.adoc:11
+#, no-wrap
+msgid ""
+"*xyzac-trt-gui* is one of the sample *Vismach* GUIs for LinuxCNC,\n"
+"simulating a 5-axis milling machine with tool-point kinematics.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man1/xyzbc-trt-gui.1.adoc:1
+#, no-wrap
+msgid "xyzbc-trt-gui(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xyzbc-trt-gui.1.adoc:6
+msgid "xyzbc-trt-gui - Vismach Virtual Machine GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man1/xyzbc-trt-gui.1.adoc:11
+#, no-wrap
+msgid ""
+"*xyzbc-trt-gui* is one of the sample *Vismach* GUIs for LinuxCNC,\n"
+"simulating a 5-axis milling machine with tool-point kinematics\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:1
+#, no-wrap
+msgid "PM_ROTATION_VECTOR(3)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:6
+msgid "PM_ROTATION_VECTOR - Three-axis cartesian position"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:7
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:9
+#: src/man/man3/hal_create_thread.3hal.adoc:7 src/man/man3/hal_exit.3hal.adoc:7
+#: src/man/man3/hal_export_funct.3.adoc:9 src/man/man3/hal_init.3hal.adoc:7
+#: src/man/man3/hal_malloc.3hal.adoc:7 src/man/man3/hal_param_alias.3hal.adoc:7
+#: src/man/man3/hal_param_new.3.adoc:9 src/man/man3/hal_parport.3hal.adoc:7
+#: src/man/man3/hal_pin_alias.3hal.adoc:7 src/man/man3/hal_pin_new.3.adoc:12
+#: src/man/man3/hal_ready.3hal.adoc:7
+#: src/man/man3/hal_set_constructor.3hal.adoc:7
+#: src/man/man3/hal_set_lock.3.adoc:9 src/man/man3/hal_signal_new.3.adoc:10
+#: src/man/man3/hal_start_threads.3hal.adoc:7
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:7
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:8
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:8
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:7
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:7
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:7
+#: src/man/man3/hm2_pktuart_send.3hm2.adoc:7
+#: src/man/man3/hm2_pktuart_setup.3hm2.adoc:7
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:7
+#: src/man/man3/hm2_uart_read.3hm2.adoc:7
+#: src/man/man3/hm2_uart_send.3hm2.adoc:7
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:7
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:7
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:7
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:7
+#: src/man/man3/rtapi_bool.3rtapi.adoc:7
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:7
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:7
+#: src/man/man3/rtapi_delay.3.adoc:9 src/man/man3/rtapi_device.3rtapi.adoc:7
+#: src/man/man3/rtapi_div_u64.3.adoc:9 src/man/man3/rtapi_exit.3rtapi.adoc:7
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:7
+#: src/man/man3/rtapi_get_time.3.adoc:9 src/man/man3/rtapi_gfp.3rtapi.adoc:7
+#: src/man/man3/rtapi_init.3rtapi.adoc:7 src/man/man3/rtapi_io.3rtapi.adoc:7
+#: src/man/man3/rtapi_is.3rtapi.adoc:7 src/man/man3/rtapi_list.3rtapi.adoc:7
+#: src/man/man3/rtapi_get_msg_level.3.adoc:9
+#: src/man/man3/rtapi_module_param.3.adoc:12
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:7
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:7
+#: src/man/man3/rtapi_outb.3.adoc:9 src/man/man3/rtapi_parport.3rtapi.adoc:7
+#: src/man/man3/rtapi_pci.3rtapi.adoc:7 src/man/man3/rtapi_print.3.adoc:9
+#: src/man/man3/rtapi_prio.3.adoc:9 src/man/man3/rtapi_region.3.adoc:9
+#: src/man/man3/rtapi_shmem.3.adoc:9 src/man/man3/rtapi_slab.3rtapi.adoc:7
+#: src/man/man3/rtapi_snprintf.3.adoc:9 src/man/man3/rtapi_stdint.3rtapi.adoc:7
+#: src/man/man3/rtapi_string.3rtapi.adoc:7
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:7
+#: src/man/man3/rtapi_task_new.3.adoc:9 src/man/man3/rtapi_task_pause.3.adoc:9
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:7
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:7
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:7
+#, no-wrap
+msgid "SYNTAX"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:13
+#, no-wrap
+msgid ""
+"#include <posemath.h>\n"
+"struct PM_CARTESIAN;\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:15
+#, no-wrap
+msgid "CONSTRUCTORS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:17
+#, no-wrap
+msgid "PM_CARTESIAN()"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:19
+msgid "Construct the point <0,0,0>."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:19
+#, no-wrap
+msgid "PMCARTESIAN(double _x_, double _y_, double _z_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:21
+msgid "Construct the point (__x__, __y__, __z__)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:21
+#, no-wrap
+msgid "PMCARTESIAN(const PM_CARTESIAN &v)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:23
+msgid "Construct a copy of point __v__."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:24
+#, no-wrap
+msgid "DATA"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:29
+#, no-wrap
+msgid "double x, y, z ;\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:31
+#, no-wrap
+msgid "OPERATORS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:33
+#, no-wrap
+msgid "operator[](int _n_);"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:36
+#, no-wrap
+msgid ""
+"Return the __n__^th^ component of the vector (x=0, y=1, z=2)\n"
+"FIXME: Unclear."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:37
+#, no-wrap
+msgid "int operator==(PM_CARTESIAN __v~1~_, PM_CARTESIAN __v~2~__)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:38
+#, no-wrap
+msgid "int operator!=(PM_CARTESIAN __v~1~_, PM_CARTESIAN __v~2~__)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:40
+msgid "Elementwise equality and inequality operator"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:41
+#, no-wrap
+msgid "PM_CARTESIAN operator+(PM_CARTESIAN __v~1~__, PM_CARTESIAN __v~2~__)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:42
+#, no-wrap
+msgid "PM_CARTESIAN operator-(PM_CARTESIAN __v~1~__, PM_CARTESIAN __v~2~__)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:44
+msgid "Addition and subtraction of vectors"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:45
+#, no-wrap
+msgid "PM_CARTESIAN operator*(double _s_, PM_CARTESIAN _v_)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:46
+#, no-wrap
+msgid "PM_CARTESIAN operator*(PM_CARTESIAN _v_, double _s_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:48
+msgid "Scalar multiplication of _v_ by _s_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:49
+#, no-wrap
+msgid "PM_CARTESIAN operator/(PM_CARTESIAN _v_, double _s_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:51
+msgid "Scalar multiplication of _v_ by _1/s_"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:52
+#, no-wrap
+msgid "OTHER FUNCTIONS ON PM_CARTESIAN OBJECTS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:54
+#, no-wrap
+msgid "double dot(PM_CARTESIAN __v~l~__, PM_CARTESIAN __v~2~__)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:58
+msgid ""
+"Returns the dot product of the two vectors.  Both vectors are required to "
+"have the same length, the return value is the sum of the pairwise products "
+"of the vectors' components."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:59
+#, no-wrap
+msgid "PM_CARTESIAN cross(PM_CARTESIAN __v~1~__, PM_CARTESIAN __v~2~__)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:63
+msgid ""
+"Returns the cross-product of two vectors, which in 3D yields a vector that "
+"is orthogonal to both v~1~ and v~2~.  See "
+"https://en.wikipedia.org/wiki/Cross_product ."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:64
+#, no-wrap
+msgid "PM_CARTESIAN norm(PM_CARTESIAN _v_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/PM_ROTATION_VECTOR.3.adoc:66
+msgid "FIXME: It just normalizes _v_, right?"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:3
+#, no-wrap
+msgid "hal_add_funct_to_thread(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:8
+msgid ""
+"hal_add_funct_to_thread, hal_del_funct_from_thread - cause a function to be "
+"executed at regular intervals"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:15
+#, no-wrap
+msgid ""
+"int hal_add_funct_to_thread(const char* funct_name, const char* thread_name, "
+"int position)\n"
+"int hal_del_funct_from_thread(const char* funct_name, const char* "
+"thread_name)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:17
+#: src/man/man3/hal_create_thread.3hal.adoc:13
+#: src/man/man3/hal_exit.3hal.adoc:11 src/man/man3/hal_export_funct.3.adoc:15
+#: src/man/man3/hal_init.3hal.adoc:11 src/man/man3/hal_malloc.3hal.adoc:11
+#: src/man/man3/hal_param_alias.3hal.adoc:11
+#: src/man/man3/hal_param_new.3.adoc:29 src/man/man3/hal_parport.3hal.adoc:15
+#: src/man/man3/hal_pin_alias.3hal.adoc:11 src/man/man3/hal_pin_new.3.adoc:36
+#: src/man/man3/hal_port.3hal.adoc:101 src/man/man3/hal_ready.3hal.adoc:11
+#: src/man/man3/hal_set_constructor.3hal.adoc:12
+#: src/man/man3/hal_set_lock.3.adoc:15 src/man/man3/hal_signal_new.3.adoc:20
+#: src/man/man3/hal_stream.3hal.adoc:104
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:15
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:15
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:19
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:14
+#: src/man/man3/rtapi_delay.3.adoc:17 src/man/man3/rtapi_div_u64.3.adoc:19
+#: src/man/man3/rtapi_exit.3rtapi.adoc:14
+#: src/man/man3/rtapi_init.3rtapi.adoc:14
+#: src/man/man3/rtapi_get_msg_level.3.adoc:17
+#: src/man/man3/rtapi_module_param.3.adoc:28
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:18
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:15
+#: src/man/man3/rtapi_outb.3.adoc:17 src/man/man3/rtapi_parport.3rtapi.adoc:19
+#: src/man/man3/rtapi_print.3.adoc:20 src/man/man3/rtapi_prio.3.adoc:19
+#: src/man/man3/rtapi_region.3.adoc:17 src/man/man3/rtapi_shmem.3.adoc:18
+#: src/man/man3/rtapi_snprintf.3.adoc:17 src/man/man3/rtapi_task_new.3.adoc:18
+#: src/man/man3/rtapi_task_pause.3.adoc:17
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:14
+#, no-wrap
+msgid "ARGUMENTS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:19
+#, no-wrap
+msgid "funct_name"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:21
+#: src/man/man3/hal_export_funct.3.adoc:19
+msgid "The name of the function."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:21
+#, no-wrap
+msgid "thread_name"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:23
+#: src/man/man3/hal_create_thread.3hal.adoc:17
+msgid "The name of the thread."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:31
+msgid ""
+"The desired location within the thread.  This determines when the function "
+"will run, in relation to other functions in the thread.  A positive number "
+"indicates the desired location as measured from the beginning of the thread, "
+"and a negative is measured from the end.  So +1 means this function will "
+"become the first one to run, +5 means it will be the fifth one to run, -2 "
+"means it will be next to last, and -1 means it will be last. Zero is "
+"illegal."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:36
+#, no-wrap
+msgid ""
+"*hal_add_funct_to_thread* adds a function exported by a realtime HAL "
+"component to a realtime thread.\n"
+"This determines how often and in what order functions are executed.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:38
+#, no-wrap
+msgid "*hal_del_funct_from_thread* removes a function from a thread.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:39
+#: src/man/man3/hal_create_thread.3hal.adoc:40
+#: src/man/man3/hal_exit.3hal.adoc:25 src/man/man3/hal_export_funct.3.adoc:45
+#: src/man/man3/hal_init.3hal.adoc:28 src/man/man3/hal_malloc.3hal.adoc:32
+#: src/man/man3/hal_param_alias.3hal.adoc:27
+#: src/man/man3/hal_param_new.3.adoc:54 src/man/man3/hal_parport.3hal.adoc:56
+#: src/man/man3/hal_pin_alias.3hal.adoc:28 src/man/man3/hal_pin_new.3.adoc:68
+#: src/man/man3/hal_ready.3hal.adoc:23
+#: src/man/man3/hal_set_constructor.3hal.adoc:26
+#: src/man/man3/hal_set_lock.3.adoc:22 src/man/man3/hal_signal_new.3.adoc:51
+#: src/man/man3/hal_start_threads.3hal.adoc:21
+#: src/man/man3/hal_stream.3hal.adoc:158
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:32
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:45
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:45
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:61
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:34
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:34
+#: src/man/man3/hm2_uart_read.3hm2.adoc:30
+#: src/man/man3/hm2_uart_send.3hm2.adoc:28
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:50
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:29
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:25
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:61
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:34
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:39
+#: src/man/man3/rtapi_delay.3.adoc:37 src/man/man3/rtapi_device.3rtapi.adoc:31
+#: src/man/man3/rtapi_div_u64.3.adoc:34 src/man/man3/rtapi_exit.3rtapi.adoc:28
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:30
+#: src/man/man3/rtapi_get_time.3.adoc:55 src/man/man3/rtapi_gfp.3rtapi.adoc:31
+#: src/man/man3/rtapi_init.3rtapi.adoc:32 src/man/man3/rtapi_io.3rtapi.adoc:39
+#: src/man/man3/rtapi_is.3rtapi.adoc:32 src/man/man3/rtapi_list.3rtapi.adoc:38
+#: src/man/man3/rtapi_get_msg_level.3.adoc:31
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:39
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:36
+#: src/man/man3/rtapi_outb.3.adoc:33 src/man/man3/rtapi_parport.3rtapi.adoc:65
+#: src/man/man3/rtapi_pci.3rtapi.adoc:48 src/man/man3/rtapi_print.3.adoc:52
+#: src/man/man3/rtapi_prio.3.adoc:46 src/man/man3/rtapi_region.3.adoc:34
+#: src/man/man3/rtapi_slab.3rtapi.adoc:33 src/man/man3/rtapi_snprintf.3.adoc:34
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:41
+#: src/man/man3/rtapi_string.3rtapi.adoc:31
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:36
+#: src/man/man3/rtapi_task_new.3.adoc:42
+#: src/man/man3/rtapi_task_pause.3.adoc:49
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:23
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:30
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:23
+#, no-wrap
+msgid "RETURN VALUE"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:42
+#: src/man/man3/hal_create_thread.3hal.adoc:43
+#: src/man/man3/hal_exit.3hal.adoc:27 src/man/man3/hal_export_funct.3.adoc:48
+#: src/man/man3/hal_param_alias.3hal.adoc:30
+#: src/man/man3/hal_param_new.3.adoc:57 src/man/man3/hal_pin_alias.3hal.adoc:31
+#: src/man/man3/hal_ready.3hal.adoc:25
+#: src/man/man3/hal_set_constructor.3hal.adoc:29
+#: src/man/man3/hal_signal_new.3.adoc:54
+#: src/man/man3/hal_start_threads.3hal.adoc:24
+msgid "Returns a HAL status code."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:43
+#: src/man/man3/hal_create_thread.3hal.adoc:36
+#: src/man/man3/hal_exit.3hal.adoc:21 src/man/man3/hal_init.3hal.adoc:24
+#: src/man/man3/hal_port.3hal.adoc:125 src/man/man3/hal_stream.3hal.adoc:147
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:27
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:40
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:41
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:56
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:29
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:30
+#: src/man/man3/hal.3hal.adoc:68 src/man/man3/rtapi.3rtapi.adoc:42
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:33
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:31
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:57
+#: src/man/man3/rtapi_bool.3rtapi.adoc:19
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:30
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:34
+#: src/man/man3/rtapi_delay.3.adoc:33 src/man/man3/rtapi_device.3rtapi.adoc:27
+#: src/man/man3/rtapi_div_u64.3.adoc:47 src/man/man3/rtapi_exit.3rtapi.adoc:24
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:26
+#: src/man/man3/rtapi_get_time.3.adoc:78 src/man/man3/rtapi_gfp.3rtapi.adoc:27
+#: src/man/man3/rtapi_init.3rtapi.adoc:28 src/man/man3/rtapi_io.3rtapi.adoc:33
+#: src/man/man3/rtapi_is.3rtapi.adoc:27 src/man/man3/rtapi_list.3rtapi.adoc:32
+#: src/man/man3/rtapi_get_msg_level.3.adoc:27
+#: src/man/man3/rtapi_module_param.3.adoc:77
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:33
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:43
+#: src/man/man3/rtapi_outb.3.adoc:28 src/man/man3/rtapi_pci.3rtapi.adoc:44
+#: src/man/man3/rtapi_print.3.adoc:46 src/man/man3/rtapi_prio.3.adoc:42
+#: src/man/man3/rtapi_region.3.adoc:30 src/man/man3/rtapi_shmem.3.adoc:52
+#: src/man/man3/rtapi_slab.3rtapi.adoc:28 src/man/man3/rtapi_snprintf.3.adoc:30
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:37
+#: src/man/man3/rtapi_string.3rtapi.adoc:26
+#: src/man/man3/rtapi_task_new.3.adoc:38
+#: src/man/man3/rtapi_task_pause.3.adoc:45
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:19
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:26
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:19
+#, no-wrap
+msgid "REALTIME CONSIDERATIONS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:46
+#: src/man/man3/hal_create_thread.3hal.adoc:39
+msgid ""
+"Call only from realtime init code, not from other realtime or non-realtime "
+"code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_add_funct_to_thread.3.adoc:49
+msgid "hal_thread_new(3hal), hal_export_funct(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_create_thread.3hal.adoc:1
+#, no-wrap
+msgid "hal_create_thread(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_create_thread.3hal.adoc:6
+msgid "hal_create_thread - Create a HAL thread"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_create_thread.3hal.adoc:10
+msgid ""
+"int hal_create_thread(const char* _name_, unsigned long _period_, int "
+"_uses_fp_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_create_thread.3hal.adoc:12
+msgid "int hal_thread_delete(const char* _name_)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_create_thread.3hal.adoc:15
+#: src/man/man3/hal_export_funct.3.adoc:17 src/man/man3/hal_pin_new.3.adoc:38
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:21
+#: src/man/man3/rtapi_region.3.adoc:23
+#, no-wrap
+msgid "name"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_create_thread.3hal.adoc:17
+#, no-wrap
+msgid "period"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_create_thread.3hal.adoc:19
+msgid "The interval, in nanoseconds, between iterations of the thread."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_create_thread.3hal.adoc:19
+#: src/man/man3/hal_export_funct.3.adoc:23
+#: src/man/man3/rtapi_task_new.3.adoc:26
+#, no-wrap
+msgid "uses_fp"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_create_thread.3hal.adoc:21
+msgid ""
+"Must be nonzero if a function which uses floating-point will be attached to "
+"this thread."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_create_thread.3hal.adoc:26
+#, no-wrap
+msgid ""
+"*hal_create_thread* establishes a realtime thread that will execute one\n"
+"or more HAL functions periodically.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_create_thread.3hal.adoc:33
+msgid ""
+"All thread periods are rounded to integer multiples of the hardware timer "
+"period, and the timer period is based on the first thread created.  Threads "
+"must be created in order, from the fastest to the slowest.  HAL assigns "
+"decreasing priorities to threads that are created later, so creating them "
+"from fastest to slowest results in rate monotonic priority scheduling."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_create_thread.3hal.adoc:35
+#, no-wrap
+msgid "*hal_delete_thread* deletes a previously created thread.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_create_thread.3hal.adoc:46
+#: src/man/man3/hal_export_funct.3.adoc:3
+#, no-wrap
+msgid "hal_export_funct(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_exit.3hal.adoc:1
+#, no-wrap
+msgid "hal_exit(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_exit.3hal.adoc:6
+msgid "hal_exit - Shut down HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_exit.3hal.adoc:10
+msgid "int hal_exit(int _comp_id_)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_exit.3hal.adoc:13 src/man/man3/hal_export_funct.3.adoc:29
+#: src/man/man3/hal_parport.3hal.adoc:17 src/man/man3/hal_pin_new.3.adoc:50
+#: src/man/man3/hal_ready.3hal.adoc:13
+#, no-wrap
+msgid "comp_id"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_exit.3hal.adoc:15 src/man/man3/hal_export_funct.3.adoc:31
+#: src/man/man3/hal_param_new.3.adoc:42 src/man/man3/hal_parport.3hal.adoc:19
+#: src/man/man3/hal_ready.3hal.adoc:15
+#: src/man/man3/hal_set_constructor.3hal.adoc:15
+msgid "A HAL component identifier returned by an earlier call to *hal_init*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_exit.3hal.adoc:20
+#, no-wrap
+msgid ""
+"*hal_exit* shuts down and cleans up HAL and RTAPI. It must be called\n"
+"prior to exit by any module that called *hal_init*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_exit.3hal.adoc:24 src/man/man3/hal_init.3hal.adoc:27
+msgid ""
+"Call only from within non-realtime or init/cleanup code, not from realtime "
+"tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:8
+msgid ""
+"hal_export_funct, hal_export_functf - create a realtime function callable "
+"from a thread"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:12
+msgid "typedef void(*hal_funct_t)(void* _arg_, long _period_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:14
+msgid ""
+"int hal_export_funct(const char* _name_, hal_funct_t _funct_, void* _arg_, "
+"int _uses_fp_, int _reentrant_, int _comp_id_)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_export_funct.3.adoc:19
+#, no-wrap
+msgid "funct"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:21
+msgid "The pointer to the function."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_export_funct.3.adoc:21
+#: src/man/man3/rtapi_task_new.3.adoc:22
+#, no-wrap
+msgid "arg"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:23
+msgid "The argument to be passed as the first parameter of _funct_."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:26
+msgid ""
+"Nonzero if the function uses floating-point operations, including assignment "
+"of floating point values with \"=\"."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_export_funct.3.adoc:26
+#, no-wrap
+msgid "reentrant"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:29
+msgid ""
+"If reentrant is non-zero, the function may be preempted and called again "
+"before the first call completes.  Otherwise, it may only be added to one "
+"thread."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:37
+#, no-wrap
+msgid ""
+"*hal_export_funct* makes a realtime function provided by a component "
+"available to the system.\n"
+"A subsequent call to *hal_add_funct_to_thread* can be used to schedule the\n"
+"execution of the function as needed by the system.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:42
+msgid ""
+"When this function is placed on a HAL thread, and HAL threads are started, "
+"_funct_ is called repeatedly with two arguments: _void *arg_ is the same "
+"value that was given to *hal_export_funct*, and _long period_ is the "
+"interval between calls in nanoseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:44
+msgid "Each call to the function should do a small amount of work and return."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_export_funct.3.adoc:51
+msgid "hal_create_thread(3hal), hal_add_funct_to_thread(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_init.3hal.adoc:1
+#, no-wrap
+msgid "hal_init(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_init.3hal.adoc:6
+msgid "hal_init - Sets up HAL and RTAPI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_init.3hal.adoc:10
+msgid "int hal_init(const char* _modname_)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_init.3hal.adoc:13 src/man/man3/rtapi_init.3rtapi.adoc:16
+#, no-wrap
+msgid "modname"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_init.3hal.adoc:15
+msgid "The name of this HAL module."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_init.3hal.adoc:20
+#, no-wrap
+msgid ""
+"*hal_init* sets up HAL and RTAPI. It must be called by any module\n"
+"that intends to use the API, before any other RTAPI calls.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_init.3hal.adoc:23
+msgid ""
+"_modname_ must point to a string that identifies the module.  The string may "
+"be no longer than *HAL_NAME_LEN* characters."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_init.3hal.adoc:32
+msgid ""
+"On success, returns a positive integer module ID, which is used for "
+"subsequent calls to HAL and rtapi APIs. On failure, returns a HAL error "
+"code."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_malloc.3hal.adoc:1
+#, no-wrap
+msgid "hal_malloc(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_malloc.3hal.adoc:6
+msgid "hal_malloc - Allocate space in the HAL shared memory area"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_malloc.3hal.adoc:10
+msgid "void *hal_malloc(long int _size_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_malloc.3hal.adoc:15
+msgid "Gives the size, in bytes, of the block."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_malloc.3hal.adoc:24
+#, no-wrap
+msgid ""
+"*hal_malloc* allocates a block of memory from the main HAL shared memory\n"
+"area. It should be used by all components to allocate memory for HAL\n"
+"pins and parameters. It allocates `size' bytes, and returns a pointer to\n"
+"the allocated space, or NULL (0) on error. The returned pointer will be\n"
+"properly aligned for any type HAL supports. A component should allocate\n"
+"during initialization all the memory it needs.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_malloc.3hal.adoc:31
+msgid ""
+"The allocator is very simple, and there is no `free'. The entire HAL shared "
+"memory area is freed when the last component calls *hal_exit*.  This means "
+"that if you continuously install and remove one component while other "
+"components are present, you eventually will fill up the shared memory and an "
+"install will fail. Removing all components completely clears memory and you "
+"start fresh."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_malloc.3hal.adoc:35
+msgid ""
+"A pointer to the allocated space, which is properly aligned for any variable "
+"HAL supports. Returns NULL on error."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_param_alias.3hal.adoc:1
+#, no-wrap
+msgid "hal_param_alias(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_alias.3hal.adoc:6
+msgid "hal_param_alias - create an alternate name for a param"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_alias.3hal.adoc:10
+msgid "int *hal_param_alias*(const char **original_name*, const char **alias*);"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_param_alias.3hal.adoc:13
+#: src/man/man3/hal_pin_alias.3hal.adoc:13
+#, no-wrap
+msgid "original_name"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_alias.3hal.adoc:15
+msgid "The original name of the param"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_param_alias.3hal.adoc:15
+#: src/man/man3/hal_pin_alias.3hal.adoc:15
+#, no-wrap
+msgid "alias"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_alias.3hal.adoc:17
+msgid ""
+"The alternate name that may be used to refer to the param, or NULL to remove "
+"any alternate name."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_alias.3hal.adoc:22
+msgid ""
+"A param may have two names: the original name (the one that was passed to a "
+"*hal_param_new* function) and an alias."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_alias.3hal.adoc:26
+msgid ""
+"Usually, aliases are for the convenience of users and should be created and "
+"destroyed via halcmd.  However, in some cases it is sensible to create "
+"aliases directly in a component.  These cases include the case where a param "
+"is renamed, to preserve compatibility with old versions."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_alias.3hal.adoc:33
+msgid "hal_pin_alias(3)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_param_new.3.adoc:3
+#, no-wrap
+msgid "hal_param_new(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:8
+msgid ""
+"hal_param_new, hal_param_bit_new, hal_param_float_new, hal_param_u32_new, "
+"hal_param_s32_new, hal_param_bit_newf, hal_param_float_newf, "
+"hal_param_u32_newf, hal_param_s32_newf - creates a HAL parameter"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:12
+msgid ""
+"int hal_param_bit_new(const char* _name_, hal_param_dir_t _dir_, hal_bit_t* "
+"_data_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:14
+msgid ""
+"int hal_param_float_new(const char* _name_, hal_param_dir_t _dir_, "
+"hal_float_t* _data_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:16
+msgid ""
+"int hal_param_u32_new(const char* _name_, hal_param_dir_t _dir_, hal_u32_t* "
+"_data_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:18
+msgid ""
+"int hal_param_s32_new(const char* _name_, hal_param_dir_t _dir_, hal_s32_t* "
+"_data_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:20
+msgid ""
+"int hal_param_bit_newf(hal_param_dir_t _dir_, hal_bit_t* _data_addr_, int "
+"_comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:22
+msgid ""
+"int hal_param_float_newf(hal_param_dir_t _dir_, hal_float_t* _data_addr_, "
+"int _comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:24
+msgid ""
+"int hal_param_u32_newf(hal_param_dir_t _dir_, hal_u32_t * _data_addr_, int "
+"_comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:26
+msgid ""
+"int hal_param_s32_newf(hal_param_dir_t _dir_, hal_s32_t * _data_addr_, int "
+"_comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:28
+msgid ""
+"int hal_param_new(const char* _name_, hal_type_t _type_, hal_param_dir_t "
+"_dir_, void* _data_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_param_new.3.adoc:31
+#, no-wrap
+msgid "_name_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:33
+msgid "The name to give to the created parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_param_new.3.adoc:33
+#, no-wrap
+msgid "_dir_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:38
+msgid ""
+"The direction of the parameter, from the viewpoint of the component.  It may "
+"be one of *HAL_RO*, or *HAL_RW*.  A component may assign a value to any "
+"parameter, but other programs (such as halcmd) may only assign a value to a "
+"parameter that is *HAL_RW*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_param_new.3.adoc:38
+#, no-wrap
+msgid "_data_addr_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:40
+msgid ""
+"The address of the data, which must lie within memory allocated by "
+"*hal_malloc*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_param_new.3.adoc:40
+#: src/man/man3/hal_set_constructor.3hal.adoc:14
+#, no-wrap
+msgid "_comp_id_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_param_new.3.adoc:42
+#, no-wrap
+msgid "_fmt, ..._"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:44
+msgid "A printf-style format string and arguments."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_param_new.3.adoc:44
+#, no-wrap
+msgid "_type_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:46
+msgid "The type of the parameter, as specified in *hal_type_t(3hal)*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:50
+msgid "The *hal_param_new* family of functions create a new _param_ object."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_param_new.3.adoc:53 src/man/man3/hal_pin_new.3.adoc:67
+msgid ""
+"There are functions for each of the data types that the HAL supports.  Pins "
+"may only be linked to signals of the same type."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_param_new.3.adoc:60 src/man/man3/hal_signal_new.3.adoc:57
+#: src/man/man3/hal_type_t.3.adoc:3
+#, no-wrap
+msgid "hal_type_t(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_parport.3hal.adoc:1
+#, no-wrap
+msgid "hal_parport(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:6
+msgid "hal_parport - portable access to PC-style parallel ports"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hal_parport.3hal.adoc:13
+#, no-wrap
+msgid ""
+"#include \"hal_parport.h\"\n"
+"int hal_parport_get(int _comp_id_, hal_parport_t* _port_, unsigned short "
+"_base_, unsigned short _base_hi_, unsigned int _modes_)\n"
+"void hal_parport_release(hal_parport_t* _port_)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_parport.3hal.adoc:19 src/man/man3/rtapi_outb.3.adoc:19
+#: src/man/man3/rtapi_parport.3rtapi.adoc:23
+#, no-wrap
+msgid "port"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:21
+msgid "A pointer to a hal_parport_t structure."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_parport.3hal.adoc:21
+#: src/man/man3/rtapi_parport.3rtapi.adoc:25
+#: src/man/man3/rtapi_region.3.adoc:19
+#, no-wrap
+msgid "base"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:23
+msgid ""
+"The base address of the port (if port >= 16) or the linux port number of the "
+"port (if port < 16)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_parport.3hal.adoc:23
+#: src/man/man3/rtapi_parport.3rtapi.adoc:28
+#, no-wrap
+msgid "base_hi"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:26
+msgid ""
+"The \"high\" address of the port (location of the ECP registers), 0 to use a "
+"probed high address, or -1 to disable the high address"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_parport.3hal.adoc:26
+#: src/man/man3/rtapi_parport.3rtapi.adoc:31
+#, no-wrap
+msgid "modes"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:32
+msgid ""
+"Advise the driver of the desired port modes, from <linux/parport.h>.  If a "
+"linux-detected port does not provide the requested modes, a warning is "
+"printed with rtapi_print_msg.  This does not make the port request fail, "
+"because unfortunately, many systems that have working EPP parports are not "
+"detected as such by Linux."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:37
+#, no-wrap
+msgid ""
+"*hal_parport_get* allocates a parallel port for exclusive use of the named "
+"HAL component.\n"
+"The port must be released with *hal_parport_release* before the component "
+"exits with *hal_exit*.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/hal_parport.3hal.adoc:38
+#: src/man/man3/rtapi_parport.3rtapi.adoc:46
+#, no-wrap
+msgid "HIGH ADDRESS PROBING"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:44
+msgid ""
+"If the port is a parallel port known to Linux, and Linux detected a high I/O "
+"address, this value is used. Otherwise, if base+0x400 is not registered to "
+"any device, it is used. Otherwise, no address is used.  If no high address "
+"is detected, port->base_hi is 0."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/hal_parport.3hal.adoc:45
+#: src/man/man3/rtapi_parport.3rtapi.adoc:53
+#, no-wrap
+msgid "PARPORT STRUCTURE"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hal_parport.3hal.adoc:54
+#, no-wrap
+msgid ""
+"typedef struct\n"
+"{\n"
+"    unsigned short base;\n"
+"    unsigned short base_hi;\n"
+"    .... // and further unspecified fields\n"
+"} hal_parport_t;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:62
+#, no-wrap
+msgid ""
+"*hal_parport_get* returns a HAL status code.\n"
+"On success, _port_ is filled out with information about the allocated "
+"port.\n"
+"On failure, the contents of _port_ are undefined except that it is safe\n"
+"(but not required) to pass this port to *hal_parport_release*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:64
+#, no-wrap
+msgid "*hal_parport_release* does not return a value. It always succeeds.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_parport.3hal.adoc:67
+msgid "In new code, prefer use of rtapi_parport to hal_parport."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_pin_alias.3hal.adoc:1
+#, no-wrap
+msgid "hal_pin_alias(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_alias.3hal.adoc:6
+msgid "hal_pin_alias - creates an alternate name for a pin"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_alias.3hal.adoc:10
+msgid "int *hal_pin_alias*(const char* _original_name_, const char* _alias_);"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_alias.3hal.adoc:15
+msgid "The original name of the pin."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_alias.3hal.adoc:18
+msgid ""
+"The alternate name that may be used to refer to the pin, or NULL to remove "
+"any alternate name."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_alias.3hal.adoc:23
+msgid ""
+"A pin may have two names: the original name (the one that was passed to a "
+"*hal_pin_new* function) and an alias."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_alias.3hal.adoc:27
+msgid ""
+"Usually, aliases are for the convenience of users and should be created and "
+"destroyed via halcmd.  However, in some cases it is sensible to create "
+"aliases directly in a component.  These cases include the case where a pin "
+"is renamed, to preserve compatibility with old versions."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_alias.3hal.adoc:34
+msgid "hal_param_alias(3)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_pin_new.3.adoc:3
+#, no-wrap
+msgid "hal_pin_new(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:11
+msgid ""
+"hal_pin_new, hal_pin_bit_new, hal_pin_float_new, hal_pin_u32_new, "
+"hal_pin_s32_new, hal_pin_port_new, hal_pin_bit_newf, hal_pin_float_newf, "
+"hal_pin_u32_newf, hal_pin_s32_newf, hal_pin_port_newf - creates a HAL pin"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:15
+msgid ""
+"int hal_pin_bit_new(const char* _name_, hal_pin_dir_t _dir_, hal_bit_t** "
+"_data_ptr_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:17
+msgid ""
+"int hal_pin_float_new(const char* _name_, hal_pin_dir_t _dir_, hal_float_t** "
+"_data_ptr_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:19
+msgid ""
+"int hal_pin_u32_new(const char* _name_, hal_pin_dir_t _dir_, hal_u32_t** "
+"_data_ptr_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:21
+msgid ""
+"int hal_pin_s32_new(const char* _name_, hal_pin_dir_t _dir_, hal_s32_t** "
+"_data_ptr_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:23
+msgid ""
+"int hal_pin_port_new(const char* _name_, hal_pin_dir_t _dir_, hal_port_t** "
+"_data_ptr_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:25
+msgid ""
+"int hal_pin_bit_newf(hal_pin_dir_t _dir_, hal_bit_t** _data_ptr_addr_, int "
+"_comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:27
+msgid ""
+"int hal_pin_float_newf(hal_pin_dir_t _dir_, hal_float_t** _data_ptr_addr_, "
+"int _comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:29
+msgid ""
+"int hal_pin_u32_newf(hal_pin_dir_t _dir_, hal_u32_t** _data_ptr_addr_, int "
+"_comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:31
+msgid ""
+"int hal_pin_s32_newf(hal_pin_dir_t _dir_, hal_s32_t** _data_ptr_addr_, int "
+"_comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:33
+msgid ""
+"int hal_pin_port_newf(hal_pin_dir_t _dir_, hal_port_t** _data_ptr_addr_, int "
+"_comp_id_, const char* _fmt_, _..._)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:35
+msgid ""
+"int hal_pin_new(const char* _name_, hal_type_t _type_, hal_pin_dir_t _dir_, "
+"void** _data_ptr_addr_, int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:40
+msgid "Name of the pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_pin_new.3.adoc:40
+#, no-wrap
+msgid "dir"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:47
+msgid ""
+"The direction of the pin, from the viewpoint of the component.  It may be "
+"one of *HAL_IN*, *HAL_OUT*, or *HAL_IO*.  Any number of *HAL_IN* or *HAL_IO* "
+"pins may be connected to the same signal, but at most one *HAL_OUT* pin is "
+"permitted.  A component may assign a value to a pin that is *HAL_OUT* or "
+"*HAL_IO*, but may not assign a value to a pin that is *HAL_IN*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_pin_new.3.adoc:47
+#, no-wrap
+msgid "data_ptr_addr"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:50
+msgid ""
+"The address of the pointer-to-data, which must lie within memory allocated "
+"by *hal_malloc*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:52
+msgid "HAL component identifier returned by an earlier call to *hal_init*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_pin_new.3.adoc:52
+#, no-wrap
+msgid "fmt,"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:54
+msgid "printf-style format string and arguments"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_pin_new.3.adoc:54 src/man/man3/hal_signal_new.3.adoc:26
+#, no-wrap
+msgid "type"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:56
+msgid "The type of the param, as specified in *hal_type_t(3hal)*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:64
+msgid ""
+"The *hal_pin_new* family of functions create a new _pin_ object.  Once a pin "
+"has been created, it can be linked to a signal object using *hal_link*.  A "
+"pin contains a pointer, and the component that owns the pin can dereference "
+"the pointer to access whatever signal is linked to the pin.  (If no signal "
+"is linked, it points to a dummy signal.)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:71
+msgid "Returns 0 on success, or a negative errno value on failure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_pin_new.3.adoc:74
+msgid "hal_type_t(3hal), hal_link(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_port.3hal.adoc:1
+#, no-wrap
+msgid "hal_port(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:7
+msgid "hal_port - a HAL pin type that acts as an asynchronous one way byte stream"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hal_port.3hal.adoc:17
+#, no-wrap
+msgid ""
+"#include <hal.h>\n"
+"bool hal_port_read(hal_port_t port, char* dest, unsigned count);\n"
+"bool hal_port_peek(hal_port_t port, char* dest, unsigned count);\n"
+"bool hal_port_peek_commit(hal_port_t port, unsigned count);\n"
+"unsigned hal_port_readable(hal_port_t port);\n"
+"void hal_port_clear(hal_port_t port);\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hal_port.3hal.adoc:20
+#, no-wrap
+msgid ""
+"bool hal_port_write(hal_port_t port, const char* src, unsigned count);\n"
+"unsigned hal_port_writable(hal_port_t port);\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hal_port.3hal.adoc:22
+#, no-wrap
+msgid "unsigned hal_port_buffer_size(hal_port_t port);\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hal_port.3hal.adoc:27
+#, no-wrap
+msgid ""
+"#ifdef ULAPI\n"
+"void hal_port_wait_readable(hal_port_t** port, unsigned count, sig_atomic_t* "
+"stop);\n"
+"void hal_port_wait_writable(hal_port_t** port, unsigned count, sig_atomic_t* "
+"stop);\n"
+"#endif\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:36
+msgid ""
+"A HAL port pin is a HAL pin that acts as a one way byte oriented data stream "
+"in real-time. An output port on any component may be connected to an input "
+"port on any other component via a signal. Data written on the output pin "
+"becomes accessible to the input pin. A HAL port signal may link only a "
+"single writer and a single reader."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:39
+msgid ""
+"A port also buffers data. Users should determine the proper buffer size "
+"based upon their intended application."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:40
+#, no-wrap
+msgid "*hal_port_read*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:47
+msgid ""
+"Reads count bytes from the port into destination buffer dest.  hal_port_read "
+"will read _count_ bytes if and only if _count_ bytes are available for "
+"reading and otherwise it will leave the port unaffected.  Returns true if "
+"count bytes were read and false otherwise. This function should only be "
+"called by the component that owns the IN PORT pin."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:48
+#, no-wrap
+msgid "*hal_port_peek*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:55
+msgid ""
+"Behaves the same as hal_port_read, however it does not consume bytes from "
+"the HAL port. Repeated calls to hal_port_peek will return the same "
+"data. Returns true if count bytes were read and false otherwise. This "
+"function should only be called by the component that owns the IN PORT pin."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:56
+#, no-wrap
+msgid "*hal_port_peek_commit*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:64
+msgid ""
+"Advances the read position in the port buffer by count bytes.  A "
+"hal_port_peek followed by a hal_port_peek_commit would function equivalently "
+"to hal_port_read given the same count value. Returns true if count readable "
+"bytes were skipped and are no longer accessible and false if no bytes wer "
+"skipped. This function should only be called by the component that owns the "
+"IN PORT pin."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:65
+#, no-wrap
+msgid "*hal_port_readable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:69
+msgid ""
+"Returns the number of bytes available for reading from port. It is safe to "
+"call this function from any component."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:70
+#, no-wrap
+msgid "*hal_port_clear*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:74
+msgid ""
+"Emptys a given port of all data. hal_port_clear should only be called by the "
+"component that owns the IN PORT pin."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:75
+#, no-wrap
+msgid "*hal_port_write*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:80
+msgid ""
+"Writes count bytes from src into the port. Returns true if count bytes were "
+"written and false otherwise. This function should only be called by the "
+"component that owns the OUT PORT pin."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:81
+#, no-wrap
+msgid "*hal_port_writable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:85
+msgid ""
+"Returns the number of bytes that can be written into the port. It is safe to "
+"call this function from any component."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:86
+#, no-wrap
+msgid "*hal_port_buffer_size*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:90
+msgid ""
+"Returns the maximum number of bytes that a port can buffer. It is safe to "
+"call this function from any component."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:91
+#, no-wrap
+msgid "*hal_port_wait_readable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:95
+msgid ""
+"Waits until the port has count bytes or more available for reading or the "
+"stop flag is set."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/hal_port.3hal.adoc:96
+#, no-wrap
+msgid "*hal_port_wait_writable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:100
+msgid ""
+"Waits until the port has count bytes or more available for writing or the "
+"stop flag is set."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_port.3hal.adoc:103 src/man/man3/hal_type_t.3.adoc:59
+#, no-wrap
+msgid "hal_port_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:105
+msgid "A handle to a port object. Created by hal_pin_new."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_port.3hal.adoc:105
+#, no-wrap
+msgid "dest"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:108
+msgid ""
+"An array of bytes that hal_port_read and hal_port_peek will copy data into.  "
+"This must be allocated by the caller and be at least count bytes long."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:111
+msgid ""
+"The number of bytes that hal_port_read, hal_port_peek, and hal_port_write "
+"will copy in to dest or out from src."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_port.3hal.adoc:111
+#, no-wrap
+msgid "src"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:114
+msgid ""
+"An array of bytes that hal_port_write will copy data from into the port "
+"buffer. This must be of size count bytes or larger."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:118
+msgid ""
+"A pointer to a value which is monitored while waiting.  If it is nonzero, "
+"the wait operation returns early.  This allows a wait call to be safely "
+"terminated in the case of a signal."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/hal_port.3hal.adoc:119 src/man/man3/hal_stream.3hal.adoc:142
+#, no-wrap
+msgid "SAMPLE CODE"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:124
+msgid ""
+"In the source tree under src/hal/components/raster.comp is a realtime "
+"component intended for laser control. src/tests/raster is a test program "
+"that also programs the raster component from Python."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:130
+#, no-wrap
+msgid ""
+"*hal_port_read*, *hal_port_peek*, *hal_port_peek_commit*,\n"
+"*hal_port_readable*, *hal_port_clear*, *hal_port_write*,\n"
+"*hal_port_writable*, *hal_port_buffer_size* may be called from realtime "
+"code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:132
+#, no-wrap
+msgid ""
+"*hal_port_wait_writable*, *hal_port_wait_readable* may be called from ULAPI "
+"code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_port.3hal.adoc:135
+msgid "raster(9)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_ready.3hal.adoc:1
+#, no-wrap
+msgid "hal_ready(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_ready.3hal.adoc:6
+msgid "hal_ready - indicates that this component is ready"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_ready.3hal.adoc:10
+msgid "hal_ready(int _comp_id_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_ready.3hal.adoc:22
+#, no-wrap
+msgid ""
+"*hal_ready* indicates that this component is ready (has created all its\n"
+"pins, parameters, and functions). This must be called in any realtime\n"
+"HAL component before its *rtapi_app_init* exits, and in any non-realtime\n"
+"component before it enters its main loop.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_set_constructor.3hal.adoc:1
+#, no-wrap
+msgid "hal_set_constructor(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_constructor.3hal.adoc:6
+msgid "hal_set_constructor - sets the constructor function for this component"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_constructor.3hal.adoc:11
+msgid ""
+"typedef int (*hal_constructor_t)(const char* prefix, const char* arg); int "
+"hal_set_constructor(int _comp_id_, hal_constructor_t _constructor_)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_set_constructor.3hal.adoc:16
+#, no-wrap
+msgid "_prefix_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_constructor.3hal.adoc:17
+msgid ""
+"The prefix to be given to the pins, parameters, and functions in the new "
+"instance."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_set_constructor.3hal.adoc:18
+#, no-wrap
+msgid "_arg_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_constructor.3hal.adoc:19
+msgid "An argument that may be used by the component to customize this instance."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_constructor.3hal.adoc:25
+msgid ""
+"As an experimental feature in HAL 2.1, components may be _constructable_.  "
+"Such a component may create pins and parameters not only at the time the "
+"module is loaded, but it may create additional pins and parameters, and "
+"functions on demand."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_set_lock.3.adoc:3
+#, no-wrap
+msgid "hal_set_lock(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_lock.3.adoc:8
+msgid "hal_set_lock, hal_get_lock - Set or get the HAL lock level"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_lock.3.adoc:12
+msgid "int hal_set_lock(unsigned char _lock_type_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_lock.3.adoc:14
+msgid "int hal_get_lock()"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_set_lock.3.adoc:17
+#, no-wrap
+msgid "lock_type"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_lock.3.adoc:21
+msgid ""
+"The desired lock type, which may be a bitwise combination of: "
+"*HAL_LOCK_LOAD*, *HAL_LOCK_CONFIG*, *HAL_LOCK_PARAMS*, or "
+"*HAL_LOCK_PARAMS*.  *HAL_LOCK_NONE* or 0 locks nothing, and *HAL_LOCK_ALL "
+"locks everything.*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_set_lock.3.adoc:25
+#, no-wrap
+msgid ""
+"*hal_set_lock* returns a HAL status code.\n"
+"*hal_get_lock* returns the current HAL lock level or a HAL status code.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_signal_new.3.adoc:3
+#, no-wrap
+msgid "hal_signal_new(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:9
+msgid ""
+"hal_signal_new, hal_signal_delete, hal_link, hal_unlink - Manipulate HAL "
+"signals"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:13
+msgid "int hal_signal_new(const char* _signal_name_, hal_type_t _type_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:15
+msgid "int hal_signal_delete(const char* _signal_name_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:17
+msgid "int hal_link(const char* _pin_name_, const char* _signal_name_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:19
+msgid "int hal_unlink(const char* _pin_name_)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_signal_new.3.adoc:22
+#, no-wrap
+msgid "signal_name"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:24
+msgid "The name of the signal."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_signal_new.3.adoc:24
+#, no-wrap
+msgid "pin_name"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:26
+msgid "The name of the pin."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:28
+msgid "The type of the signal, as specified in *hal_type_t(3hal)*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:37
+#, no-wrap
+msgid ""
+"*hal_signal_new* creates a new signal object. Once a signal has been\n"
+"created, pins can be linked to it with *hal_link*. The signal object\n"
+"contains the actual storage for the signal data. Pin objects linked to\n"
+"the signal have pointers that point to the data. 'name' is the name of\n"
+"the new signal. It may be no longer than HAL_NAME_LEN characters. If\n"
+"there is already a signal with the same name the call will fail.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:45
+#, no-wrap
+msgid ""
+"*hal_link* links a pin to a signal. If the pin is already linked to the\n"
+"desired signal, the command succeeds. If the pin is already linked to\n"
+"some other signal, it is an error. In either case, the existing\n"
+"connection is not modified. (Use 'hal_unlink' to break an existing\n"
+"connection.) If the signal already has other pins linked to it, they are\n"
+"unaffected - one signal can be linked to many pins, but a pin can be\n"
+"linked to only one signal.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:47
+#, no-wrap
+msgid "*hal_unlink* unlinks any signal from the specified pin.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_signal_new.3.adoc:50
+#, no-wrap
+msgid ""
+"*hal_signal_delete* deletes a signal object. Any pins linked to the\n"
+"object are unlinked.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_start_threads.3hal.adoc:1
+#, no-wrap
+msgid "hal_start_threads(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_start_threads.3hal.adoc:6
+msgid "hal_start_threads - Allow HAL threads to begin executing"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_start_threads.3hal.adoc:10
+msgid "int hal_start_threads()"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_start_threads.3hal.adoc:12
+msgid "int hal_stop_threads()"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_start_threads.3hal.adoc:17
+#, no-wrap
+msgid ""
+"*hal_start_threads* starts all threads that have been created.\n"
+"This is the point at which realtime functions start being called.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_start_threads.3hal.adoc:20
+#, no-wrap
+msgid ""
+"*hal_stop_threads* stops all threads that were previously started by "
+"*hal_start_threads*.\n"
+"It should be called before any component that is part of a system exits.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_start_threads.3hal.adoc:27
+msgid ""
+"hal_export_funct(3hal), hal_create_thread(3hal), "
+"hal_add_funct_to_thread(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal_stream.3hal.adoc:1
+#, no-wrap
+msgid "hal_stream(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:6
+msgid "hal_stream - non-blocking realtime streams"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hal_stream.3hal.adoc:16
+#, no-wrap
+msgid ""
+"#include <hal.h>\n"
+"int hal_stream_create(hal_stream_t* stream, int comp_id, int key, int depth, "
+"const char* typestring);\n"
+"void hal_stream_destroy(hal_stream_t* stream);\n"
+"int hal_stream_attach(hal_stream_t* stream, int comp_id, int key, const "
+"char* typestring);\n"
+"int hal_stream_detach(hal_stream_t* stream);\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hal_stream.3hal.adoc:23
+#, no-wrap
+msgid ""
+"int hal_stream_element_count(hal_stream_t* stream);\n"
+"hal_type_t hal_stream_element_type(hal_stream_t* stream, int idx);\n"
+"int hal_stream_depth(hal_stream_t* stream);\n"
+"int hal_stream_maxdepth(hal_stream_t* stream);\n"
+"int hal_stream_num_underruns(hal_stream_t* stream);\n"
+"int hal_stream_num_overruns(hal_stream_t* stream);\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hal_stream.3hal.adoc:26
+#, no-wrap
+msgid ""
+"int hal_stream_read(hal_stream_t* stream, union hal_stream_data* buf, "
+"unsigned* sampleno);\n"
+"bool hal_stream_readable(hal_stream_t* stream);\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hal_stream.3hal.adoc:29
+#, no-wrap
+msgid ""
+"int hal_stream_write(hal_stream_t* stream, union hal_stream_data* buf);\n"
+"bool hal_stream_writable(hal_stream_t* stream);\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hal_stream.3hal.adoc:34
+#, no-wrap
+msgid ""
+"#ifdef ULAPI\n"
+"void hal_stream_wait_writable(hal_stream_t* stream, sig_atomic_t* stop);\n"
+"void hal_stream_wait_readable(hal_stream_t* stream, sig_atomic_t* stop);\n"
+"#endif\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:45
+msgid ""
+"A HAL stream provides a limited ability for two components to communicate "
+"data which does not fit within the model of HAL pins.  A reader and a writer "
+"must agree on a _key_ (32-bit integer identifier)  and a data structure "
+"specified by _typestring._ They must also agree which component (the first "
+"one loaded) will *hal_stream_create* the stream, and which component (the "
+"second one loaded) will *hal_stream_attach* to the already-created stream."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:49
+msgid ""
+"The non-realtime part can be *halstreamer* or *halsampler*.  In the case of "
+"*halstreamer* the key is 0x48535430 plus the channel number.  In the case of "
+"*halsampler* the key is 0x48534130 plus the channel number."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:50
+#, no-wrap
+msgid "*hal_stream_create*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:53
+msgid ""
+"Create the given stream, initializing the _stream_ which is passed by "
+"reference.  It is an undiagnosed error if a stream has already been created "
+"with the same _key_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:54
+#, no-wrap
+msgid "*hal_stream_destroy*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:60
+msgid ""
+"Destroy the given stream. It is an undiagnosed error if the stream is still "
+"attached by another component. It is an undiagnosed error if the stream was "
+"attached with *hal_stream_attach* rather than created with "
+"*hal_stream_create*. It is an undiagnosed error if the call to "
+"*hal_stream_destroy* is omitted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:61
+#, no-wrap
+msgid "*hal_stream_attach*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:65
+msgid ""
+"Attach the given stream, which was already created by *hal_stream_create*.  "
+"If the typestring is specified, this call fails if it does not match the "
+"typestring the stream was created with.  If the typestring argument is NULL, "
+"then any typestring is accepted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:66
+#, no-wrap
+msgid "*hal_stream_detach*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:70
+msgid ""
+"Detach the given stream. It is an undiagnosed error if the stream was "
+"created with *hal_stream_create* rather than attached with "
+"*hal_stream_attach*.  It is an undiagnosed error if the call to "
+"*hal_stream_detach* is omitted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:71
+#, no-wrap
+msgid "*hal_stream_element_count*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:72
+msgid "Returns the number of pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:73
+#, no-wrap
+msgid "*hal_stream_element_type*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:74
+msgid "Returns the type of the given pin number."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:75
+#, no-wrap
+msgid "*hal_stream_readable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:76
+msgid "Returns true if the stream has at least one sample to read"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:77 src/man/man3/hal_stream.3hal.adoc:93
+#, no-wrap
+msgid "*hal_stream_read*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:78
+msgid "If the stream has one sample to read, stores it in buf."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:79
+#, no-wrap
+msgid "*hal_stream_writable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:80
+msgid "Returns true if the stream has room for at least one sample to be written."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:81
+#, no-wrap
+msgid "*hal_stream_depth*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:82
+msgid "Returns the number of samples waiting to be read."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:83
+#, no-wrap
+msgid "*hal_stream_maxdepth*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:84
+msgid "Returns the *depth* argument that the stream was created with."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:85
+#, no-wrap
+msgid "*hal_stream_num_overruns*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:86
+msgid ""
+"Returns a number which is incremented each time *hal_stream_write* is called "
+"without space available."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:87
+#, no-wrap
+msgid "*hal_stream_num_underruns*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:88
+msgid ""
+"Returns a number which is incremented each time *hal_stream_read* is called "
+"without a sample available."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:89
+#, no-wrap
+msgid "*hal_stream_wait_readable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:90
+msgid "Waits until the stream is readable or the stop flag is set."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:91
+#, no-wrap
+msgid "*hal_stream_wait_writable*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:92
+msgid "Waits until the stream is writable or the stop flag is set."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:97
+msgid ""
+"Reads a record from stream.  If successful, it is stored in the given "
+"buffer.  Optionally, the sample number can be retrieved. If no sample is "
+"available, _num_underruns_ is incremented.  It is an undetected error if "
+"more than one component or real-time function calls *hal_stream_read* "
+"concurrently."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:98
+#, no-wrap
+msgid "*hal_stream_write*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:103
+msgid ""
+"Writes a record to the stream.  If successful, it copied from the given "
+"buffer.  If no room is available, _num_overruns_ is incremented.  In either "
+"case, the internal _sampleno_ value is incremented.  It is an undetected "
+"error if more than one component or real-time function calls "
+"*hal_stream_write* concurrently."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:106
+#, no-wrap
+msgid "stream"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:111
+msgid ""
+"A pointer to a stream object. In the case of *hal_stream_create* and "
+"*hal_stream_attach* this is an uninitialized stream; in other cases, it must "
+"be a stream created or attached by an earlier call and not yet detached or "
+"destroyed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:111
+#, no-wrap
+msgid "hal_id"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:113
+msgid "An HAL component identifier returned by an earlier call to *hal_init*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:113 src/man/man3/rtapi_shmem.3.adoc:20
+#, no-wrap
+msgid "key"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:115
+msgid "The key for the shared memory segment."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:115
+#, no-wrap
+msgid "depth"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:118
+msgid ""
+"The number of samples that can be unread before any samples are lost "
+"(overrun)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:118
+#, no-wrap
+msgid "typestring"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:123
+msgid ""
+"A typestring is a case-insensitive string which consists of one or more of "
+"the following type characters: + [upperalpha, start=2]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:124
+msgid "for bool / hal_bit_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:125
+msgid "for int32_t / hal_s32_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:126
+msgid "for uint32_t / hal_u32_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:127
+msgid "for real_t / hal_float_t"
+msgstr ""
+
+#. type: Bullet: '+
+#. type: '
+#: src/man/man3/hal_stream.3hal.adoc:129
+msgid "A typestring is limited to 16 characters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:130
+#, no-wrap
+msgid "buf"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:132
+msgid "A buffer big enough to hold all the data in one sample."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_stream.3hal.adoc:132
+#, no-wrap
+msgid "sampleno"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:137
+msgid ""
+"If non-NULL, the last sample number is stored here. Gaps in this sequence "
+"indicate that an overrun occurred between the previous read and this "
+"one. May be NULL, in which case the sample number is not retrieved."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:141
+msgid ""
+"A pointer to a value which is monitored while waiting. If it is nonzero, the "
+"wait operation returns early. This allows a wait call to be safely "
+"terminated in the case of a signal."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:146
+msgid ""
+"In the source tree under _src/hal/components_, *sampler.c* and *streamer.c* "
+"are realtime components that read and write HAL streams."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:153
+#, no-wrap
+msgid ""
+"*hal_stream_read*, *hal_stream_readable*, *hal_stream_write*,\n"
+"*hal_stream_writable*, *hal_stream_element_count*, *hal_tream_pin_type*,\n"
+"*hal_stream_depth*, *hal_stream_maxdepth*, *hal_stream_num_underruns*,\n"
+"*hal_stream_number_overruns* may be called from realtime code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:155
+#, no-wrap
+msgid ""
+"*hal_stream_wait_writable*, *hal_stream_wait_writable* may be called from "
+"ULAPI code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:157
+msgid "Other functions may be called in any context, including realtime contexts."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:163
+#, no-wrap
+msgid ""
+"*hal_stream_create* , *hal_stream_attach* , *hal_stream_read* ,\n"
+"*hal_stream_write* , *hal_stream_detach* and *hal_stream_destroy* return\n"
+"an RTAPI status code. Other functions' return values are explained above.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:171
+msgid ""
+"The memory overhead of a stream can be large.  Each element in a record uses "
+"8 bytes, and the implicit sample number also uses 8 bytes.  As a result, a "
+"stream which is used to transport 8-bit values uses 94% of its memory as "
+"overhead.  However, for modest stream sizes this overhead is not important.  "
+"(This memory is part of its own shared memory region and does not count "
+"against the HAL shared memory region used for pins, parameters and signals)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_stream.3hal.adoc:174
+msgid "sampler(9), streamer(9), halsampler(1), halstreamer(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:8
+msgid ""
+"hal_type_t, hal_bool, hal_bit_t, hal_s32_t, hal_u32_t, hal_port_t, "
+"hal_float_t, real_t, ireal_t - typedefs for HAL datatypes"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:11
+#, no-wrap
+msgid "typedef ... *hal_bool;*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:13
+msgid "A type which may have a value of 0 or nonzero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:13
+#, no-wrap
+msgid "typedef ... *hal_bit_t;*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:15
+msgid "A volatile type which may have a value of 0 or nonzero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:15
+#, no-wrap
+msgid "typedef ... *hal_s32_t*;"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:17
+msgid "A volatile type which may have a value from -2147483648 to 2147483647."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:17
+#, no-wrap
+msgid "typedef ... *hal_u32_t*;"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:19
+msgid "A volatile type which may have a value from 0 to 4294967295."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:19
+#, no-wrap
+msgid "typedef ... *hal_port_t*;"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:21
+msgid "A volatile handle to a port object. Used with hal_port* functions."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:21
+#, no-wrap
+msgid "typedef ... *hal_float_t*;"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:24
+msgid ""
+"A volatile floating-point type, which typically has the same precision and "
+"range as the C type *double*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:24
+#, no-wrap
+msgid "typedef ... *real_t*;"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:27
+msgid ""
+"A nonvolatile floating-point type with at least as much precision as "
+"*hal_float_t*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:27
+#, no-wrap
+msgid "typedef ... *ireal_t*;"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:29
+msgid "A nonvolatile unsigned integral type the same size as *hal_float_t*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:29
+#, no-wrap
+msgid "typedef enum *hal_type_t*;"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:31
+#, no-wrap
+msgid "*HAL_BIT*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:33
+#, no-wrap
+msgid "Corresponds to the type *hal_bit_t*.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:33
+#, no-wrap
+msgid "*HAL_FLOAT*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:35
+#, no-wrap
+msgid "Corresponds to the type *hal_float_t*.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:35
+#, no-wrap
+msgid "*HAL_S32*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:37
+#, no-wrap
+msgid "Corresponds to the type *hal_s32_t*.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:37
+#, no-wrap
+msgid "*HAL_U32*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:39
+#, no-wrap
+msgid "Corresponds to the type *hal_u32_t*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:45
+#, no-wrap
+msgid ""
+"*hal_bit_t* is typically a typedef to an integer type whose range is\n"
+"larger than just 0 and 1. When testing the value of a *hal_bit_t*, never\n"
+"compare it to 1. Prefer one of the following:\n"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man3/hal_type_t.3.adoc:48
+msgid "if(b)"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man3/hal_type_t.3.adoc:49
+msgid "if(b != 0)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:54
+msgid ""
+"It is often useful to refer to a type that can represent all the values as a "
+"HAL type, but without the volatile qualifier. The following types correspond "
+"with the HAL types:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:55
+#, no-wrap
+msgid "hal_bit_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:56 src/man/man3/hal_type_t.3.adoc:60
+msgid "int"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:56
+#, no-wrap
+msgid "hal_s32_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:57
+msgid "__s32"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:57
+#, no-wrap
+msgid "hal_u32_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:58
+msgid "__u32"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hal_type_t.3.adoc:58
+#, no-wrap
+msgid "hal_float_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:59
+msgid "hal_real_t"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:64
+msgid ""
+"Take care not to use the types *s32* and *u32*. These will compile in kernel "
+"modules but not in userspace, and not for realtime components when using "
+"uspace realtime."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal_type_t.3.adoc:67
+msgid "hal_pin_new(3hal), hal_param_new(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_allocate_bspi_tram(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:6
+msgid "hm2_allocate_bspi_tram - Allocate the TRAM regions for a BSPI channel"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:12
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"hm2_allocate_bspi_tram(char* name)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:22
+#, no-wrap
+msgid ""
+"*hm2_allocate_bspi_tram* Allocate the TRAM memory for bspi instance\n"
+"\"name\". \"name\" is a unique string given to each bspi channel during\n"
+"hostmot2 setup. The names of the available channels are printed to\n"
+"standard output during the driver loading process and take the form:\n"
+"hm2_<board name>.<board index>.bspi.<index>, for example:\n"
+"hm2_5i23.0.bspi.0 .\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:26
+msgid ""
+"This function allocates the TRAM memory and sets up the regular data "
+"transfers. It should be called only when all the frames have been defined by "
+"calls to hm2_tram_add_bspi_frame()."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:31
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:44
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:44
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:33
+msgid ""
+"Call only from realtime init code, not from other realtime code or "
+"non-realtime components."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:35
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:48
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:48
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:64
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:37
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:37
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:53
+msgid "Returns 0 on success and -1 on failure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:41
+msgid ""
+"hm2_bspi_set_read_function(3hm2), hm2_bspi_setup_chan(3hm2), "
+"hm2_bspi_set_write_function(3hm2), hm2_bspi_write_chan(3hm2), "
+"hm2_tram_add_bspi_frame(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_allocate_bspi_tram.3hm2.adoc:42
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:71
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:44
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:44
+msgid "See src/hal/drivers mesa_7i65.comp for an example usage."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_bspi_set_read_function(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:7
+msgid ""
+"hm2_bspi_set_read_function - Register a function to handle the tram write "
+"phase of a hostmot2 buffered SPI driver."
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:13
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_bspi_set_read_function(char *name, void *func, void *subdata)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:22
+#, no-wrap
+msgid ""
+"*hm2_bspi_set_read_function* registers a function in an external driver\n"
+"to be called every time that the main Hostmot2 driver calls the generic\n"
+"\"process_tram_read\" function. The names of the available channels are\n"
+"printed with rtapi_print_msg during the driver loading process and take\n"
+"the form:\n"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:25
+msgid "hm2_<board name>.<board index>.bspi.<index>"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:28
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:27
+msgid "For example hm2_5i23.0.bspi.0."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:35
+msgid ""
+"\"func\" should be a pointer to a function in the sub driver which is to be "
+"called to process the results of the BSPI TRAM read phase. The function must "
+"take a single argument, a pointer to an individual instance of the internal "
+"driver. If defined in comp then the function must *not* use the FUNCTION() "
+"convenience macro, and the argument to the function in the definition must "
+"*always* be (struct state *inst)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:39
+msgid ""
+"\"subdata\" is a pointer to the driver instance internal data. In the case "
+"of a driver written in comp this will always be \"inst\" in the function "
+"call and the call should be anywhere in the EXTRA_SETUP code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_read_function.3hm2.adoc:54
+msgid ""
+"hm2_allocate_bspi_tram(3hm2), hm2_bspi_setup_chan(3hm2), "
+"hm2_bspi_set_write_function(3hm2), hm2_bspi_write_chan(3hm2), "
+"hm2_tram_add_bspi_frame(3hm2), src/hal/drivers mesa_7i65.comp in the "
+"LinuxCNC source distribution."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_bspi_set_write_function(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:7
+msgid ""
+"hm2_bspi_set_write_function - Register a function to handle the tram write "
+"phase of a hostmot2 buffered SPI driver."
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:14
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_bspi_set_write_function(char *name, void *func, void *subdata)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:23
+#, no-wrap
+msgid ""
+"*hm2_bspi_set_write_function* registers a function in an external driver\n"
+"to be called every time that the main Hostmot2 driver calls the generic\n"
+"\"prepare_tram_write\" functions. The names of the available channels are\n"
+"printed with rtapi_print_msg during the driver loading process and take\n"
+"the form:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:25
+#, no-wrap
+msgid "**hm2_**_<board name>_**.**_<board index>_**.bspi**._<index>_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:35
+msgid ""
+"\"func\" should be a pointer to a function in the sub driver which is to be "
+"called to process the pins into BSPI write registers prior to the regular "
+"TRAM write phase. The function must take a single argument, a pointer to an "
+"individual instance of the internal driver. If defined in comp then the "
+"function must *not* use the FUNCTION() convenience macro, and the argument "
+"to the function in the definition must *always* be (struct state *inst)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:38
+msgid ""
+"\"subdata\" is a pointer to the driver instance internal data.  In the case "
+"of a driver written in comp this will always be \"inst\" in the function "
+"call."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:40
+msgid ""
+"If using comp then the call to this function should be anywhere in the "
+"EXTRA_SETUP code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_set_write_function.3hm2.adoc:54
+msgid ""
+"hm2_allocate_bspi_tram(3hm2), hm2_bspi_set_read_function(3hm2), "
+"hm2_bspi_setup_chan(3hm2), hm2_bspi_write_chan(3hm2), "
+"hm2_tram_add_bspi_frame(3hm2), src/hal/drivers mesa_7i65.comp in the "
+"LinuxCNC source distribution."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_bspi_setup_chan(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:6
+msgid "hm2_bspi_setup_chan - setup a Hostmot2 bspi channel"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:14
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_bspi_setup_chan(char* name, int chan, int cs, int bits, float mhz,\n"
+"                        int delay, int cpol, int cpha, int noclear, int "
+"noecho)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:20
+#, no-wrap
+msgid ""
+"*hm2_bspi_setup_chan* allows a realtime component to claim and configure\n"
+"a BSPI channel on a previously configured hostmot2 board.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:28
+msgid ""
+"A unique string given to the BSPI channel during hostmot2 setup. The names "
+"of the available channels are printed to standard output during the driver "
+"loading process and take the form "
+"**hm2_**_board-name_**.**_board-index_**.bspi.**_bspi-index_.  For example, "
+"the first index on the first hm2_5i23 board would be called "
+"`hm2_5i23.0.bspi.0`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:28
+#, no-wrap
+msgid "chan"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:31
+msgid ""
+"Channels are numbered 0 to 15. The value on the chip-select lines is set by "
+"cs and need not match the channel number."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:31
+#, no-wrap
+msgid "cs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:34
+msgid ""
+"The chip select line(s) to assert when accessing this channel. BSPI supports "
+"4 chip select lines, so the valid range for cs is 0-15."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:34
+#, no-wrap
+msgid "bits"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:38
+msgid ""
+"sets the bit-length of the SPI packet. The maximum supported length is 64 "
+"bits but this will span two read FIFO entries and will need special handling "
+"(values 32 and below require no special handling)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:38
+#, no-wrap
+msgid "mhz"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:43
+msgid ""
+"sets the chip communication rate. The maximum value for this is half the "
+"FPGA base frequency, so for example with a 48 MHz 5I23 the max SPI frequency "
+"is 24 MHz. Values in excess of the max supported will be silently rounded "
+"down."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:43
+#, no-wrap
+msgid "delay"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:45
+msgid "sets the chip select valid delay (in ns)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:45
+#, no-wrap
+msgid "cpha and cpol"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:47
+msgid "Set the clock phase and polarity (according to the device datasheet)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:47
+#, no-wrap
+msgid "noclear"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:50
+msgid ""
+"Controls whether the frame clear bit is set after the 32 bit buffer "
+"transfer.  This parameter should be set to 1 when the frame length is "
+"greater than 32 bits and the next data in the FIFO contains the other bits."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:50
+#, no-wrap
+msgid "noecho"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:52
+msgid "Set to 1 for devices which do not return data (such as DACs)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:52
+#, no-wrap
+msgid "samplelate"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:55
+msgid ""
+"Set to 1 to sample the received SPI data 1/2 SPI clock later than normal.  "
+"This is useful when high clock rates or isolation cause significant delays "
+"from clock to received data."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:60
+msgid ""
+"Call only from within realtime init/cleanup code or non-realtime components, "
+"not from realtime tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_setup_chan.3hm2.adoc:70
+msgid ""
+"hm2_allocate_bspi_tram(3hm2), hm2_bspi_set_read_function(3hm2), "
+"hm2_bspi_set_write_function(3hm2), hm2_bspi_write_chan(3hm2), "
+"hm2_tram_add_bspi_frame(3hm2)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_bspi_write_chan(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:6
+msgid "hm2_bspi_write_chan - write data to a Hostmot2 Buffered SPI channel"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:13
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"hm2_bspi_write_chan(char* name, int chan, u32 val)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:23
+#, no-wrap
+msgid ""
+"*hm2_bspi_write_chan* write one-time data to the bspi channel \"chan\" on\n"
+"the bspi instance \"name\". \"name\" is a unique string given to each bspi\n"
+"channel during hostmot2 setup. The names of the available channels are\n"
+"printed to standard output during the driver loading process and take\n"
+"the form: hm2___<board name>__.__<board index>__.bspi.__<index>__.\n"
+"For example: `hm2_5i23.0.bspi.0`.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:28
+msgid ""
+"This function performs a one-time write of data to the specified channel.  "
+"It is typically used for setup and chip enabling purposes.  It should not be "
+"used in the main loop for regular data transfers (but is appropriate to use "
+"for on-the-fly setup changes)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:33
+#: src/man/man3/rtapi_outb.3.adoc:32
+msgid ""
+"May be called from init/cleanup code and from within realtime tasks.  Not "
+"available in non-realtime components."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_bspi_write_chan.3hm2.adoc:43
+msgid ""
+"hm2_allocate_bspi_tram(3hm2), hm2_bspi_set_read_function(3hm2), "
+"hm2_bspi_setup_chan(3hm2), hm2_bspi_set_write_function(3hm2), "
+"hm2_tram_add_bspi_frame(3hm2)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_pktuart_read(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:6
+msgid "hm2_pktuart_read - read data from a Hostmot2 UART buffer"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:14
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_pktuart_read(char* name, unsigned char data[], rtapi_u8* "
+"num_frames,\n"
+"                     rtapi_u16* max_frame_length, rtapi_u16 "
+"frame_sizes[]);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:19
+#, no-wrap
+msgid "*hm2_pktuart_read* reads data from the PktUART \"name\".\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:21
+msgid "DEPRECATED except in setup code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_read.3hm2.adoc:22
+msgid "Please see the combined document hm2_pktuart.3hm2"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_pktuart_send.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_pktuart_send(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_send.3hm2.adoc:6
+msgid "hm2_pktuart_send - write data to a Hostmot2 PktUART"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hm2_pktuart_send.3hm2.adoc:14
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_uart_send(char* name, unsigned char data[], rtapi_u8* num_frames,\n"
+"                  rtapi_u16 frame_sizes[]);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_send.3hm2.adoc:20
+#, no-wrap
+msgid ""
+"*hm2_pktuart_send* writes \"num_frames\" of data to the PktUART \"name\"\n"
+"from the buffer \"data\" with frame sizes preset in \"frame_sizes[]\" "
+"array.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_send.3hm2.adoc:21
+#: src/man/man3/hm2_pktuart_setup.3hm2.adoc:20
+msgid ""
+"Please see the combined document hm2_pktuart.3hm2 for how to use this "
+"function."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_pktuart_setup.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_pktuart_setup(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_setup.3hm2.adoc:6
+msgid "hm2_pktuart_setup - setup a Hostmot2 PktUART instance"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hm2_pktuart_setup.3hm2.adoc:14
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_pktuart_setup(char* name, int bitrate, rtapi_s32 tx_mode,\n"
+"                      rtapi_s32 rx_mode, int txclear, int rxclear)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_pktuart_setup.3hm2.adoc:19
+#, no-wrap
+msgid "*hm2_pktuart_setup*\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_tram_add_bspi_frame(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:6
+msgid "hm2_tram_add_bspi_frame - add a register-write to the Hostmot2 TRAM"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:12
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"hm2_tram_add_bspi_frame(char* name, int chan, u32** wbuff, u32** rbuff);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:22
+#, no-wrap
+msgid ""
+"*hm2_tram_add_bspi_frame* Add a regular (every thread) write event to\n"
+"the Hostmot2 tram for bspi instance \"name\". \"name\" is a unique string\n"
+"given to each bspi channel during hostmot2 setup. The names of the\n"
+"available channels are printed to standard output during the driver\n"
+"loading process and take the form: hm2_<board name>.<board\n"
+"index>.bspi.<index> For example hm2_5i23.0.bspi.0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:29
+msgid ""
+"This function is used to add a regular, every thread, write or write-read "
+"transaction to the Translation RAM system. A write need not have a read (use "
+"0 for _rbuff_) but it is an error to have a read without a write. Note that "
+"the TRAM list is not actioned until the hm2_allocate_bspi_tram function is "
+"called. The read and write parameters must be pointers to pointers, as TRAM "
+"re-maps the buffers into contiguous memory."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_tram_add_bspi_frame.3hm2.adoc:43
+msgid ""
+"hm2_allocate_bspi_tram(3hm2), hm2_bspi_set_read_function(3hm2), "
+"hm2_bspi_setup_chan(3hm2), hm2_bspi_set_write_function(3hm2), "
+"hm2_bspi_write_chan(3hm2)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_uart_read.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_uart_read(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_read.3hm2.adoc:6
+msgid "hm2_uart_read - read data from a Hostmot2 UART buffer"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hm2_uart_read.3hm2.adoc:12
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_uart_read(char *name, unsigned char *data);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_read.3hm2.adoc:22
+#, no-wrap
+msgid ""
+"*hm2_uart_read* read data from the UART \"name\". \"name\" is a unique\n"
+"string given to each UART during hostmot2 setup. The names of the\n"
+"available channels are printed to standard output during the driver\n"
+"loading process and take the form:\n"
+"hm2___<board name>__.__<board index>__.uart.__<index>__\n"
+"For example: `hm2_5i23.0.uart.0`.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_read.3hm2.adoc:26
+msgid ""
+"This function reads a variable number of bytes from the the specified "
+"channel.  It should be used inside a realtime HAL component registered with "
+"the main hostmot2 driver using the function `hm2_uart_set_read_function` in "
+"the setup code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_read.3hm2.adoc:29
+msgid ""
+"Note that the UART Receive FIFO is only 16 bytes deep,(the transmit FIFO is "
+"64 bytes)  and \"data\" needs to be at least that large or undefined mayhem "
+"will ensue."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_read.3hm2.adoc:33
+msgid "Returns the number of bytes read on success and -1 on failure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_read.3hm2.adoc:37
+msgid "hm2_uart_setup(3hm2), hm2_uart_send(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_read.3hm2.adoc:38
+#: src/man/man3/hm2_uart_send.3hm2.adoc:36
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:58
+msgid "See src/hal/drivers mesa_uart.comp for an example usage."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_uart_send.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_uart_send(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_send.3hm2.adoc:6
+msgid "hm2_uart_send - write data to a Hostmot2 UART"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man3/hm2_uart_send.3hm2.adoc:12
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_uart_send(char* name,  unsigned char data[], int count);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_send.3hm2.adoc:17
+#, no-wrap
+msgid ""
+"*hm2_uart_send* write 'count' bytes of data to the UART \"name\" from the "
+"buffer 'data'.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_send.3hm2.adoc:19
+msgid ""
+"The UART FIFO is 64 bytes deep, attempts to transmit more than 64 bytes may "
+"have unexpected effects."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_send.3hm2.adoc:24
+msgid ""
+"\"name\" is a unique string given to each UART during hostmot2 setup.  The "
+"names of the available channels are printed to standard output during the "
+"driver loading process and take the form: hm2___<board name>__.__<board "
+"index>__.uart.__<index>__ For example `hm2_5i23.0.uart.0`."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_send.3hm2.adoc:27
+msgid ""
+"This function performs writes of data to the specified UART.  It should be "
+"used inside a function in a realtime or non-realtime HAL component."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_send.3hm2.adoc:31
+msgid "Returns the number of bytes sent on success and -1 on failure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_send.3hm2.adoc:35
+msgid "hm2_uart_setup(3hm2), hm2_uart_read(3hm2)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:1
+#, no-wrap
+msgid "hm2_uart_setup(3hm2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:6
+msgid "hm2_uart_setup - setup a Hostmot2 UART"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:13
+#, no-wrap
+msgid ""
+"#include <hostmot2-serial.h>\n"
+"int hm2_uart_setup(char* name, int bitrate, s32 tx_mode, s32 rx_mode);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:24
+#, no-wrap
+msgid ""
+"*hm2_uart_setup* Setup the bitrate for the UART named \"name\".\n"
+"\"name\" is a unique string given to each UART during hostmot2 setup.\n"
+"The names of the available UARTs are printed to standard output during the "
+"driver\n"
+"loading process and take the form: hm2___<board name>__.__<board "
+"index>__.uart.__<index>__,\n"
+"for example `hm2_5i23.0.uart.0`.\n"
+"The minimum bitrate is approximately 50 bps, and the maximum around the FPGA "
+"frequency, 48 MHz for a 5I23.\n"
+"The UART function allows different RX and TX bitrates, but that is not "
+"currently supported by this driver\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:26
+msgid "tx_mode is bit mask defined in the Hostmot2 regmap:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:26
+#, no-wrap
+msgid "Bit 0..3"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:31
+msgid ""
+"TXEnable delay.  TXEnable delay specifies the transmit data holdoff time "
+"from the TXenable signal valid state.  This is used for RS-485 (half duplex) "
+"operation, to delay transmit data until the driver is enabled, allowing for "
+"driver enable delays, isolation barrier delays, etc.  Delay is in units of "
+"ClockLow period."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:32
+msgid ""
+"FIFOError, it indicates that a host push has overflowed the FIFO (Mainly for "
+"driver debugging)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:32
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:41
+#, no-wrap
+msgid "Bit 5"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:34
+msgid ""
+"DriveEnableAuto, When set, enables Drive when any data is in FIFO or Xmit "
+"Shift register, removes drive when FIFO and Xmit shift register are empty."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:34
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:42
+#, no-wrap
+msgid "Bit 6"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:35
+msgid ""
+"DriveEnableBit, If DriveEnableAuto is 0, controls Drive (for software "
+"control of Xmit drive)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:37
+msgid "rx_mode is bit mask defined in the Hostmot2 regmap:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:38
+msgid ""
+"FalseStart bit Status, 1 = false start bit detected Bit 1 = OverRun Status, "
+"1 = overrun condition detected (no valid stop bit)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:41
+msgid ""
+"RXMaskEnable, 1= enable RXMask for half duplex operation, 0 = ignore RXMask "
+"Bit 4 = FIFOError, indicates that a host read has attempted to read more "
+"data than available.  (mainly for driver debugging)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:42
+msgid ""
+"LostDataError, indicates that data was received with no room in FIFO, "
+"therefore lost"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:43
+msgid "RXMask, RO RXMASK status"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:43
+#, no-wrap
+msgid "Bit 7"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:44
+msgid "FIFO Has Data"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:46
+msgid ""
+"rx_mode and tx_mode registers are currently write-only. There should "
+"possibly be a get-status function."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:49
+msgid ""
+"To write only to the tx_mode DriveEnable bit call this function with the "
+"bitrate unchanged and -1 as the rx_mode.  To change bitrate without altering "
+"mode settings send -1 to both modes."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hm2_uart_setup.3hm2.adoc:57
+msgid "hm2_uart_send(3hm2), hm2_uart_read(3hm2)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/hal.3hal.adoc:1
+#, no-wrap
+msgid "intro(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:6
+msgid "hal - Introduction to the HAL API"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:11
+msgid ""
+"HAL stands for Hardware Abstraction Layer, and is used by LinuxCNC to "
+"transfer realtime data to and from I/O devices and other low-level modules."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:18
+#, no-wrap
+msgid ""
+"*hal.h* defines the API and data structures used by the HAL.\n"
+"This file is included in both realtime and non-realtime HAL components.\n"
+"HAL uses the RTPAI real-time interface, and the #define symbols RTAPI and "
+"ULAPI\n"
+"are used to distinguish between realtime and non-realtime code.\n"
+"The API defined in this file is implemented in hal_lib.c\n"
+"and can be compiled for linking to either realtime or non-realtime HAL "
+"components.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:28
+msgid ""
+"The HAL is a very modular approach to the low level parts of a motion "
+"control system.  The goal of the HAL is to allow a systems integrator to "
+"connect a group of software components together to meet whatever I/O "
+"requirements he (or she) needs.  This includes realtime and non-realtime "
+"I/O, as well as basic motor control up to and including a PID position "
+"loop.  What these functions have in common is that they all process "
+"signals.  In general, a signal is a data item that is updated at regular "
+"intervals.  For example, a PID loop gets position command and feedback "
+"signals, and produces a velocity command signal."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:36
+msgid ""
+"HAL is based on the approach used to design electronic circuits.  In "
+"electronics, off-the-shelf components like integrated circuits are placed on "
+"a circuit board and their pins are interconnected to build whatever overall "
+"function is needed.  The individual components may be as simple as an "
+"op-amp, or as complex as a digital signal processor.  Each component can be "
+"individually tested, to make sure it works as designed.  After the "
+"components are placed in a larger circuit, the signals connecting them can "
+"still be monitored for testing and troubleshooting."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:39
+msgid ""
+"Like electronic components, HAL components have pins, and the pins can be "
+"interconnected by signals."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:48
+msgid ""
+"In the HAL, a _signal_ contains the actual data value that passes from one "
+"pin to another.  When a signal is created, space is allocated for the data "
+"value.  A _pin_ on the other hand, is a pointer, not a data value.  When a "
+"pin is connected to a signal, the pin's pointer is set to point at the "
+"signal's data value.  This allows the component to access the signal with "
+"very little run-time overhead.  (If a pin is not linked to any signal, the "
+"pointer points to a dummy location, so the realtime code doesn't have to "
+"deal with null pointers or treat unlinked variables as a special case in any "
+"way.)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:57
+msgid ""
+"There are three approaches to writing a HAL component.  Those that do not "
+"require hard realtime performance can be written as a regular non-realtime "
+"process.  Components that need hard realtime performance but have simple "
+"configuration and init requirements can be done as a single realtime "
+"component, using either pre-defined init info, or load-time parameters.  "
+"Finally, complex components may use both a realtime component for the "
+"realtime part, and a non-realtime process to handle INI file access, user "
+"interface (possibly including GUI features), and other details."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:67
+msgid ""
+"HAL uses the RTAPI/ULAPI interface.  If RTAPI is #defined, hal_lib.c "
+"generates a realtime-capable library (to be insmoded into the kernel or "
+"linked to a realtime process)  that provides the functions for all realtime "
+"components.  The same source file compiled with the ULAPI #define would make "
+"a non-realtime library that would be linked to non-realtime code to make "
+"non-realtime executables.  The variable lists and link information are "
+"stored in a block of shared memory and protected with mutexes, so that "
+"realtime components and non-realtime programs can access the data."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:71
+msgid "For an explanation of realtime considerations, see *intro(3rtapi)*."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/hal.3hal.adoc:72
+#, no-wrap
+msgid "HAL STATUS CODES"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:76
+msgid ""
+"Except as noted in specific manual pages, HAL returns negative errno values "
+"for errors, and non-negative values for success."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/hal.3hal.adoc:79
+msgid "rtapi(3)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi.3rtapi.adoc:1
+#, no-wrap
+msgid "intro(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:6
+msgid "rtapi - Introduction to the RTAPI API"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:11
+msgid ""
+"RTAPI is a library providing a uniform API for several real time operating "
+"systems.  As of LinuxCNC 2.7, POSIX threads and RTAI are supported."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/rtapi.3rtapi.adoc:12
+#, no-wrap
+msgid "HEADER FILES"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:14
+#, no-wrap
+msgid "rtapi.h"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:21
+msgid ""
+"The file *rtapi.h* defines the RTAPI for both realtime and non-realtime "
+"code.  This is a change from Rev 2, where the non-realtime API was defined "
+"in ulapi.h and used different function names.  The symbols RTAPI and ULAPI "
+"are used to determine which mode is being compiled, RTAPI for realtime and "
+"ULAPI for non-realtime."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:22
+#, no-wrap
+msgid "rtapi_math.h"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:26
+msgid ""
+"The file rtapi_math.h defines floating-point functions and constants.  It "
+"should be used instead of <math.h> in rtapi real-time components."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:27
+#, no-wrap
+msgid "rtapi_string.h"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:31
+msgid ""
+"The file rtapi_string.h defines string-related functions.  It should be used "
+"instead of <string.h> in rtapi real-time components."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:32
+#, no-wrap
+msgid "rtapi_byteorder.h"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:35
+msgid ""
+"This file defines the preprocessor macros RTAPI_BIG_ENDIAN, "
+"RTAPI_LITTLE_ENDIAN, and RTAPI_FLOAT_BIG_ENDIAN as true or false depending "
+"on the characteristics of the target system.  It should be used instead of "
+"*<endian.h>* (userspace) or *<linux/byteorder.h>* (kernel space)."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:36
+#, no-wrap
+msgid "rtapi_limits.h"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:41
+msgid ""
+"This file defines the minimum and maximum value of some fundamental integral "
+"types, such as INT_MIN and INT_MAX. This should be used instead of "
+"*<limits.h>* because that header file is not available to kernel modules."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:44
+#, no-wrap
+msgid "Non-realtime code"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:48
+msgid ""
+"Certain functions are not available in non-realtime code.  This includes "
+"functions that perform direct device access such as *rtapi_inb(3)*."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:49
+#, no-wrap
+msgid "Init/cleanup code"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:53
+msgid ""
+"Certain functions may only be called from realtime init/cleanup code.  This "
+"includes functions that perform memory allocation, such as "
+"*rtapi_shmem_new(3)*."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:54
+#, no-wrap
+msgid "Realtime code"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:60
+msgid ""
+"Only a few functions may be called from realtime code.  This includes "
+"functions that perform direct device access such as *rtapi_inb(3)*.  It "
+"excludes most Linux kernel APIs such as do_gettimeofday(3)  and many rtapi "
+"APIs such as rtapi_shmem_new(3)."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man3/rtapi.3rtapi.adoc:61
+#, no-wrap
+msgid "Simulator"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:70
+msgid ""
+"For an RTAPI module to be buildable in the \"sim\" environment (fake "
+"realtime system without special privileges), it must not use *any* linux "
+"kernel APIs, and must not use the RTAPI APIs for direct device access such "
+"as *rtapi_inb(3)*.  This automatically includes any hardware device drivers, "
+"and also devices which use Linux kernel APIs to do things like create "
+"special devices or entries in the */proc* filesystem."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/rtapi.3rtapi.adoc:71
+#, no-wrap
+msgid "RTAPI STATUS CODES"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi.3rtapi.adoc:74
+msgid ""
+"Except as noted in specific manual pages, RTAPI returns negative errno "
+"values for errors, and nonnegative values for success."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_app_exit(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:6
+msgid "rtapi_app_exit - User-provided function to shut down a component"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:13
+#, no-wrap
+msgid ""
+"#include <rtapi_app.h>\n"
+"void rtapi_app_exit(void);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:24
+msgid ""
+"The body of *rtapi_app_exit*, which is provided by the component author, "
+"generally consists of a call to rtapi_exit or hal_exit, preceded by other "
+"component-specific shutdown code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:28
+msgid ""
+"This code is called when unloading a component which successfully "
+"initialized (i.e., returned zero from its *rtapi_app_main*).  It is not "
+"called when the component did not successfully initialize."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:32
+#: src/man/man3/rtapi_bool.3rtapi.adoc:22 src/man/man3/rtapi_print.3.adoc:55
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:40
+msgid "None."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:36
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:35
+msgid ""
+"Called automatically by the rtapi infrastructure in an initialization (not "
+"realtime) context."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_exit.3rtapi.adoc:39
+msgid "rtapi_app_main(3rtapi), rtapi_exit(3rtapi), hal_exit(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_app_main(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:6
+msgid "rtapi_app_main - User-provided function to initialize a component"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:13
+#, no-wrap
+msgid ""
+"#include <rtapi_app.h>\n"
+"int rtapi_app_main(void);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:24
+msgid ""
+"The body of *rtapi_app_main*, which is provided by the component author, "
+"generally consists of a call to rtapi_init or hal_init, followed by other "
+"component-specific initialization code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:30
+msgid ""
+"Return 0 for success. Return a negative errno value (e.g., -EINVAL) on "
+"error.  Existing code also returns RTAPI or HAL error values, but using "
+"negative errno values gives better diagnostics from insmod."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_app_main.3rtapi.adoc:38
+msgid "rtapi_app_exit(3rtapi), rtapi_init(3rtapi), hal_init(3hal)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_atomic(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:6
+msgid "rtapi_atomic - subset of C11 stdatomic.h"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:17
+#, no-wrap
+msgid ""
+"#include <rtapi_atomic.h>\n"
+"enum memory_order { ... };\n"
+"#define atomic_store(obj, desired)...\n"
+"#define atomic_store_explicit(obj, desired, order)...\n"
+"#define atomic_load(obj)...\n"
+"#define atomic_load_explicit(obj, order)...\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:21
+#, no-wrap
+msgid "volatile A* obj"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:26
+msgid ""
+"A pointer to a volatile object that is the destination of the store or the "
+"source of the load.  The pointer must have an appropriate type and alignment "
+"such that the underlying store or load operation itself is atomic; at a "
+"minimum, a properly aligned \"int\" may be assumed to be such a type.  "
+"Improper size or alignment are undiagnosed errors."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:26
+#, no-wrap
+msgid "C desired"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:28
+msgid ""
+"The value to be stored in the object. \"*obj = desired\" must be "
+"well-formed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:28
+#, no-wrap
+msgid "memory_order order"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:30
+msgid "The required memory ordering semantic."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:40
+msgid ""
+"This header provides at least the subset of C11's +<+stdatomic.h+>+ given "
+"above.  When there is an ordering requirement for multiple values read or "
+"written in RTAPI shared memory areas by other threads of execution, "
+"including the values of HAL pins and parameters, these functions (or "
+"function-like macros) are the only way to ensure the ordering requirement is "
+"obeyed.  Otherwise, according to architecture-specific rules, loads and "
+"stores may be reordered from their normal source code order."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:45
+msgid ""
+"For example, to leave a message in a shared memory area from one thread and "
+"retrieve it from another, the writer must use an atomic store for the "
+"\"message is complete\" variable, and the reader must use an atomic load "
+"when checking that variable:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:51
+#, no-wrap
+msgid ""
+"// producer\n"
+"*message = 42;\n"
+"atomic_store_explicit(message_ready, 1, memory_order_release);\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:55
+#, no-wrap
+msgid ""
+"// consumer\n"
+"while(atomic_load_explicit(message_ready, memory_order_acquire) == 0) "
+"sched_yield();\n"
+"printf(\"message was %d\\n\", *message); // must print 42\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:60
+msgid "May be called from any code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:64
+#, no-wrap
+msgid ""
+"*atomic_load* and *atomic_load_explicit* return the value pointed to by the "
+"_obj_ argument.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:66
+#, no-wrap
+msgid "*atomic_store* and *atomic_store_explicit* have no return value.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_atomic.3rtapi.adoc:69
+msgid ""
+"<stdatomic.h> (C11), <rtapi_bitops.h> (for other atomic memory operations "
+"supported by rtapi)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_bool.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_bool(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_bool.3rtapi.adoc:6
+msgid "rtapi_bool - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_bool.3rtapi.adoc:12
+#, no-wrap
+msgid "#include <rtapi_bool.h>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_bool.3rtapi.adoc:18
+msgid ""
+"Includes either <stdbool.h> or <linux/types.h> as appropriate, to obtain "
+"suitable declarations of \"bool\", \"true\" and \"false\"."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_bool.3rtapi.adoc:25
+msgid "Also permitted in C++ programs, where including it has no effect."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_byteorder(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:6
+msgid "rtapi_byteorder - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:12
+#, no-wrap
+msgid "#include <rtapi_byteorder.h>\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:14
+#, no-wrap
+msgid "RTAPI_BIG_ENDIAN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:16
+msgid "Defined to 1 if the platform is big-endian, 0 otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:16
+#, no-wrap
+msgid "RTAPI_LITTLE_ENDIAN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:18
+msgid "Defined to 1 if the platform is little-endian, 0 otherwise."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:18
+#, no-wrap
+msgid "RTAPI_FLOAT_BIG_ENDIAN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:20
+msgid ""
+"Defined to 1 if the platform double-precision value is big-endian, 0 "
+"otherwise."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:25
+#: src/man/man3/rtapi_gfp.3rtapi.adoc:21 src/man/man3/rtapi_pci.3rtapi.adoc:38
+msgid ""
+"In kernel space, each rtapi_xxx or RTAPI_XXX identifier is mapped to the "
+"underlying kernel functionality, if available."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:29
+msgid ""
+"In userspace, or in kernels where the underlying functionality is not "
+"provided by a kernel, generally another implementation--possibly with "
+"reduced functionality--is provided.  (For example, the userspace "
+"implementation for rtapi_byteorder_register always succeeds)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:33
+msgid "May be used at any time."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_byteorder.3rtapi.adoc:36
+#: src/man/man3/rtapi_device.3rtapi.adoc:33
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:32
+#: src/man/man3/rtapi_gfp.3rtapi.adoc:33 src/man/man3/rtapi_io.3rtapi.adoc:42
+#: src/man/man3/rtapi_list.3rtapi.adoc:40 src/man/man3/rtapi_pci.3rtapi.adoc:50
+#: src/man/man3/rtapi_slab.3rtapi.adoc:35
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:43
+#: src/man/man3/rtapi_string.3rtapi.adoc:33
+msgid "As in Linux."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:1
+#: src/man/man3/rtapi_delay.3.adoc:43
+#, no-wrap
+msgid "rtapi_clock_set_period(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:6
+msgid "rtapi_clock_set_period - set the basic time interval for realtime tasks"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:12
+#, no-wrap
+msgid "rtapi_clock_set_period(long int nsec);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:16
+#: src/man/man3/rtapi_delay.3.adoc:19
+#, no-wrap
+msgid "nsec"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:18
+msgid "The desired basic time interval for realtime tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:33
+#, no-wrap
+msgid ""
+"*rtapi_clock_set_period* sets the basic time interval for realtime tasks.\n"
+"All periodic tasks will run at an integer multiple of this period.\n"
+"The first call to *rtapi_clock_set_period* with _nsec_ greater than zero "
+"will start the clock,\n"
+"using _nsec_ as the clock period in nano-seconds.\n"
+"Due to hardware and RTOS limitations, the actual period may not be exactly "
+"what was requested.\n"
+"On success, the function will return the actual clock period if it is "
+"available,\n"
+"otherwise it returns the requested period. If the requested period is "
+"outside the limits\n"
+"imposed by the hardware or RTOS, it returns *-EINVAL* and does not start\n"
+"the clock. Once the clock is started, subsequent calls with non-zero\n"
+"_nsec_ return *-EINVAL* and have no effect.\n"
+"Calling *rtapi_clock_set_period* with _nsec_ set to zero queries the "
+"clock,\n"
+"returning the current clock period, or zero if the clock has not yet been "
+"started.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:38
+#: src/man/man3/rtapi_slab.3rtapi.adoc:32
+#: src/man/man3/rtapi_string.3rtapi.adoc:30
+msgid ""
+"Call only from within init/cleanup code, not from realtime tasks.  This "
+"function is not available from non-realtime code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_clock_set_period.3rtapi.adoc:42
+msgid ""
+"The actual period provided by the RTOS, which may be different than the "
+"requested period, or a RTAPI status code."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_delay.3.adoc:3
+#, no-wrap
+msgid "rtapi_delay(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_delay.3.adoc:8
+msgid "rtapi_delay, rtapi_delay_max - Busy-loop for short delays"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_delay.3.adoc:15
+#, no-wrap
+msgid ""
+"void rtapi_delay(long int _nsec_);\n"
+"void rtapi_delay_max();\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_delay.3.adoc:21
+msgid "The desired delay length in nanoseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_delay.3.adoc:26
+#, no-wrap
+msgid ""
+"*rtapi_delay* is a simple delay.\n"
+"It is intended only for short delays, since it simply loops, wasting CPU "
+"cycles.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_delay.3.adoc:29
+#, no-wrap
+msgid ""
+"*rtapi_delay_max* returns the max delay permitted (usually approximately 1/4 "
+"of the clock period).\n"
+"Any call to *rtapi_delay* requesting a delay longer than the max will delay "
+"for the max time only.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_delay.3.adoc:32
+#, no-wrap
+msgid ""
+"*rtapi_delay_max* should be called before using *rtapi_delay* to make sure "
+"the required delays can be achieved.\n"
+"The actual resolution of the delay may be as good as one nano-second, or as "
+"bad as a several microseconds.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_delay.3.adoc:36 src/man/man3/rtapi_task_pause.3.adoc:48
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:22
+msgid "May be called from init/cleanup code, and from within realtime tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_delay.3.adoc:40
+#, no-wrap
+msgid "*rtapi_delay_max* returns the maximum delay permitted.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_device.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_device(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_device.3rtapi.adoc:6
+msgid "rtapi_device - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_device.3rtapi.adoc:16
+#, no-wrap
+msgid ""
+"#include <rtapi_device.h>\n"
+"struct rtapi_device;\n"
+"int rtapi_dev_set_name(struct rtapi_device* dev, const char* name, ...);\n"
+"int rtapi_device_register(struct rtapi_device* dev);\n"
+"int rtapi_device_unregister(struct rtapi_device* dev);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_device.3rtapi.adoc:22
+msgid ""
+"In kernel space, each `rtapi_`__xxx__ or `RTAPI_`__XXX__ identifier is "
+"mapped to the underlying kernel functionality, if available."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_device.3rtapi.adoc:26
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:25
+#: src/man/man3/rtapi_list.3rtapi.adoc:31
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:36
+#: src/man/man3/rtapi_string.3rtapi.adoc:25
+msgid ""
+"In userspace, or in kernels where the underlying functionality is not "
+"provided by a kernel, generally another implementation--possibly with "
+"reduced functionality--is provided.  (For example, the userspace "
+"implementation for rtapi_device_register always succeeds)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_device.3rtapi.adoc:30
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:29
+#: src/man/man3/rtapi_gfp.3rtapi.adoc:30 src/man/man3/rtapi_pci.3rtapi.adoc:47
+msgid "Typically, these functions may be called from realtime init/cleanup code."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_div_u64.3.adoc:3
+#, no-wrap
+msgid "rtapi_div_u64(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:8
+msgid ""
+"rtapi_div_u64, rtapi_div_u64_rem, rtapi_div_s64, rtapi_div_s64_rem - "
+"unsigned division of a 64-bit number by a 32-bit number"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_div_u64.3.adoc:17
+#, no-wrap
+msgid ""
+"__u64 rtapi_div_u64_rem(__u64 dividend, __u32 divisor, __u32* remainder);\n"
+"__u64 rtapi_div_u64(__u64 dividend, __u32 divisor);\n"
+"__s64 rtapi_div_s64(__s64 dividend, __s32 divisor);\n"
+"__s64 rtapi_div_s64_rem(__s64 dividend, __s32 divisor, __s32* remainder);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_div_u64.3.adoc:21
+#, no-wrap
+msgid "dividend"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:23
+msgid "The value to be divided."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_div_u64.3.adoc:23
+#, no-wrap
+msgid "divisor"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:25
+msgid "The value to divide by."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_div_u64.3.adoc:25
+#, no-wrap
+msgid "remainder"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:28
+msgid ""
+"Pointer to the location to store the remainder. This may not be a NULL "
+"pointer.  If the remainder is not desired, call *rtapi_div_u64* or "
+"*rtapi_div_s64*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:33
+msgid ""
+"Perform integer division (and optionally compute the remainder) with a "
+"64-bit dividend and 32-bit divisor."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:38
+msgid ""
+"The result of integer division of _dividend_ / _divisor_.  In versions with "
+"the _remainder_ argument, the remainder is stored in the pointed-to "
+"location."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:42
+msgid ""
+"If the result of the division does not fit in the return type, the result is "
+"undefined."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:46
+msgid ""
+"This function exists because in kernel space the use of the division "
+"operator on a 64-bit type can lead to an undefined symbol such as __umoddi3 "
+"when the module is loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_div_u64.3.adoc:50
+msgid ""
+"May be called from init/cleanup code and from within realtime tasks.  "
+"Available in non-realtime components."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_exit.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_exit(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_exit.3rtapi.adoc:6
+msgid "rtapi_exit - Shut down RTAPI"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_exit.3rtapi.adoc:12
+#, no-wrap
+msgid "int rtapi_exit(int module_id);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_exit.3rtapi.adoc:16 src/man/man3/rtapi_shmem.3.adoc:23
+#, no-wrap
+msgid "module_id"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_exit.3rtapi.adoc:18
+msgid "An rtapi module identifier returned by an earlier call to *rtapi_init*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_exit.3rtapi.adoc:23
+#, no-wrap
+msgid ""
+"*rtapi_exit* shuts down and cleans up the RTAPI.\n"
+"It must be called prior to exit by any module that called *rtapi_init*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_exit.3rtapi.adoc:27
+msgid ""
+"Call only from within non-realtime or realtime init/cleanup code, not from "
+"realtime tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_exit.3rtapi.adoc:30
+msgid "Returns a RTAPI status code."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_firmware(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:6
+msgid "rtapi_firmware - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:16
+#, no-wrap
+msgid ""
+"#include <rtapi_firmware.h>\n"
+"struct rtapi_firmware;\n"
+"int rtapi_request_firmware(const struct rtapi_firmware **fw,\n"
+"                           const char* name, struct rtapi_device* device);\n"
+"void rtapi_release_firmware(const struct rtapi_firmware *fw);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_firmware.3rtapi.adoc:21
+#: src/man/man3/rtapi_io.3rtapi.adoc:26
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:32
+msgid ""
+"In kernel space, each rtapi___xxx__ or RTAPI___XXX__ identifier is mapped to "
+"the underlying kernel functionality, if available."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_get_time.3.adoc:3
+#, no-wrap
+msgid "rtapi_get_time(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:8
+msgid "rtapi_get_time, rtapi_get_clocks - get the current time"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_get_time.3.adoc:15
+#, no-wrap
+msgid ""
+"long long rtapi_get_time();\n"
+"long long rtapi_get_clocks();\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:27
+#, no-wrap
+msgid ""
+"*rtapi_get_time* returns the current time in nanoseconds. Depending on\n"
+"the RTOS, this may be time since boot, or time since the clock period\n"
+"was set, or some other time. Its absolute value means nothing, but it is\n"
+"monotonically increasing and can be used to schedule future events, or\n"
+"to time the duration of some activity. Returns a 64 bit value. The\n"
+"resolution of the returned value may be as good as one nano-second, or\n"
+"as poor as several microseconds. May be called from init/cleanup code,\n"
+"and from within realtime tasks.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:43
+#, no-wrap
+msgid ""
+"*rtapi_get_clocks* returns the current time in CPU clocks. It is fast,\n"
+"since it just reads the TSC in the CPU instead of calling a kernel or\n"
+"RTOS function. Of course, times measured in CPU clocks are not as\n"
+"convenient, but for relative measurements this works fine. Its absolute\n"
+"value means nothing, but it is monotonically increasing and can be used\n"
+"to schedule future events, or to time the duration of some activity. (On\n"
+"SMP machines, the two TSC's may get out of sync, so if a task reads the\n"
+"TSC, gets swapped to the other CPU, and reads again, the value may\n"
+"decrease. RTAPI tries to force all RT tasks to run on one CPU.) Returns\n"
+"a 64 bit value. The resolution of the returned value is one CPU clock,\n"
+"which is usually a few nanoseconds to a fraction of a nanosecond. Note\n"
+"that _long long_ math may be poorly supported on some platforms,\n"
+"especially in kernel space. Also note that rtapi_print() will NOT print\n"
+"__long long__s. Most time measurements are relative, and should be done\n"
+"like this:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_get_time.3.adoc:47
+#, no-wrap
+msgid "deltat = (long int)(end_time - start_time);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:54
+msgid ""
+"where end_time and start_time are longlong values returned from "
+"rtapi_get_time, and deltat is an ordinary long int (32 bits). This will work "
+"for times up to a second or so, depending on the CPU clock frequency. It is "
+"best used for millisecond and microsecond scale measurements though."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:58
+msgid "Returns the current time in nanoseconds or CPU clocks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:62
+msgid ""
+"Certain versions of the Linux kernel provide a global variable "
+"*cpu_khz*. Computing"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_get_time.3.adoc:66
+#, no-wrap
+msgid "deltat = (end_clocks - start_clocks) / cpu_khz:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:69
+msgid "gives the duration measured in milliseconds. Computing"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_get_time.3.adoc:73
+#, no-wrap
+msgid "deltat = (end_clocks - start_clocks) * 1000000 / cpu_khz:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:77
+msgid ""
+"gives the duration measured in nanoseconds for deltas less than about 9 "
+"trillion clocks (e.g., 3000 seconds at 3 GHz)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_time.3.adoc:81
+msgid ""
+"May be called from init/cleanup code and from within realtime tasks. Not "
+"available in non-realtime components."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_gfp.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_gfp(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_gfp.3rtapi.adoc:6
+msgid "rtapi_gfp - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_gfp.3rtapi.adoc:15
+#, no-wrap
+msgid ""
+"#include <rtapi_gfp.h>\n"
+"enum rtapi_gfp_e;\n"
+"RTAPI_GFP_xxx\n"
+"typedef ... rtapi_gfp_t;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_gfp.3rtapi.adoc:26
+msgid ""
+"In userspace, or in kernels where the underlying functionality is not "
+"provided by a kernel, generally another implementation--possibly with "
+"reduced functionality--is provided. (For example, the userspace "
+"implementation for rtapi_device_register always succeeds)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_init.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_init(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_init.3rtapi.adoc:6
+msgid "rtapi_init - Sets up RTAPI"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_init.3rtapi.adoc:12
+#, no-wrap
+msgid "int rtapi_init(const char *_modname_);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_init.3rtapi.adoc:18
+msgid "The name of this RTAPI module."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_init.3rtapi.adoc:23
+#, no-wrap
+msgid ""
+"*rtapi_init* sets up the RTAPI.\n"
+"It must be called by any module that intends to use the API, before any "
+"other RTAPI calls.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_init.3rtapi.adoc:27
+msgid ""
+"_modname_ can optionally point to a string that identifies the module.  The "
+"string will be truncated at *RTAPI_NAME_LEN* characters.  If _modname_ is "
+"*NULL*, the system will assign a name."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_init.3rtapi.adoc:31
+msgid ""
+"Call only from within non-realtime or realtime init/cleanup code, not from "
+"relatime tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_init.3rtapi.adoc:36
+msgid ""
+"On success, returns a positive integer module ID, which is used for "
+"subsequent calls to rtapi_xxx_new, rtapi_xxx_delete, and rtapi_exit.  On "
+"failure, returns an RTAPI error code."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_io.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_io(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_io.3rtapi.adoc:6
+msgid "rtapi_io - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_io.3rtapi.adoc:20
+#, no-wrap
+msgid ""
+"#include <rtapi_io.h>\n"
+"unsigned char rtapi_inb(unsigned short int port);\n"
+"unsigned short rtapi_inw(unsigned short int port);\n"
+"unsigned int rtapi_inl(unsigned short int port);\n"
+"unsigned void rtapi_outb(unsigned char value, unsigned short int port);\n"
+"unsigned void rtapi_outw(unsigned short value, unsigned short int port);\n"
+"unsigned void rtapi_inl(unsigned int value, unsigned short int port);\n"
+"int rtapi_ioperm(unsigned long from, unsigned long num, int turn_on);\n"
+"unsigned void rtapi_outl(unsigned int value, unsigned short int port);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_io.3rtapi.adoc:32
+msgid ""
+"In userspace, or in kernels where the underlying functionality is not "
+"provided by a kernel, generally another implementation--possibly with "
+"reduced functionality--is provided. (For example, the userspace "
+"implementation for rtapi_device_register and the kernel space implementation "
+"of rtapi_ioperm always succeeds)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_io.3rtapi.adoc:38
+msgid ""
+"Call from init/cleanup code and from realtime tasks. These functions will "
+"cause illegal instruction exceptions in non-realtime components, as well as "
+"in uspace rtapi_app when it is not setuid root."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_io.3rtapi.adoc:46
+msgid "inb(3), inw(3), inl(3), outb(3), outw(3), outl(3), ioperm(3)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_io.3rtapi.adoc:49 man/man9/and2.9:55 man/man9/blend.9:40
+#: man/man9/charge_pump.9:45 man/man9/comp.9:46 man/man9/conv_bit_float.9:30
+#: man/man9/conv_bit_s32.9:30 man/man9/conv_bit_u32.9:30
+#: man/man9/conv_float_s32.9:39 man/man9/conv_float_u32.9:39
+#: man/man9/conv_s32_bit.9:39 man/man9/conv_s32_float.9:30
+#: man/man9/conv_s32_u32.9:39 man/man9/conv_u32_bit.9:39
+#: man/man9/conv_u32_float.9:30 man/man9/conv_u32_s32.9:39 man/man9/ddt.9:47
+#: man/man9/deadzone.9:37 man/man9/edge.9:50 man/man9/hypot.9:39
+#: man/man9/ilowpass.9:59 man/man9/integ.9:44 man/man9/limit1.9:38
+#: man/man9/limit2.9:45 man/man9/logic.9:121 man/man9/lowpass.9:70
+#: man/man9/lut5.9:185 man/man9/maj3.9:41 man/man9/minmax.9:37
+#: man/man9/mux2.9:40 man/man9/mux4.9:67 man/man9/not.9:39 man/man9/offset.9:42
+#: man/man9/or2.9:50 man/man9/scale.9:39 man/man9/sphereprobe.9:51
+#: man/man9/steptest.9:84 man/man9/sum2.9:49 man/man9/threadtest.9:29
+#: man/man9/timedelta.9:51 man/man9/tristate_bit.9:33
+#: man/man9/tristate_float.9:33 man/man9/wcomp.9:45
+msgid "Jeff Epler"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_is.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_is(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_is.3rtapi.adoc:6
+msgid "rtapi_is - details of rtapi configuration"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_is.3rtapi.adoc:13
+#, no-wrap
+msgid ""
+"int rtapi_is_kernelspace();\n"
+"int rtapi_is_realtime();\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_is.3rtapi.adoc:19
+#, no-wrap
+msgid ""
+"*rtapi_is_kernelspace()* returns nonzero when rtapi modules run in kernel "
+"space (e.g., under RTAI)\n"
+"and zero when they run in userspace (e.g., under uspace).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_is.3rtapi.adoc:26
+#, no-wrap
+msgid ""
+"*rtapi_is_realtime()* returns nonzero when capable of running with realtime "
+"guarantees.\n"
+"For rtai, this always returns nonzero (but actually loading realtime modules "
+"will fail if not running under the appropriate kernel).\n"
+"For uspace, this returns nonzero when the running kernel indicates it is "
+"capable of realtime performance.\n"
+"If *rtapi_app* is not setuid root,\n"
+"this returns nonzero even though *rtapi_app* will not be able to obtain "
+"realtime scheduling or hardware access,\n"
+"so e.g., attempting to *loadrt* a hardware driver will fail.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_is.3rtapi.adoc:31
+msgid ""
+"May be called from non-realtime or from realtime setup code.  "
+"*rtapi_is_realtime()* may perform filesystem I/O."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_is.3rtapi.adoc:34
+msgid "Zero for false, nonzero for true."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_list.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_list(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_list.3rtapi.adoc:6
+msgid "rtapi_list - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_list.3rtapi.adoc:21
+#, no-wrap
+msgid ""
+"#include <rtapi_list.h>\n"
+"struct rtapi_list_head;\n"
+"void rtapi_list_add(struct rtapi_list_head*new_,\n"
+"                    struct rtapi_list_head* head);\n"
+"void rtapi_list_add_tail(struct rtapi_list_head* new_,\n"
+"                         struct rtapi_list_head* head);\n"
+"void rtapi_list_del(struct rtapi_list_head* entry);\n"
+"void RTAPI_INIT_LIST_HEAD(struct rtapi_list_head* entry);\n"
+"rtapi_list_for_each(pos, head) \\{ ... }\n"
+"rtapi_list_entry(ptr, type, member)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_list.3rtapi.adoc:27
+#: src/man/man3/rtapi_slab.3rtapi.adoc:23
+#: src/man/man3/rtapi_string.3rtapi.adoc:21
+msgid ""
+"In kernel space, each rtapi_xxx or RTAPI___XXX__ identifier is mapped to the "
+"underlying kernel functionality, if available."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_list.3rtapi.adoc:37
+msgid ""
+"Call from init/cleanup code and from realtime tasks.  These functions will "
+"cause illegal instruction exceptions in non-realtime components, as well as "
+"in uspace rtapi_app when it is not setuid root."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_get_msg_level.3.adoc:3
+#, no-wrap
+msgid "rtapi_get_msg_level(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_msg_level.3.adoc:8
+msgid "rtapi_get_msg_level, rtapi_set_msg_level - Get or set the logging level"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_get_msg_level.3.adoc:15
+#, no-wrap
+msgid ""
+"int rtapi_set_msg_level(int level);\n"
+"int rtapi_get_msg_level();\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_get_msg_level.3.adoc:19
+#: src/man/man3/rtapi_print.3.adoc:22
+#, no-wrap
+msgid "level"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_msg_level.3.adoc:21
+msgid "The desired logging level."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_msg_level.3.adoc:26
+msgid ""
+"Get or set the RTAPI message level used by *rtapi_print_msg*.  Depending on "
+"the RTOS, this level may apply to a single RTAPI module, or it may apply to "
+"a group of modules."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_msg_level.3.adoc:30
+#: src/man/man3/rtapi_snprintf.3.adoc:33
+msgid "May be called from non-realtime, init/cleanup, and realtime code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_msg_level.3.adoc:35
+#, no-wrap
+msgid ""
+"*rtapi_set_msg_level* returns a status code, and *rtapi_get_msg_level* "
+"returns the current level.\n"
+"RTAPI_MSG_NONE = 0, RTAPI_MSG_ERR = 1, RTAPI_MSG_WARN = 2, RTAPI_MSG_INFO = "
+"3, RTAPI_MSG_DBG = 4,RTAPI_MSG_ALL = 5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_get_msg_level.3.adoc:38
+msgid "rtapi_print_msg(3rtapi)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_module_param.3.adoc:3
+#, no-wrap
+msgid "rtapi_module_param(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:11
+msgid ""
+"rtapi_module_param, EXPORT_FUNCTION, RTAPI_MP_INT, RTAPI_MP_LONG, "
+"RTAPI_MP_STRING, RTAPI_MP_ARRAY_INT, RTAPI_MP_ARRAY_LONG, "
+"RTAPI_MP_ARRAY_STRING, MODULE_LICENSE, MODULE_AUTHOR, MODULE_DESCRIPTION - "
+"Specifying module parameters"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_module_param.3.adoc:26
+#, no-wrap
+msgid ""
+"RTAPI_MP_INT(_var_, _description_);\n"
+"RTAPI_MP_LONG(_var_, _description_);\n"
+"RTAPI_MP_STRING(_var_, _description_);\n"
+"RTAPI_MP_ARRAY_INT(_var_, _num_, _description_);\n"
+"RTAPI_MP_ARRAY_LONG(_var_, _num_, _description_);\n"
+"RTAPI_MP_ARRAY_STRING(_var_, _num_, _description_);\n"
+"MODULE_LICENSE(_license_);\n"
+"MODULE_AUTHOR(_author_);\n"
+"MODULE_DESCRIPTION(_description_);\n"
+"EXPORT_FUNCTION(_function_);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:30
+#, no-wrap
+msgid "var"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:32
+msgid "The variable where the parameter should be stored"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:32
+#, no-wrap
+msgid "description"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:34
+msgid "A short description of the parameter or module"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:34
+#, no-wrap
+msgid "num"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:36
+msgid "The maximum number of values for an array parameter"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:36
+#, no-wrap
+msgid "license"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:38
+msgid "The license of the module, for instance \"GPL\""
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:38
+#, no-wrap
+msgid "author"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:40
+msgid "The author of the module"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:40
+#, no-wrap
+msgid "function"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:42
+msgid "The pointer to the function to be exported"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:48
+msgid ""
+"These macros are portable ways to declare kernel module parameters.  They "
+"must be used in the global scope, and are not followed by a terminating "
+"semicolon.  They must be used after the associated variable or function has "
+"been defined."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:53
+msgid ""
+"EXPORT_FUNCTION makes a symbol available for use by a subsequently loaded "
+"component.  It is unrelated to HAL functions, which are described in "
+"hal_export_funct(3hal)"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man3/rtapi_module_param.3.adoc:54
+#, no-wrap
+msgid "Interpretation of license strings"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:58
+#, no-wrap
+msgid ""
+"*MODULE_LICENSE* follows the kernel's definition of license strings.\n"
+"Notably, \"GPL\" indicates \"GNU General Public License v2 _or later_\".  "
+"(emphasis ours).\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:59
+#, no-wrap
+msgid "\"GPL\""
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:61
+msgid "GNU General Public License v2 or later"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:61
+#, no-wrap
+msgid "\"GPL v2\""
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:63
+msgid "GNU General Public License v2"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:63
+#, no-wrap
+msgid "\"GPL and additional rights\""
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:65
+msgid "GNU General Public License v2 rights and more"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:65
+#, no-wrap
+msgid "\"Dual BSD/GPL\""
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:67
+msgid "GNU General Public License v2 or BSD license choice"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:67
+#, no-wrap
+msgid "\"Dual MIT/GPL\""
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:69
+msgid "GNU General Public License v2 or MIT license choice"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:69
+#, no-wrap
+msgid "\"Dual MPL/GPL\""
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:71
+msgid "GNU General Public License v2 or Mozilla license choice"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_module_param.3.adoc:71
+#, no-wrap
+msgid "\"Proprietary\""
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:73
+msgid "Non-free products"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:76
+msgid ""
+"It is still good practice to include a license block which indicates the "
+"author, copyright date, and disclaimer of warranty as recommended by the GNU "
+"GPL."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_module_param.3.adoc:79
+msgid "Not available in userspace code."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_mutex(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:6
+msgid "rtapi_mutex - Mutex-related functions"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:12
+#, no-wrap
+msgid "#include <rtapi_mutex.h>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:16
+#, no-wrap
+msgid ""
+"int rtapi_mutex_try(unsigned long* _mutex_);\n"
+"int rtapi_mutex_get(unsigned long* _mutex_);\n"
+"int rtapi_mutex_give(unsigned long* _mutex_);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:20
+#, no-wrap
+msgid "mutex"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:22
+msgid "A pointer to the mutex."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:28
+#, no-wrap
+msgid ""
+"*rtapi_mutex_try* makes a non-blocking attempt to get the mutex.\n"
+"If the mutex is available, it returns 0, and the mutex is no longer "
+"available.\n"
+"Otherwise, it returns a nonzero value.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:30
+#, no-wrap
+msgid "*rtapi_mutex_get* blocks until the mutex is available.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:32
+#, no-wrap
+msgid ""
+"*rtapi_mutex_give* releases a mutex acquired by *rtapi_mutex_try* or "
+"*rtapi_mutex_get*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:36
+#, no-wrap
+msgid ""
+"*rtapi_mutex_give* and *rtapi_mutex_try* may be used from non-realtime, "
+"init/cleanup, and realtime code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:38
+#, no-wrap
+msgid "*rtapi_mutex_get* may not be used from realtime code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:42
+#, no-wrap
+msgid ""
+"*rtapi_mutex_try* returns 0 for if the mutex was claimed, and nonzero "
+"otherwise.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_mutex.3rtapi.adoc:43
+#, no-wrap
+msgid "*rtapi_mutex_get* and *rtapi_mutex_gif* have no return value.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_open_as_root(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:6
+msgid "rtapi_open_as_root - Open a file with \"root\" privilege"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:13
+#, no-wrap
+msgid ""
+"#include <rtapi.h>\n"
+"int rtapi_open_as_root(const char *filename, int flags);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:17
+#, no-wrap
+msgid "filename"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:21
+msgid ""
+"The filename to open, as in *open(2)*.  Note that rtapi has no well-defined "
+"\"current directory\", so this should be an absolute path, but this is not "
+"enforced."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:21
+#, no-wrap
+msgid "flags"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:25
+msgid ""
+"The open flags, as in *open(2)*.  Should never include bits that open or "
+"create files (e.g., O_CREAT, O_APPEND, etc)  as this API is not intended for "
+"creating or writing files, but this is not enforced."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:32
+msgid ""
+"In \"uspace\" realtime, root privileges are dropped whenever possible.  This "
+"API temporarily switches on root privileges to open a file, and switches "
+"them off before returning. This can be useful for example when accessing "
+"device nodes or memory-mapped I/O."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:35
+msgid ""
+"In the case of PCI devices on x86 and x86-64 systems, prefer the linux-style "
+"PCI interfaces provided in *<rtapi_pci.h>*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:40
+msgid ""
+"In case of success, the nonnegative file descriptor opened.  If the caller "
+"does not close it, it remains open until rtapi_app exits."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:42
+msgid "In case of failure, a negative errno value."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:46
+msgid "Call only from realtime initcode in \"uspace\" realtime."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_open_as_root.3rtapi.adoc:49
+msgid "open(2), rtapi_pci(3)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_outb.3.adoc:3
+#, no-wrap
+msgid "rtapi_outb(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_outb.3.adoc:8
+msgid "rtapi_outb, rtapi_inb - Perform hardware I/O"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_outb.3.adoc:15
+#, no-wrap
+msgid ""
+"void rtapi_outb(unsigned char _byte_, unsigned int _port_);\n"
+"unsigned char rtapi_inb(unsigned int _port_);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_outb.3.adoc:21
+msgid "The address of the I/O port"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_outb.3.adoc:21
+#, no-wrap
+msgid "byte"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_outb.3.adoc:23
+msgid "The byte to be written to the port"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_outb.3.adoc:27
+#, no-wrap
+msgid ""
+"*rtapi_outb* writes a byte to a hardware I/O port. *rtapi_inb* reads a byte "
+"from a hardware I/O port.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_outb.3.adoc:36
+#, no-wrap
+msgid "*rtapi_inb* returns the byte read from the given I/O port\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_outb.3.adoc:41
+msgid ""
+"The I/O address should be within a region previously allocated by "
+"*rtapi_request_region*.  Otherwise, another real-time module or the Linux "
+"kernel might attempt to access the I/O region at the same time."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_outb.3.adoc:44 src/man/man3/rtapi_region.3.adoc:3
+#, no-wrap
+msgid "rtapi_region(3rtapi)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_parport.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_parport(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:6
+msgid "rtapi_parport - portable access to PC-style parallel ports"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_parport.3rtapi.adoc:12
+#, no-wrap
+msgid "#include \"rtapi_parport.h\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_parport.3rtapi.adoc:17
+#, no-wrap
+msgid ""
+"int rtapi_parport_get(const char* _module_name_, rtapi_parport_t* _port_,\n"
+"                      short _base_, unsigned short _base_hi_,\n"
+"                      int _modes_);\n"
+"void rtapi_parport_release(rtapi_parport_t* _port_);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_parport.3rtapi.adoc:21
+#, no-wrap
+msgid "module_name"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:23
+msgid ""
+"By convention, the name of the RTAPI module or HAL component using the "
+"parport."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:25
+msgid "A pointer to a rtapi_parport_t structure."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:28
+msgid ""
+"The base address of the port (if port >= 16) or the linux port number of the "
+"port (if port < 16)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:31
+msgid ""
+"The \"high\" address of the port (location of the ECP registers), 0 to use a "
+"probed high address, or -1 to disable the high address."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:37
+msgid ""
+"Advise the driver of the desired port modes, from <linux/parport.h>.  If a "
+"linux-detected port does not provide the requested modes, a warning is "
+"printed with rtapi_print_msg. This does not make the port request fail, "
+"because unfortunately, many systems that have working EPP parports are not "
+"detected as such by Linux."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:45
+#, no-wrap
+msgid ""
+"*rtapi_parport_get* allocates a parallel port for exclusive use of the\n"
+"named hal component. If successful, access the port with I/O calls such\n"
+"as rtapi_inb at address based at the *base* or *base_hi* addresses. The\n"
+"port must be released with *rtapi_parport_release* before the component\n"
+"exits with *rtapi_exit*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:52
+msgid ""
+"If the port is a parallel port known to Linux, and Linux detected a high I/O "
+"address, this value is used. Otherwise, if base+0x400 is not registered to "
+"any device, it is used. Otherwise, no address is used. If no high address is "
+"detected, port->base_hi is 0."
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_parport.3rtapi.adoc:63
+#, no-wrap
+msgid ""
+"typedef struct\n"
+"{\n"
+"    unsigned short base;\n"
+"    unsigned short base_hi;\n"
+"    .... // and further unspecified fields\n"
+"} rtapi_parport_t;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:71
+#, no-wrap
+msgid ""
+"*rtapi_parport_get* returns a HAL status code. On success, _port_ is\n"
+"filled out with information about the allocated port.\n"
+"On failure, the contents of _port_ are undefined except that it is safe\n"
+"(but not required) to pass this port to *rtapi_parport_release*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:73
+#, no-wrap
+msgid "*rtapi_parport_release* does not return a value. It always succeeds.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_parport.3rtapi.adoc:76
+msgid "In new code, prefer use of rtapi_parport to rtapi_parport."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_pci.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_pci(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_pci.3rtapi.adoc:6
+msgid "rtapi_pci - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_pci.3rtapi.adoc:12
+#, no-wrap
+msgid "#include <rtapi_pci.h>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_pci.3rtapi.adoc:32
+#, no-wrap
+msgid ""
+"struct rtapi_pci_device_id \\{ ... };\n"
+"struct rtapi_pci_resource \\{ ... };\n"
+"struct rtapi_pci_dev \\{ ... };\n"
+"struct rtapi_pci_driver \\{ ... };\n"
+"const char *rtapi_pci_name(const struct rtapi_pci_dev *pdev);\n"
+"int rtapi_pci_enable_device(struct rtapi_pci_dev *dev);\n"
+"void rtapi__iomem *rtapi_pci_ioremap_bar(struct rtapi_pci_dev *pdev, int "
+"bar);\n"
+"int rtapi_pci_register_driver(struct rtapi_pci_driver *driver);\n"
+"void rtapi_pci_unregister_driver(struct rtapi_pci_driver *driver);\n"
+"int rtapi_pci_enable_device(struct rtapi_pci_dev *dev);\n"
+"int rtapi_pci_disable_device(struct rtapi_pci_dev *dev);\n"
+"#define rtapi_pci_resource_start(dev, bar) ...\n"
+"#define rtapi_pci_resource_end(dev, bar) ...\n"
+"#define rtapi_pci_resource_flags(dev, bar) ...\n"
+"#define rtapi_pci_resource_len(dev,bar) ....\n"
+"void rtapi_pci_set_drvdata(struct rtapi_pci_dev *pdev, void *data)\n"
+"void rtapi_pci_set_drvdata(struct rtapi_pci_dev *pdev, void *data)\n"
+"void rtapi_iounmap(volatile void *addr);\n"
+"struct rtapi_pci;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_pci.3rtapi.adoc:43
+msgid ""
+"In userspace, or in kernels where the underlying functionality is not "
+"provided by a kernel, generally another implementation--possibly with "
+"reduced functionality--is provided. (For example, the userspace "
+"implementation for rtapi_pci_register always succeeds)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_print.3.adoc:3
+#, no-wrap
+msgid "rtapi_print(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:8
+msgid "rtapi_print, rtapi_print_msg - print diagnostic messages"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_print.3.adoc:18
+#, no-wrap
+msgid ""
+"void rtapi_print(const char* _fmt_, _..._)\n"
+"void rtapi_print_msg(int level, const char* _fmt_, _..._)\n"
+"typedef void(**rtapi_msg_handler_t*)(msg_level_t _level_, const char* "
+"_msg_);\n"
+"void rtapi_set_msg_handler(rtapi_msg_handler_t _handler_);\n"
+"rtapi_msg_handler_t rtapi_get_msg_handler(void);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:24
+msgid ""
+"A message level: One of *RTAPI_MSG_ERR*, *RTAPI_MSG_WARN*, *RTAPI_MSG_INFO*, "
+"or *RTAPI_MSG_DBG*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_print.3.adoc:24
+#, no-wrap
+msgid "handler"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:27
+msgid ""
+"A function to call from *rtapi_print* or *rtapi_print_msg* to actually "
+"output the message."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_print.3.adoc:27
+#, no-wrap
+msgid "fmt, ..."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:29
+msgid "Other arguments are as for _rtapi_vsnprintf(3rtapi)_."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:36
+#, no-wrap
+msgid ""
+"*rtapi_print* and *rtapi_print_msg* work like the standard C printf\n"
+"functions, except that a reduced set of formatting operations are "
+"supported.\n"
+"Notably, formatting long-long values is not supported, and formatting\n"
+"floating-point values has different behavior than standard printf.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:42
+msgid ""
+"Depending on the RTOS, the default may be to print the message to stdout, "
+"stderr, a kernel log, etc.  In RTAPI code, the action may be changed by a "
+"call to *rtapi_set_msg_handler*.  A *NULL* argument to "
+"*rtapi_set_msg_handler* restores the default handler.  "
+"*rtapi_msg_get_handler* returns the current handler.  When the message came "
+"from *rtapi_print*, _level_ is RTAPI_MSG_ALL."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:45
+#, no-wrap
+msgid ""
+"*rtapi_print_msg* works like rtapi_print but only prints if _level_ is\n"
+"less than or equal to the current message level.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:51
+#, no-wrap
+msgid ""
+"*rtapi_print* and *rtapi_print_msg* May be called from non-realtime, "
+"init/cleanup, and realtime code.\n"
+"*rtapi_get_msg_handler* and *rtapi_set_msg_handler* may be called from "
+"realtime init/cleanup code.\n"
+"A message handler passed to *rtapi_set_msg_handler* may only call functions "
+"that can be called from realtime code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_print.3.adoc:59
+msgid ""
+"rtapi_set_msg_level(3rtapi), rtapi_get_msg_level(3rtapi), "
+"rtapi_vsnprintf(3rtapi)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_prio.3.adoc:3
+#, no-wrap
+msgid "rtapi_prio(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:8
+msgid ""
+"rtapi_prio, rtapi_prio_highest, rtapi_prio_lowest, rtapi_prio_next_higher, "
+"rtapi_prio_next_lower - thread priority functions"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_prio.3.adoc:17
+#, no-wrap
+msgid ""
+"int rtapi_prio_highest();\n"
+"int rtapi_prio_lowest();\n"
+"int rtapi_prio_next_higher(int _prio_);\n"
+"int rtapi_prio_next_lower(int _prio_);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_prio.3.adoc:21 src/man/man3/rtapi_task_new.3.adoc:24
+#, no-wrap
+msgid "prio"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:23
+msgid "A value returned by a prior *rtapi_prio_xxx* call"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:30
+msgid ""
+"The *rtapi_prio_xxxx* functions provide a portable way to set task "
+"priority. The mapping of actual priority to priority number depends on the "
+"RTOS. Priorities range from *rtapi_prio_lowest* to *rtapi_prio_highest*, "
+"inclusive. To use this API, use one of two methods:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:35
+msgid ""
+"Set your lowest priority task to *rtapi_prio_lowest*, and for each task of "
+"the next lowest priority, set their priorities to "
+"*rtapi_prio_next_higher*(previous)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:38
+msgid ""
+"Set your highest priority task to *rtapi_prio_highest*, and for each task of "
+"the next highest priority, set their priorities to "
+"*rtapi_prio_next_lower*(previous)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:41
+msgid ""
+"N.B.: A high priority task will preempt or interrupt a lower priority task.  "
+"Linux is always the lowest priority!"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:45
+msgid ""
+"Call these functions only from within init/cleanup code, not from realtime "
+"tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:49
+msgid "Returns an opaque real-time priority number."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_prio.3.adoc:52 src/man/man3/rtapi_task_new.3.adoc:3
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:29
+#, no-wrap
+msgid "rtapi_task_new(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_region.3.adoc:8
+msgid ""
+"rtapi_region, rtapi_request_region, rtapi_release_region - functions to "
+"manage I/O memory regions"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_region.3.adoc:15
+#, no-wrap
+msgid ""
+"void *rtapi_request_region(unsigned long _base_, unsigned long int _size_, "
+"const char* _name_)\n"
+"void rtapi_release_region(unsigned long _base_, unsigned long int _size_)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_region.3.adoc:21
+msgid "The base address of the I/O region"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_region.3.adoc:23
+msgid "The size of the I/O region"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_region.3.adoc:25
+msgid "The name to be shown in /proc/ioports"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_region.3.adoc:29
+#, no-wrap
+msgid ""
+"*rtapi_request_region* reserves I/O memory starting at _base_ and going for "
+"_size_ bytes.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_region.3.adoc:33
+msgid "May be called from realtime init/cleanup code only."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_region.3.adoc:37
+#, no-wrap
+msgid ""
+"*rtapi_request_region* returns NULL if the allocation fails, and a non-NULL "
+"value otherwise.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_region.3.adoc:38
+#, no-wrap
+msgid "*rtapi_release_region* has no return value.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_shmem.3.adoc:3
+#, no-wrap
+msgid "rtapi_shmem(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:8
+msgid ""
+"rtapi_shmem, rtapi_shmem_new, rtapi_shmem_delete, rtapi_shmem_getptr - "
+"Functions for managing shared memory blocks"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_shmem.3.adoc:16
+#, no-wrap
+msgid ""
+"int rtapi_shmem_new(int _key_, int _module_id_, unsigned long int _size_);\n"
+"int rtapi_shmem_delete(int _shmem_id_, int _module_id_);\n"
+"int rtapi_shmem_getptr(int _shmem_id_, void ** _ptr_);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:23
+msgid ""
+"Identifies the memory block. Key must be nonzero.  All modules wishing to "
+"use the same memory must use the same key."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:25
+msgid "Module identifier returned by a prior call to *rtapi_init*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:27
+msgid "The desired size of the shared memory block, in bytes"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_shmem.3.adoc:27
+#, no-wrap
+msgid "ptr"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:30
+msgid ""
+"The pointer to the shared memory block.  Note that the block may be mapped "
+"at a different address for different modules."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:45
+#, no-wrap
+msgid ""
+"*rtapi_shmem_new* allocates a block of shared memory. _key_ identifies\n"
+"the memory block, and must be non-zero. All modules wishing to access\n"
+"the same memory must use the same key. _module_id_ is the ID of the\n"
+"module that is making the call (see rtapi_init). The block will be at\n"
+"least _size_ bytes, and may be rounded up. Allocating many small blocks\n"
+"may be very wasteful. When a particular block is allocated for the first\n"
+"time, the contents are zeroed. Subsequent allocations of the same block\n"
+"by other modules or processes will not touch the contents of the block.\n"
+"Applications can use those bytes to see if they need to initialize the\n"
+"block, or if another module already did so. On success, it returns a\n"
+"positive integer ID, which is used for all subsequent calls dealing with\n"
+"the block. On failure it returns a negative error code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:48
+#, no-wrap
+msgid ""
+"*rtapi_shmem_delete* frees the shared memory block associated with "
+"_shmem_id_.\n"
+"_module_id_ is the ID of the calling module. Returns a status code.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:51
+#, no-wrap
+msgid ""
+"*rtapi_shmem_getptr* sets _*ptr_ to point to shared memory block\n"
+"associated with _shmem_id_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:55
+#, no-wrap
+msgid ""
+"*rtapi_shmem_getptr* may be called from non-realtime code, init/cleanup "
+"code, or realtime tasks.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_shmem.3.adoc:56
+#, no-wrap
+msgid ""
+"*rtapi_shmem_new* and *rtapi_shmem_dete* may not be called from realtime "
+"tasks.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_slab.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_slab(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_slab.3rtapi.adoc:6
+msgid "rtapi_slab - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_slab.3rtapi.adoc:12
+#, no-wrap
+msgid "#include <rtapi_slab.h>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_slab.3rtapi.adoc:17
+#, no-wrap
+msgid ""
+"void *rtapi_kmalloc(size_t size, gfp_t g);\n"
+"void *rtapi_kzalloc(size_t size, gfp_t g);\n"
+"void *rtapi_krealloc(size_t size, gfp_t g);\n"
+"void rtapi_kfree(void*);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_slab.3rtapi.adoc:27
+msgid ""
+"In userspace, or in kernels where the underlying functionality is not "
+"provided by a kernel, generally another implementation -- possibly with "
+"reduced functionality -- is provided.  (For example, the userspace "
+"implementation for rtapi_device_register always succeeds)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_snprintf.3.adoc:3
+#, no-wrap
+msgid "rtapi_snprintf(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_snprintf.3.adoc:8
+msgid "rtapi_snprintf, rtapi_vsnprintf - Perform snprintf-like string formatting"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_snprintf.3.adoc:15
+#, no-wrap
+msgid ""
+"int rtapi_snprintf(char* _buf_, unsigned long int _size_, const char* _fmt_, "
+"_..._);\n"
+"int rtapi_vsnprintf(char* _buf_, unsigned long int _size_, const char* "
+"_fmt_, va_list _apf);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_snprintf.3.adoc:20
+msgid "As for _snprintf(3)_ or _vsnprintf(3)_."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_snprintf.3.adoc:25
+msgid ""
+"These functions work like the standard C printf functions, except that a "
+"reduced set of formatting operations are supported."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_snprintf.3.adoc:29
+msgid ""
+"In particular: formatting of long long values is not supported.  Formatting "
+"of floating-point values is done as though with %A even when other formats "
+"like %f are specified."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_snprintf.3.adoc:37
+msgid "The number of characters written to _buf_."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_snprintf.3.adoc:40
+msgid "printf(3)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_stdint(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:6
+msgid "rtapi_stdint - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:12
+#, no-wrap
+msgid "#include <rtapi_stdint.h>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_stdint.3rtapi.adoc:26
+#, no-wrap
+msgid ""
+"typedef ... rtapi_s8;\n"
+"typedef ... rtapi_s16;\n"
+"typedef ... rtapi_s32;\n"
+"typedef ... rtapi_s64;\n"
+"typedef ... rtapi_intptr_t;\n"
+"typedef ... rtapi_u8;\n"
+"typedef ... rtapi_u16;\n"
+"typedef ... rtapi_u32;\n"
+"typedef ... rtapi_u64;\n"
+"typedef ... rtapi_uintptr_t;\n"
+"#define RTAPI_INT__xx___MIN ...\n"
+"#define RTAPI_INT__xx___MAX ...\n"
+"#define RTAPI_UINT__xx___MAX ...\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_string.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_string(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_string.3rtapi.adoc:6
+msgid "rtapi_string - RTAPI wrappers for linux kernel functionality"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_string.3rtapi.adoc:15
+#, no-wrap
+msgid ""
+"#include <rtapi_string.h>\n"
+"char** rtapi_argv_split(rtapi_gfp_t g, const char* argstr, int* argc);\n"
+"void rtapi_argv_free(char** argv);\n"
+"char* rtapi_kstrdup(const char* s, rtapi_gfp_t t);\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_strlcpy(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:6
+msgid "rtapi_strlcpy - RTAPI string manipulation functions"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:12
+#, no-wrap
+msgid "#include <rtapi_string.h>\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:17
+#, no-wrap
+msgid ""
+"size_t rtapi_strlcpy(char *dst, const char *src, size_t sz);\n"
+"#define rtapi_strxcpy(dst, src) ...\n"
+"size_t rtapi_strlcat(char *dst, const char *src, size_t sz);\n"
+"#define rtapi_strxcat(dst, src) ...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:23
+msgid ""
+"rtapi_strlcpy will copy at most 'sz' chars from 'src' to 'dst'.  Always "
+"leaves 'dst' NUL-terminated except if 'sz' is 0."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:27
+msgid ""
+"rtapi_strxcpy(dst, src) checks that 'dst' is an array with known size, and "
+"calls rtapi_strlcpy(dst, src, sizeof(dst)). If it is not an array with a "
+"known size, it is a (possibly cryptic!) syntax error."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:31
+msgid ""
+"rtapi_strlcat will append characters from 'src' to 'dst', stopping when the "
+"end of 'src' is reached, or 'dst' uses 'sz'-many bytes of storage including "
+"the tailing null."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:35
+msgid ""
+"rtapi_strxcat(dst, src) checks that 'dst' is an array with known size, and "
+"calls rtapi_strlcat(dst, src, sizeof(dst)). If it is not an array with a "
+"known size, it is a (possibly cryptic!) syntax error."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:41
+msgid ""
+"The total length of the string strlcpy or strlcat tried to create.  For "
+"strlcpy() that means the length of 'src'.  If the return value is greater "
+"than or equal to 'sz', the result was truncated."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_strlcpy.3rtapi.adoc:44
+msgid "strlcpy(3bsd), strlcat(3bsd)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:8
+msgid "rtapi_task_new, rtapi_task_delete - create a realtime task"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_task_new.3.adoc:16
+#, no-wrap
+msgid ""
+"int rtapi_task_new(void (*_taskcode_)(void*), void *_arg_, int _prio_,\n"
+"                   unsigned long _stacksize_, int _uses_fp_);\n"
+"int rtapi_task_delete(int _task_id_);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_task_new.3.adoc:20
+#, no-wrap
+msgid "taskcode"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:22
+msgid "A pointer to the function to be called when the task is started"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:24
+msgid "An argument to be passed to the _taskcode_ function when the task is started"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:26
+msgid "A task priority value returned by *rtapi_prio_xxxx*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:28
+msgid "A flag that tells the OS whether the task uses floating point or not."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_task_new.3.adoc:28
+#: src/man/man3/rtapi_task_pause.3.adoc:19
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:16
+#, no-wrap
+msgid "task_id"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:30
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:18
+msgid "A task ID returned by a previous call to *rtapi_task_new*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:37
+#, no-wrap
+msgid ""
+"*rtapi_task_new* creates but does not start a realtime task.\n"
+"The task is created in the \"paused\" state.\n"
+"To start it, call either *rtapi_task_start* for periodic tasks,\n"
+"or *rtapi_task_resume* for free-running tasks.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:41
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:29
+msgid "Call only from within init/cleanup code, not from realtime tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:47
+msgid ""
+"On success, returns a positive integer task ID.  This ID is used for all "
+"subsequent calls that need to act on the task.  On failure, returns an RTAPI "
+"status code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_new.3.adoc:51
+msgid ""
+"rtapi_prio(3rtapi), rtapi_task_start(3rtapi), rtapi_task_wait(3rtapi), "
+"rtapi_task_resume(3rtapi)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_task_pause.3.adoc:3
+#, no-wrap
+msgid "rtapi_task_pause(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:8
+msgid "rtapi_task_pause, rtapi_task_resume - pause and resume real-time tasks"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_task_pause.3.adoc:15
+#, no-wrap
+msgid ""
+"void rtapi_task_pause(int _task_id_);\n"
+"void rtapi_task_resume(int _task_id_);\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:21
+msgid "An RTAPI task identifier returned by an earlier call to *rtapi_task_new*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:26
+#, no-wrap
+msgid ""
+"*rtapi_task_resume* starts a task in free-running mode.\n"
+"The task must be in the \"paused\" state.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:28
+msgid "A free running task runs continuously until either:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:32
+msgid ""
+"It is prempted by a higher priority task.  It will resume as soon as the "
+"higher priority task releases the CPU."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:34
+msgid ""
+"It calls a blocking function, like *rtapi_sem_take*.  It will resume when "
+"the function unblocks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:36
+msgid ""
+"It is returned to the \"paused\" state by *rtapi_task_pause*.  May be called "
+"from init/cleanup code, and from within realtime tasks."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:44
+#, no-wrap
+msgid ""
+"*rtapi_task_pause* causes a task to stop execution and change to the\n"
+"\"paused\" state. The task can be free-running or periodic. Note that\n"
+"*rtapi_task_pause* may called from any task, or from init or cleanup\n"
+"code, not just from the task that is to be paused. The task will resume\n"
+"execution when either *rtapi_task_resume* or *rtapi_task_start*\n"
+"(depending on whether this is a free-running or periodic task) is\n"
+"called.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:52
+msgid "An RTAPI status code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_pause.3.adoc:55
+msgid "rtapi_task_new(3rtapi), rtapi_task_start(3rtapi)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_task_self(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:6
+msgid "rtapi_task_self - Retrieve ID of current task"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:12
+#, no-wrap
+msgid "void rtapi_task_self();\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:18
+#, no-wrap
+msgid ""
+"*rtapi_task_self* retrieves the current task,\n"
+"or -EINVAL if not in a realtime task (e.g., in startup or shutdown code).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_self.3rtapi.adoc:26
+msgid "The task number previously returned by *rtapi_task_new* or -EINVAL."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_task_start(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:6
+msgid "rtapi_task_start - start a realtime task in periodic mode"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:12
+#, no-wrap
+msgid "int rtapi_task_start(int task_id, unsigned long period_nsec);\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:18
+#, no-wrap
+msgid "period_nsec"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:20
+msgid "The clock period in nanoseconds between iterations of a periodic task"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:25
+#, no-wrap
+msgid ""
+"*rtapi_task_start* starts a task in periodic mode.\n"
+"The task must be in the _paused_ state.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:33
+msgid "Returns an RTAPI status code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_start.3rtapi.adoc:36
+msgid "rtapi_task_new(3rtapi), rtapi_task_pause(3rtapi), rtapi_task_resume(3rtapi)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:1
+#, no-wrap
+msgid "rtapi_task_wait(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:6
+msgid "rtapi_task_wait - suspend execution of this periodic task"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:12
+#, no-wrap
+msgid "void rtapi_task_wait();\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:18
+#, no-wrap
+msgid ""
+"*rtapi_task_wait* suspends execution of the current task until the next "
+"period.\n"
+"The task must be periodic. If not, the result is undefined.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:22
+msgid "Call only from within a periodic realtime task."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/rtapi_task_wait.3rtapi.adoc:29
+msgid "rtapi_task_start(3rtapi), rtapi_task_pause(3rtapi)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/undocumented.3hal.adoc:1
+#, no-wrap
+msgid "undocumented(3hal)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/undocumented.3hal.adoc:6
+msgid "undocumented - undocumented functions in HAL"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/undocumented.3hal.adoc:9
+msgid "The header file _hal.h_. Most HAL functions have documentation in that file."
+msgstr ""
+
+#. type: Title =
+#: src/man/man3/undocumented.3rtapi.adoc:1
+#, no-wrap
+msgid "undocumented(3rtapi)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/undocumented.3rtapi.adoc:6
+msgid "undocumented - undocumented functions in RTAPI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man3/undocumented.3rtapi.adoc:9
+msgid ""
+"The header file _rtapi.h_. Most RTAPI functions are documentated in that "
+"file."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/at_pid.9.adoc:1
+#, no-wrap
+msgid "at_pid(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/at_pid.9.adoc:6
+msgid "at_pid - obsolete pid HAL component"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/at_pid.9.adoc:11
+msgid ""
+"The functionality of the at_pid component has been merged into the pid "
+"component."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/at_pid.9.adoc:14
+msgid "pid(9)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/classicladder.9.adoc:1
+#, no-wrap
+msgid "classicladder(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:6
+msgid "classicladder - realtime software plc based on ladder logic"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:10
+#, no-wrap
+msgid ""
+"*loadrt classicladder_rt* [**numRungs=**_N_] [**numBits=**_N_] "
+"[**numWords=**_N_] [**numTimers=**_N_] [**numMonostables=**_N_] "
+"[**numCounters=**_N_] [**numPhysInputs=**_N_] [**numPhysOutputs=**_N_] "
+"[**numArithmExpr=**_N_] [**numSections=**_N_] [**numSymbols=**_N_] "
+"[**numS32in=**_N_] [**numS32out=**_N_] [**numFloatIn=**_N_] "
+"[**numFloatOut=**_N_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:12
+#, no-wrap
+msgid "*loadusr classicladder* _<file name>_ [**--nogui**]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:22
+msgid ""
+"This component consist of a realtime part and a non-realtime part. The "
+"non-realtime part loads the programmable ladder description, while the "
+"realtime part provides the pins. The file name of the configuration can be "
+"changed using an argument to the non-realtime part. By default the "
+"non-realtime part provides a graphical visualisation of the loaded ladder, "
+"which can be disabled using the '--nogui' option to the non-realtime part."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:27
+msgid ""
+"These pins and parameters are created by the realtime *classicladder_rt* "
+"module. Each period (minimum 1000000 ns), ClassicLadder reads the inputs, "
+"evaluates the ladder logic defined in the GUI, and then writes the outputs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:30
+#, no-wrap
+msgid "**classicladder.0.in-**_NN_ IN bit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:32
+msgid "These bit signal pins map to **%I**_NN_ variables in ClassicLadder."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:32
+#, no-wrap
+msgid "**classicladder.0.out-**_NN_ OUT bit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:35
+msgid ""
+"These bit signal pins map to **%Q**_NN_ variables in ClassicLadder.  Output "
+"from ClassicLadder."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:35
+#, no-wrap
+msgid "**classicladder.0.s32in-**_NN_ IN s32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:38
+msgid ""
+"Integer input from ClassicLadder.  These s32 signal pins map to **%IW**_NN_ "
+"variables in ClassicLadder."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:38
+#, no-wrap
+msgid "**classicladder.0.s32out-**_NN_ OUT s32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:41
+msgid ""
+"Integer output from ClassicLadder.  These s32 signal pins map to **%QW**_NN_ "
+"variables in ClassicLadder."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:41
+#, no-wrap
+msgid "**classicladder.0.floatin-**_NN_ IN float"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:45
+msgid ""
+"Integer input from ClassicLadder.  These float signal pins map to "
+"**%IF**_NN_ variables in ClassicLadder.  These are truncated to S32 values "
+"internally, e.g. 7.5 will be 7."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:45
+#, no-wrap
+msgid "**classicladder.0.floatout-**_NN_ OUT float"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:48
+msgid ""
+"Float output from ClassicLadder.  These float signal pins map to **%QF**_NN_ "
+"variables in ClassicLadder."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:48
+#, no-wrap
+msgid "**classicladder.0.hide_gui** IN bit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:51
+msgid ""
+"This bit pin hides the ClassicLadder window, while still having the "
+"non-realtime code run.  This is usually desirable when modbus is used, as "
+"modbus requires the non-realtime code to run."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:54
+#, no-wrap
+msgid "*classicladder.0.refresh.time* RO s32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:56
+msgid "Tells you how long the last refresh took."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:56
+#, no-wrap
+msgid "*classicladder.0.refresh.tmax* RW s32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:58
+msgid "Tells you how long the longest refresh took."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:58
+#, no-wrap
+msgid "*classicladder.0.ladder-state* RO s32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:60
+msgid "Tells you if the program is running or not"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/classicladder.9.adoc:63
+#, no-wrap
+msgid "*classicladder.0.refresh* FP"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:67
+msgid ""
+"The rung update rate.  Add this to the servo thread.  You can added it to a "
+"faster thread but it.  Will update no faster than once every 1 millisecond "
+"(1000000 ns)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:71
+msgid ""
+"See https://wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadder_Ver_7.124 for "
+"the latest."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:76
+msgid ""
+"_ClassicLadder_ chapters in the LinuxCNC documentation for a full "
+"description of the *ClassicLadder* syntax and examples."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/classicladder.9.adoc:77
+msgid "https://wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadder_Ver_7.124"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/counter.9.adoc:1
+#, no-wrap
+msgid "counter(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:6
+msgid "counter - counts input pulses (DEPRECATED)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:10
+#, no-wrap
+msgid "*loadrt counter* [**num_chan=**__N__]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:15
+#, no-wrap
+msgid ""
+"*counter* is a deprecated HAL component and will be removed in a future "
+"release.\n"
+"Use the *encoder* component with encoder.X.counter-mode set to TRUE.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:23
+#, no-wrap
+msgid ""
+"*counter* is a HAL component that provides software- based counting that\n"
+"is useful for spindle position sensing and maybe other things. Instead\n"
+"of using a real encoder that outputs quadrature, some lathes have a\n"
+"sensor that generates a simple pulse stream as the spindle turns and an\n"
+"index pulse once per revolution. This component simply counts up when a\n"
+"\"count\" pulse (phase-A) is received, and if reset is enabled, resets\n"
+"when the \"index\" (phase-Z) pulse is received.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:26
+msgid ""
+"This is of course only useful for a unidirectional spindle, as it is not "
+"possible to sense the direction of rotation."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:29
+#, no-wrap
+msgid ""
+"*counter* conforms to the \"canonical encoder\" interface described in the\n"
+"HAL manual.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:32
+#, no-wrap
+msgid "*counter.capture-position* (uses floating-point)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:34
+msgid ""
+"Updates the counts, position and velocity outputs based on internal "
+"counters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:34
+#, no-wrap
+msgid "**counter.update-counters**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:36
+msgid "Samples the phase-A and phase-Z inputs and updates internal counters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:39
+#, no-wrap
+msgid "**counter.**_N_**.phase-A** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:41
+msgid ""
+"The primary input signal. The internal counter is incremented on each rising "
+"edge."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:41
+#, no-wrap
+msgid "**counter.**_N_**.phase-Z** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:45
+msgid ""
+"The index input signal. When the *index-enable* pin is TRUE and a rising "
+"edge on *phase-Z* is seen, *index-enable* is set to FALSE and the internal "
+"counter is reset to zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:45
+#, no-wrap
+msgid "**counter.**_N_**.index-enable** bit io"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:48
+#, no-wrap
+msgid "**counter.**_N_**.reset** bit io"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:51
+#, no-wrap
+msgid "**counter.**_N_**.counts** signed out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:54
+#, no-wrap
+msgid "**counter.**_N_**.position** float out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:57
+#, no-wrap
+msgid "**counter.**_N_**.velocity** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:59
+msgid "These pins function according to the canonical digital encoder interface."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:59
+#, no-wrap
+msgid "**counter.**_N_**.position-scale** float rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:61
+msgid ""
+"This parameter functions according to the canonical digital encoder "
+"interface."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/counter.9.adoc:61
+#, no-wrap
+msgid "**counter.**_N_**.rawcounts** signed ro"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:64
+msgid ""
+"The internal counts value, updated from *update-counters* and reflected in "
+"the output pins at the next call to *capture-position*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/counter.9.adoc:67 src/man/man9/encoder.9.adoc:1
+#: src/man/man9/encoder_ratio.9.adoc:79
+#, no-wrap
+msgid "encoder(9)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/debounce.9.adoc:1
+#, no-wrap
+msgid "debounce(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:6
+msgid "debounce - filter noisy digital inputs"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:10
+#, no-wrap
+msgid "**loadrt debounce cfg=**__size__[,__size__,...]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:15
+msgid ""
+"Creates debounce groups with the number of filters specified by "
+"(_size_). Every filter in the same group has the same sample rate and "
+"delay. For example cfg=2,3 creates two filter groups with 2 filters in the "
+"first group and 3 filters in the second group."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:22
+msgid ""
+"An alternate component named *dbounce* implements similar functionality "
+"using conventional count= and names= parameters. Delay settings are "
+"implemented by a delay pin for each instance instead of using filter groups."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:34
+msgid ""
+"The debounce filter works by incrementing a counter whenever the input is "
+"true, and decrementing the counter when it is false. If the counter "
+"decrements to zero, the output is set false and the counter ignores further "
+"decrements. If the counter increments up to a threshold, the output is set "
+"true and the counter ignores further increments. If the counter is between "
+"zero and the threshold, the output retains its previous state. The threshold "
+"determines the amount of filtering: A threshold of 1 does no filtering at "
+"all, and a threshold of _N_ requires a signal to be present for _N_ samples "
+"before the output changes state."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/debounce.9.adoc:37
+#, no-wrap
+msgid "**debounce.**_G_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:39
+msgid "Sample all the input pins in group _G_ and update the output pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/debounce.9.adoc:42
+#, no-wrap
+msgid "**debounce.**_G_**.**_F_**.in** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:44
+msgid "The F'th input pin in group G."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/debounce.9.adoc:44
+#, no-wrap
+msgid "**debounce.**_G_**.**_F_**.out** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:47
+msgid ""
+"The F'th output pin in group _G_.  Reflects the last \"stable\" input seen "
+"on the corresponding input pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/debounce.9.adoc:47
+#, no-wrap
+msgid "**debounce.**_G_**.delay** signed rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/debounce.9.adoc:48
+msgid "Sets the amount of filtering for all pins in group _G_."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:6
+msgid "encoder - software counting of quadrature encoder signals"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:10
+#, no-wrap
+msgid ""
+"*loadrt encoder* [ **num_chan=**__num__ | **names=**__name1__[,_name2_...] "
+"]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:20
+#, no-wrap
+msgid ""
+"*encoder* is used to measure position by counting the pulses generated\n"
+"by a quadrature encoder. As a software-based implementation it is much\n"
+"less expensive than hardware, but has a limited maximum count rate. The\n"
+"limit is in the range of 10 kHz to 50 kHz, depending on the computer\n"
+"speed and other factors. If better performance is needed, a hardware\n"
+"encoder counter is a better choice. Some hardware-based systems can\n"
+"count at MHz rates.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:24
+#, no-wrap
+msgid ""
+"*encoder* supports a maximum of eight channels. The number of channels\n"
+"actually loaded is set by the *num_chan* argument when the module is "
+"loaded.\n"
+"Alternatively, specify names= and unique names separated by commas.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:28
+msgid ""
+"The *num_chan=* and *names=* specifiers are mutually exclusive. If neither "
+"*num_chan=* nor *names=* are specified, or if *num_chan=0* is specified, the "
+"default value is three."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:34
+#, no-wrap
+msgid ""
+"*encoder* has a one-phase, unidirectional mode called _counter_. In this\n"
+"mode, the *phase-B* input is ignored; the counts increase on each rising\n"
+"edge of *phase-A*. This mode may be useful for counting a unidirectional\n"
+"spindle with a single input line, though the noise-resistant\n"
+"characteristics of quadrature are lost.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:39
+msgid ""
+"If used in counter-mode it is also possible to enable the missing-teeth "
+"index mode, where a gap in the pulse train of one or more teeth is used as "
+"in index marker. This system is used extensively for automotive crank "
+"position sensors."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:42
+#, no-wrap
+msgid "*encoder.update-counters* (no floating-point)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:47
+msgid ""
+"Does the actual counting, by sampling the encoder signals and decoding the "
+"quadrature waveforms. Must be called as frequently as possible, preferably "
+"twice as fast as the maximum desired count rate. Operates on all channels at "
+"once."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:47
+#, no-wrap
+msgid "*encoder.capture-position* (uses floating point)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:52
+msgid ""
+"Captures the raw counts from *update-counters* and performs scaling and "
+"other necessary conversion, handles counter rollover, etc. Can (and should) "
+"be called less frequently than *update-counters*.  Operates on all channels "
+"at once."
+msgstr ""
+
+#. type: SH
+#: src/man/man9/encoder.9.adoc:53 src/man/man9/encoder_ratio.9.adoc:32
+#: src/man/man9/siggen.9.adoc:27 man/man9/pid.9:132 man/man9/sim_encoder.9:59
+#, no-wrap
+msgid "NAMING"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:58
+msgid ""
+"The names for pins and parameters are prefixed as: *encoder.N.* for "
+"N=0,1,...,num-1 when using *num_chan=num* *nameN.* for "
+"nameN=name1,name2,... when using *names=name1,name2,...*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:60
+msgid "The *encoder.N.* format is shown in the following descriptions."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:63
+#, no-wrap
+msgid "**encoder.**_N_**.counter-mode** bit i/o"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:68
+msgid ""
+"Enables counter mode. When true, the counter counts each rising edge of the "
+"phase-A input, ignoring the value on phase-B. This is useful for counting "
+"the output of a single channel (non-quadrature) sensor.  When false (the "
+"default), it counts in quadrature mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:68
+#, no-wrap
+msgid "**encoder.**_N_**.counts** s32 out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:70
+#, no-wrap
+msgid "**encoder.**_N_**.index-enable** bit i/o"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:74
+msgid ""
+"When true, *counts* and *position* are reset to zero on the next rising edge "
+"of *Phase-Z*. At the same time, *index-enable* is reset to zero to indicate "
+"that the rising edge has occurred."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:74
+#, no-wrap
+msgid "**encoder.**_N_**.min-speed-estimate** float in (default: 1.0)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:80
+msgid ""
+"Determine the minimum speed at which *velocity* will be estimated as nonzero "
+"and *postition-interpolated* will be interpolated. The units of "
+"*min-speed-estimate* are the same as the units of *velocity*.  Setting this "
+"parameter too low will cause it to take a long time for *velocity** to go to "
+"0 after encoder pulses have stopped arriving."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:80
+#, no-wrap
+msgid "**encoder.**_N_**.phase-A** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:82
+msgid "Quadrature input for encoder channel _N_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:82
+#, no-wrap
+msgid "**encoder.**_N_**.phase-B** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:84
+msgid "Quadrature input."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:84
+#, no-wrap
+msgid "**encoder.**_N_**.phase-Z** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:86
+msgid "Index pulse input."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:86
+#, no-wrap
+msgid "**encoder.**_N_**.position** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:88
+msgid "Position in scaled units (see *position-scale*)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:88
+#, no-wrap
+msgid "**encoder.**_N_**.position-interpolated** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:92
+msgid ""
+"Position in scaled units, interpolated between encoder counts. Only valid "
+"when velocity is approximately constant and above *min-speed-estimate*. Do "
+"not use for position control."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:92
+#, no-wrap
+msgid "**encoder.**_N_**.position-scale** float i/o"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:96
+msgid ""
+"Scale factor, in counts per length unit. For example, if *position-scale* is "
+"500, then 1000 counts of the encoder will be reported as a position of 2.0 "
+"units."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:96
+#, no-wrap
+msgid "**encoder.**_N_**.missing-teeth** s32 in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:101
+msgid ""
+"The number of teeth missing from the index gap. For example a 60 tooth gear "
+"with two teeth shortened to form an index so that there are 58 pulses per "
+"revolution would use a position-scale of 60 and a missing-teeth of 2."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:101
+#, no-wrap
+msgid "**encoder.**_N_**.rawcounts** s32 out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:105
+msgid ""
+"The raw count, as determined by *update-counters*. This value is updated "
+"more frequently than *counts** and *position*. It is also unaffected by "
+"*reset* or the index pulse."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:105
+#, no-wrap
+msgid "**encoder.**_N_**.reset** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:107
+msgid "When true, *counts* and *position* are reset to zero immediately."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:107
+#, no-wrap
+msgid "**encoder.**_N_**.velocity** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:112
+msgid ""
+"Velocity in scaled units per second. *encoder* uses an algorithm that "
+"greatly reduces quantization noise as compared to simply differentiating the "
+"*position* output. When the magnitude of the true velocity is below "
+"min-speed-estimate, the velocity output is 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:112
+#, no-wrap
+msgid "**encoder.**_N_**.velocity-rpm** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:115
+msgid ""
+"Velocity in scaled units per minute. Simply *encoder.**_N_**.velocity* "
+"scaled by a factor of 60 for convenience."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:115
+#, no-wrap
+msgid "**encoder.**_N_**.x4-mode** bit i/o"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:120
+msgid ""
+"Enables times-4 mode. When true (the default), the counter counts each edge "
+"of the quadrature waveform (four counts per full cycle). When false, it only "
+"counts once per full cycle. In *counter-mode*, this parameter is ignored."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:120
+#, no-wrap
+msgid "**encoder.**_N_**.latch-input** bit in"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:123
+#, no-wrap
+msgid "**encoder.**_N_**.latch-falling** bit in (default: *TRUE*)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:126
+#, no-wrap
+msgid "**encoder.**_N_**.latch-rising** bit in (default: *TRUE*)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:129
+#, no-wrap
+msgid "**encoder.**_N_**.counts-latched** s32 out"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:132
+#, no-wrap
+msgid "**encoder.**_N_**.position-latched** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:136
+msgid ""
+"Update *counts-latched** and *position-latched* on the rising and/or falling "
+"edges of *latch-input* as indicated by *latch-rising* and *latch-falling*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder.9.adoc:136
+#, no-wrap
+msgid "**encoder.**_N_**.counter-mode** bit rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:143
+msgid ""
+"Enables counter mode. When true, the counter counts each rising edge of the "
+"phase-A input, ignoring the value on phase-B. This is useful for counting "
+"the output of a single channel (non-quadrature) sensor.  When false (the "
+"default), it counts in quadrature mode.  "
+"*encoder.**_N_**.capture-position.tmax** s32 rw Maximum number of CPU cycles "
+"it took to execute this function."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder.9.adoc:146
+msgid "The encoder component has no HAL Parameters."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/encoder_ratio.9.adoc:1
+#, no-wrap
+msgid "encoder_ratio(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:6
+msgid "encoder_ratio - an electronic gear to synchronize two axes"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:10
+#, no-wrap
+msgid ""
+"*loadrt encoder_ratio* [ **num_chan=**_num_ | **names=**_name1_[,_name2_...] "
+"]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:17
+#, no-wrap
+msgid ""
+"*encoder_ratio* can be used to synchronize two axes (like an \"electronic "
+"gear\").\n"
+"It counts encoder pulses from both axes in software, and\n"
+"produces an error value that can be used with a PID loop to make the\n"
+"slave encoder track the master encoder with a specific ratio.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:21
+msgid ""
+"This module supports up to eight axis pairs. The number of pairs is set by "
+"the module parameter *num_chan*. Alternatively, specify *names=* and unique "
+"names separated by commas."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:24
+msgid ""
+"The **num_chan=** and **names=** specifiers are mutually exclusive.  If "
+"neither **num_chan=** nor **names=** are specified, the default value is "
+"one."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:27
+#, no-wrap
+msgid "*encoder-ratio.sample*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:29
+msgid "Read all input pins. Must be called at twice the maximum desired count rate."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:29
+#, no-wrap
+msgid "*encoder-ratio.update (uses floating-point)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:31
+msgid "Updates all output pins. May be called from a slower thread."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:37
+msgid ""
+"The names for pins and parameters are prefixed as: *encoder-ratio.N.* for "
+"_N_=0,1,...,_num_-1 when using **num_chan=**_num_ *nameN.* for "
+"**nameN=**_name1_,_name2_,... when using ***names=**_name1_,_name2_,... ."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:39
+msgid "The *encoder-ratio.N.* format is shown in the following descriptions."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:42
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.master-A** bit in"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:45
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.master-B** bit in"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:48
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.slave-A** bit in"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:51
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.slave-B** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:53
+msgid "The encoder channels of the master and slave axes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:53
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.enable** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:63
+msgid ""
+"When the enable pin is FALSE, the error pin simply reports the slave axis "
+"position, in revolutions. As such, it would normally be connected to the "
+"feedback pin of a PID block for closed loop control of the slave "
+"axis. Normally the command input of the PID block is left unconnected "
+"(zero), so the slave axis simply sits still. However when the enable input "
+"goes TRUE, the error pin becomes the slave position minus the scaled master "
+"position. The scale factor is the ratio of master teeth to slave teeth. As "
+"the master moves, error becomes non-zero, and the PID loop will drive the "
+"slave axis to track the master."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:63
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.error** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:65
+msgid "The error in the position of the slave (in revolutions)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:68
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.master-ppr** unsigned rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:70
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.slave-ppr** unsigned rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:72
+msgid "The number of pulses per revolution of the master and slave axes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:72
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.master-teeth** unsigned rw"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/encoder_ratio.9.adoc:74
+#, no-wrap
+msgid "**encoder-ratio.**_N_**.slave-teeth** unsigned rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/encoder_ratio.9.adoc:76
+msgid "The number of \"teeth\" on the master and slave gears."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/gantrykins.9.adoc:1
+#, no-wrap
+msgid "gantrykins(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gantrykins.9.adoc:6
+msgid ""
+"gantrykins - *Superseded* by the general purpose *trivkins* kinematics "
+"module."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gantrykins.9.adoc:11
+msgid ""
+"To specify a gantry with non-identity kinematics: use trivkins with the "
+"kinstype parameter set for KINEMATICS_BOTH. Example:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gantrykins.9.adoc:13
+#, no-wrap
+msgid "**loadrt trivkins coordinates=**xyyz **kinstypes=**BOTH\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gantrykins.9.adoc:16
+msgid "trivkins(9)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/gladevcp.9.adoc:1
+#, no-wrap
+msgid "gladevcp(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gladevcp.9.adoc:6
+msgid "gladevcp - displays Virtual control Panels built with GTK / GLADE"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gladevcp.9.adoc:10
+#, no-wrap
+msgid ""
+"*loadusr gladevcp* [**-c componentname0x**_N_] [**-g "
+"WxH+Xoffset+Yoffset0x**_N_] [**-H** _halcmdfile_] [*-x* _windowid_] "
+"*gladefile.glade*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gladevcp.9.adoc:22
+msgid ""
+"GladeVCP parses a glade file and displays the widgets in a window.  Then "
+"calls gladevcp_makepins which again parses the gladefile looking for "
+"specific HAL widgets then makes HAL pins and sets up updating for them.  The "
+"HAL component name defaults to the basename of the glade file. The -x option "
+"directs GladeVCP to reparent itself under this X window id instead of "
+"creating its own toplevel window. The -H option passes an input file for "
+"halcmd to be run after the GladeVCP component is initialized. This is used "
+"in Axis when running GladeVCP under a tab with the "
+"EMBED_TAB_NAME/EMBED_TAB_COMMAND INI file feature."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gladevcp.9.adoc:25
+msgid ""
+"GladeVCP supports GtkBuilder or libglade files though some widgets are not "
+"fully supported in GtkBuilder yet."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/gladevcp.9.adoc:30
+msgid ""
+"For now, system links need to be added in the glade library folders to point "
+"to our new widgets and catalog files. Look in lib/python/gladevcp/READ_ME "
+"for details."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hal_bb_gpio.9.adoc:1
+#, no-wrap
+msgid "hal_bb_gpio(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:6
+msgid "hal_bb_gpio - Driver for beaglebone GPIO pins"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:10
+#, no-wrap
+msgid ""
+"*loadrt hal_bb_gpio _user_leds=#,..._ "
+"_input_pins=#,...__output_pins=#,..._*\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hal_bb_gpio.9.adoc:11
+#, no-wrap
+msgid "USER LEDS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:17
+msgid ""
+"The _user_leds_ loadrt parameter controls which LEDs are available to HAL.  "
+"Valid range: 0..3. These LEDs are next to the ethernet jack and the LinuxCNC "
+"numbers match the silkscreen on beaglbone black.  Empirically, these seem to "
+"be OR'd with whatever function is assigned to the LED in Linux."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:21
+#, no-wrap
+msgid "**bb_gpio.userled**_N_ bit in +\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_bb_gpio.9.adoc:21
+#, no-wrap
+msgid "**bb_gpio.userled**_N_**-invert** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:23
+msgid "The associated LED is lit if *userled*_N_ xor *userled*_N_-invert is TRUE."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hal_bb_gpio.9.adoc:24
+#, no-wrap
+msgid "INPUT PINS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:31
+msgid ""
+"The _input_pins_ loadrt parameter controls which physical I/O pins are "
+"available to HAL as input pins. The numbering is \"800+N\" for pin N on "
+"connector P8, and \"900+N\" for pin N on connector P9. For example, \"803\" "
+"means connector P8 pin 3, which is also described in BeagleBone "
+"documentation as \"gpmc_ad6\"."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:35 src/man/man9/hal_bb_gpio.9.adoc:52
+msgid ""
+"Specifying pins that are otherwise in use by the system may have undesirable "
+"side effects, such as crashing rtapi_app or the whole system."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:39
+#, no-wrap
+msgid "**bb_gpio.p**_N_**.in-**_NN_ bit out +\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_bb_gpio.9.adoc:39
+#, no-wrap
+msgid "**bb_gpio.p**_N_**.in-**_NN_**-invert** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:42
+#, no-wrap
+msgid ""
+"**in-**_NN_ is a snapshot of the value of the corresponding physical pin\n"
+"XOR the value of the corresponding **in-**_NN_**-invert** pin.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hal_bb_gpio.9.adoc:43
+#, no-wrap
+msgid "OUTPUT PINS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:48
+msgid ""
+"The _input_pins_ loadrt parameter controls which physical I/O pins are "
+"available to HAL as input pins. The numbering is \"800+N\" for pin N on "
+"connector P8, and \"900+N\" for pin N on connector P9."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:56
+#, no-wrap
+msgid "**bb_gpio.p**_N_**.out-**_NN_ bit out +\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_bb_gpio.9.adoc:56
+#, no-wrap
+msgid "**bb_gpio.p**_N_**.out-**_NN_**-invert** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:59
+msgid ""
+"The corresponding physical pin is driven with the result of **in-**_NN_ xor "
+"**in-**_NN_**-invert**."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_bb_gpio.9.adoc:66
+#, no-wrap
+msgid "**bb_gpio.read**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:68
+msgid "Update HAL pins from physical pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_bb_gpio.9.adoc:68
+#, no-wrap
+msgid "**bb_gpio.write**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_bb_gpio.9.adoc:70
+msgid "Update physical pins from HAL pins."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hal_parport.9.adoc:1
+#, no-wrap
+msgid "hal_parport(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:7
+msgid ""
+"hal_parport - Realtime HAL component to communicate with one or more pc "
+"parallel ports."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:11
+#, no-wrap
+msgid ""
+"**loadrt hal_parport cfg=\"**__port_addr__ [_type_] [ [__port_addr__ "
+"[__type__] .. .]**\"**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:18
+msgid ""
+"The hal_parport component is a realtime component that provides connections "
+"from HAL via halpins to the physical pins of one or more parallel ports. It "
+"provides a read and write function to send and receive data to the attached "
+"parallel port(s)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:20
+msgid "The hal_parport component supports up to **8** physical parallel ports."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:23
+#, no-wrap
+msgid "*cfg=\"port_addr [type] [[port_addr [type] ...]\"*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:27
+msgid ""
+"The cfg string tells hal_parport the address(es) of the parallel port(s) and "
+"whether the port(s) is/are used as an input or output port(s). Up to eight "
+"parallel ports are supported by the component."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:33
+msgid ""
+"The **port_addr **parameter of the configuration string may be either the "
+"physical base address of a parallel port or specified as the detected "
+"parallel port via Linux parport_pc driver. In which case, a **port_addr** of "
+"__0 __is the first parallel port detected on the system, __1__ is the next, "
+"and so on."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:37
+msgid ""
+"The **type **parameter of the configuration string determines how the I/O "
+"bits of the port are used. There are four possible options and if none is "
+"specified will default to out."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:38
+#, no-wrap
+msgid "_in_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:39
+msgid ""
+"Sets the 8 bits of the data port to input. In this mode the parallel port "
+"has a total of 13 input pins and 4 output pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:40
+#, no-wrap
+msgid "_out_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:41
+msgid ""
+"Sets the 8 bits of the data port to output. In this mode the parallel port "
+"has a total of 5 input pins and 12 output pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:42
+#, no-wrap
+msgid "_epp_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:44
+msgid ""
+"This option is the same as setting to out, but can cause the computer to "
+"change the electrical characteristics of the port, see USAGE below."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:45
+#, no-wrap
+msgid "_x_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:46
+msgid ""
+"The option allows ports with open collectorts on the control group pins to "
+"be configured as inputs resulting in 8 output pins and 9 input pins, see "
+"USAGE below."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:51
+msgid ""
+"The pins created by the hal_parport component depends on how it is "
+"configured in the **cfg=\"\" **string passed to it, see OPTIONS."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:52
+#, no-wrap
+msgid "**parport.**_p_**.pin-**_n_**-out** (bit)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:53
+msgid "Drives a physical output pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:54
+#, no-wrap
+msgid "**parport.**_p_**.pin-**_n_**-in** (bit)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:55
+msgid "Tracks a physical input pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:56
+#, no-wrap
+msgid "**parport.**_p_**.pin-**_n_**-in-not** (bit)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:57
+msgid "Tracks a physical input pin, but inverted."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:60
+msgid ""
+"For each pin created, **_p_** is the port number, and **_n_** is the "
+"physical pin number in the 25 pin D-shell connector."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:63
+msgid ""
+"For each physical output pin, the driver creates a single HAL pin, for "
+"example: *parport.0.pin-14-out*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:66
+msgid ""
+"For each physical input pin, the driver creates two HAL pins, for example: "
+"**parport.0.pin-12-in** and *parport.0.pin-12-in-not*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:70
+msgid ""
+"The **-in **HAL pin is TRUE if the physical pin is high, and FALSE if the "
+"physical pin is low. The **-in-not** HAL pin is inverted and is FALSE if the "
+"physical pin is high."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:73
+msgid ""
+"The following lists the input and output pins by the type setting used in "
+"the cfg=\"\" string."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:76
+#, no-wrap
+msgid ""
+"*in*: Pins 2,3,4,5,6,7,8,9,10,11,12,13,15 are input pins and pins\n"
+"1,14,16 and 17 are output pins.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:79
+#, no-wrap
+msgid ""
+"*out/epp*: Pins 10,11,12,13 and 15 are input pins and pins\n"
+"1,2,3,4,5,6,7,8,9,14,16 and 17 are output pins.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:82
+#, no-wrap
+msgid ""
+"*x*: Pins 1,10,11,12,13,14,15,16 and 17 are input pins and pins\n"
+"2,3,4,5,6,7,8,9 are output pins. (_See USAGE section_.)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:85
+#, no-wrap
+msgid "**parport.**_p_**.pin-<n>-out-invert** (bit)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:87
+msgid "Inverts an output pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:87
+#, no-wrap
+msgid "**parport.**_p_**.pin-<n>-out-reset** (bit)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:90
+msgid ""
+"(only for out pins) TRUE if this pin should be reset when the .reset "
+"function is executed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:90
+#, no-wrap
+msgid "**parport.**_p_**.reset-time** (U32)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:93
+msgid ""
+"The time (in nanoseconds) between a pin is set by write and reset by the "
+"reset function if it is enabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:96
+#, no-wrap
+msgid "*parport.**_p**.read(funct)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:98
+msgid ""
+"Reads physical input pins of port <portnum> and updates HAL -in and -in-not "
+"pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:98
+#, no-wrap
+msgid "**parport.read-all** (funct)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:100
+msgid "Reads physical input pins of all ports and updates HAL -in and -in-not pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:100
+#, no-wrap
+msgid "**parport.**_p**.write** (funct)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:102
+msgid ""
+"Reads HAL -out pins of port _p_ and updates that port's physical output "
+"pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:102
+#, no-wrap
+msgid "**parport.write-all** (funct)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:104
+msgid "Reads HAL -out pins of all ports and updates all physical output pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:104
+#, no-wrap
+msgid "**parport.**_p**.reset** (funct)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:112
+msgid ""
+"Waits until __reset-time __has elapsed since the associated write, then "
+"resets pins to values indicated by __-out-reset__ and __-out-invert__ "
+"settings.  Reset must be later in the same thread as write.  If "
+"__-out-reset__ is TRUE, then the reset function will set the pin to the "
+"value of _-out-invert_. This can be used in conjunction with stepgen's "
+"doublefreq to produce one step per period. The stepgen stepspace for that "
+"pin must be set to 0 to enable doublefreq."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:121
+msgid ""
+"The hal_parport component is a driver for the traditional PC parallel "
+"port. The port has a total of 25 physical pins of which 17 are used for "
+"signals. The original parallel port divided those pins into three groups: "
+"data, control, and status. The data group consists of 8 output pins, the "
+"control group consists of 4 output pins, and the status group consists of 5 "
+"input pins."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:128
+msgid ""
+"In the early 1990's, the bidirectional parallel port was introduced, which "
+"allows the data group to be used for output or input. The HAL driver "
+"supports the bidirectional port, and allows the user to set the data group "
+"as either input or output. If configured as _out_, a port provides a total "
+"of 12 outputs and 5 inputs. If configured as _in_, it provides 4 outputs and "
+"13 inputs."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:133
+msgid ""
+"In some parallel ports, the control group pins are open collectors, which "
+"may also be driven low by an external gate. On a board with open collector "
+"control pins, if configured as _x_, it provides 8 outputs, and 9 inputs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:137
+#, no-wrap
+msgid "*Note: HAL and Open Collectors*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:142
+msgid ""
+"HAL cannot automatically determine if the x mode bidirectional pins are "
+"actually open collectors (OC). If they are not, they cannot be used as "
+"inputs, and attempting to drive them LOW from an external source can damage "
+"the hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:150
+msgid ""
+"To determine whether your port has open collector pins, load hal_parport in "
+"x mode. With no device attached, HAL should read the pin as TRUE.  Next, "
+"insert a 470 ohm resistor from one of the control pins to GND. If the "
+"resulting voltage on the control pin is close to 0V, and HAL now reads the "
+"pin as FALSE, then you have an OC port. If the resulting voltage is far from "
+"0V, or HAL does not read the pin as FALSE, then your port cannot be used in "
+"x mode."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:153
+msgid ""
+"The external hardware that drives the control pins should also use open "
+"collector gates (e.g., 74LS05)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:156
+msgid ""
+"On some computers, BIOS settings may affect whether x mode can be used.  SPP "
+"mode is most likely to work."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:162
+msgid ""
+"The parport driver can control up to 8 ports (defined by MAX_PORTS in "
+"hal_parport.c). The ports are numbered starting at zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:163
+#, no-wrap
+msgid "*Loading the hal_parport component*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:170
+#, no-wrap
+msgid ""
+"The hal_parport driver is a real time component so it must be loaded into "
+"the real time thread with loadrt. The configuration string describes the "
+"parallel ports to be used, and (optionally) their types. If the "
+"configuration string does not describe at least one port, it is an error.\n"
+"**loadrt hal_parport cfg=\"**__port__ [__type__] [__port__ [__type__] "
+"...]**\"**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:171
+#, no-wrap
+msgid "*Specifying the Port*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:177
+msgid ""
+"Numbers below 16 refer to parallel ports detected by the system.  This is "
+"the simplest way to configure the hal_parport driver, and cooperates with "
+"the Linux parport_pc driver if it is loaded.  A port of 0 is the first "
+"parallel port detected on the system, 1 is the next, and so on."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:177
+#, no-wrap
+msgid "*Basic configuration*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:180
+#, no-wrap
+msgid ""
+"This will use the first parallel port Linux detects:\n"
+"*loadrt hal_parport cfg=\"0\"*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:181
+#, no-wrap
+msgid "*Using the Port Address*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:184
+msgid ""
+"Instead, the port address may be specified using the hex notation 0x then "
+"the address.+ *loadrt hal_parport cfg=\"0x378\"*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:185
+#, no-wrap
+msgid "*Specifying a port Type*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:188
+msgid ""
+"For each parallel port handled by the hal_parport driver, a type can "
+"optionally be specified. The type is one of in, out, epp, or x."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:190
+msgid "If the type is not specified, the default is out."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:197
+msgid ""
+"A type of epp is the same as out, but the hal_parport driver requests that "
+"the port switch into EPP mode. The hal_parport driver does not use the EPP "
+"bus protocol, but on some systems EPP mode changes the electrical "
+"characteristics of the port in a way that may make some marginal hardware "
+"work better. The Gecko G540's charge pump is known to require this on some "
+"parallel ports."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:199
+msgid "See the Note above about mode x."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:200
+#, no-wrap
+msgid "*Example with two parallel ports*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:204
+#, no-wrap
+msgid ""
+"This will enable two system-detected parallel ports, the first in output "
+"mode and the second in input mode:\n"
+"*loadrt hal_parport cfg=\"0 out 1 in\"*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:205
+#, no-wrap
+msgid "*Functions single port*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:210
+#, no-wrap
+msgid ""
+"You must also direct LinuxCNC to run the read and write functions.\n"
+"*addf parport.read-all base-thread*\n"
+"*addf parport.write-all base-thread*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hal_parport.9.adoc:211
+#, no-wrap
+msgid "*Functions multiple ports*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:217
+#, no-wrap
+msgid ""
+"You can direct LinuxCNC to run the read and write functions for all the "
+"attached ports.\n"
+"*addf parport.0.read base-thread* \n"
+"*addf parport.0.write base-thread*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:223
+msgid ""
+"The individual functions are provided for situations where one port needs to "
+"be updated in a very fast thread, but other ports can be updated in a slower "
+"thread to save CPU time. It is probably not a good idea to use both an -all "
+"function and an individual function at the same time."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:228
+msgid ""
+"Parallel Port Driver (Hardware Drivers Section of LinuxCNC Docs), PCI "
+"Parallel Port Example (Hardware Examples Section of LinuxCNC Docs)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hal_parport.9.adoc:235
+msgid ""
+"This man page written by Joe Hildreth as part of the LinuxCNC project.  Most "
+"of this information was taken from the parallel-port docs located in the "
+"Hardware Drivers section of the documentation. To the best of our knowledge "
+"that documentation was written by Sebastian Kuzminsky and Chris Radek."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hm2_7i43.9.adoc:1
+#, no-wrap
+msgid "hm2_7i43(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:7
+msgid ""
+"hm2_7i43 - LinuxCNC HAL driver for the Mesa Electronics 7i43 EPP Anything IO "
+"board with HostMot2 firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:11
+#, no-wrap
+msgid ""
+"**loadrt hm2_7i43 [ ioaddr=**__N__[,_N_...] ] [ **ioaddr_hi=**__N__[,_N_...] "
+"] [ **epp_wide=**__N__[,_N_...] ] [ **config=\"**__str[,str...]**\"** ] "
+"[**debug_epp=**__N__[,_N_...] ]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_7i43.9.adoc:13 src/man/man9/hm2_7i90.9.adoc:13
+#, no-wrap
+msgid "*ioaddr* [default: 0 (parport0)]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_7i43.9.adoc:15 src/man/man9/hm2_7i90.9.adoc:14
+msgid "The base address of the parallel port."
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_7i43.9.adoc:18
+msgid ""
+"The number of ioaddr indexes/addresses given is used by the driver to "
+"determine how many boards to search for."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_7i43.9.adoc:19 src/man/man9/hm2_7i90.9.adoc:20
+#, no-wrap
+msgid "*ioaddr_hi* [default: 0]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_7i43.9.adoc:22 src/man/man9/hm2_7i90.9.adoc:23
+msgid ""
+"The secondary address of the parallel port, used to set EPP mode.  0 means "
+"to use ioaddr + 0x400."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_7i43.9.adoc:22 src/man/man9/hm2_7i90.9.adoc:23
+#, no-wrap
+msgid "*epp_wide* [default: 1]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_7i43.9.adoc:26 src/man/man9/hm2_7i90.9.adoc:27
+msgid ""
+"Set to zero to disable the \"wide EPP mode\". \"Wide\" mode allows a 16- and "
+"32-bit EPP transfers, which can reduce the time spent in the read and write "
+"functions. However, this may not work on all EPP parallel ports."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_7i43.9.adoc:26 src/man/man9/hm2_7i90.9.adoc:27
+#: src/man/man9/hm2_eth.9.adoc:13 src/man/man9/hm2_pci.9.adoc:13
+#: src/man/man9/hm2_rpspi.9.adoc:13 src/man/man9/hm2_spi.9.adoc:13
+#, no-wrap
+msgid "*config* [default: \"\"]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_7i43.9.adoc:28 src/man/man9/hm2_7i90.9.adoc:29
+#: src/man/man9/hm2_eth.9.adoc:15 src/man/man9/hm2_pci.9.adoc:15
+#: src/man/man9/hm2_spi.9.adoc:15
+msgid "HostMot2 config strings, described in the hostmot2(9) manpage."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_7i43.9.adoc:28 src/man/man9/hm2_7i90.9.adoc:29
+#, no-wrap
+msgid "*debug_epp* [default: 0]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_7i43.9.adoc:30 src/man/man9/hm2_7i90.9.adoc:31
+msgid "Developer/debug use only! Enable debug logging of most EPP transfers."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:37
+msgid ""
+"hm2_7i43 is a device driver that interfaces the Mesa 7i43 board with the "
+"HostMot2 firmware to the LinuxCNC HAL. Both the 200K and the 400K FPGAs are "
+"supported."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:42
+msgid ""
+"The driver talks with the 7i43 over the parallel port, not over USB. USB can "
+"be used to power the 7i43, but not to talk to it. USB communication with the "
+"7i43 will not be supported any time soon, since USB has poor real-time "
+"qualities."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:47
+msgid ""
+"The driver programs the board's FPGA with firmware when it registers the "
+"board with the hostmot2 driver. The firmware to load is specified in the "
+"*config* modparam, as described in the hostmot2(9) manpage, in the _config "
+"modparam_ section."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hm2_7i43.9.adoc:48
+#, no-wrap
+msgid "Jumper settings"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:53
+msgid ""
+"To send the FPGA configuration from the PC, the board must be configured to "
+"get its firmware from the EPP port. To do this, jumpers W4 and W5 must both "
+"be down, ie toward the USB connector."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:57
+msgid ""
+"The board must be configured to power on whether or not the USB interface is "
+"active. This is done by setting jumper W7 up, ie away from the edge of the "
+"board."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hm2_7i43.9.adoc:58 src/man/man9/hm2_7i90.9.adoc:44
+#, no-wrap
+msgid "Communicating with the board"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:63
+msgid ""
+"The 7i43 communicates with the LinuxCNC computer over EPP, the Enhanced "
+"Parallel Port. This provides about 1 MBps of throughput, and the "
+"communication latency is very predictable and reasonably low."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:67 src/man/man9/hm2_7i90.9.adoc:53
+msgid ""
+"The parallel port must support EPP 1.7 or EPP 1.9. EPP 1.9 is preferred, but "
+"EPP 1.7 will work too. The EPP mode of the parallel port is sometimes a "
+"setting in the BIOS."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:71
+msgid ""
+"Note that the popular \"NetMOS\" aka \"MosChip 9805\" PCI parport cards *do* "
+"not work. They do not meet the EPP spec, and cannot be reliably used with "
+"the 7i43. You have to find another card, sorry."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:79
+msgid ""
+"EPP is very reliable under normal circumstances, but bad cabling or "
+"excessively long cabling runs may cause communication timeouts. The driver "
+"exports a parameter named hm2_7i43.<BoardNum>.io_error to inform HAL of this "
+"condition. When the driver detects an EPP timeout, it sets io_error to True "
+"and stops communicating with the 7i43 board. Setting io_error back to False "
+"makes the driver start trying to communicate with the 7i43 again."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i43.9.adoc:82 src/man/man9/hm2_7i90.9.adoc:68
+msgid ""
+"Access to the EPP bus is not threadsafe: only one realtime thread may access "
+"the EPP bus."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hm2_7i43.9.adoc:86 src/man/man9/hm2_7i90.9.adoc:72
+#: src/man/man9/hm2_pci.9.adoc:34 src/man/man9/hm2_rpspi.9.adoc:150
+#: src/man/man9/hm2_spi.9.adoc:58 src/man/man9/hostmot2.9.adoc:1
+#, no-wrap
+msgid "hostmot2(9)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hm2_7i90.9.adoc:1
+#, no-wrap
+msgid "hm2_7i90(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i90.9.adoc:7
+msgid ""
+"hm2_7i90 - LinuxCNC HAL driver for the Mesa Electronics 7i90 EPP Anything IO "
+"board with HostMot2 firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i90.9.adoc:11
+#, no-wrap
+msgid ""
+"**loadrt hm2_7i90** [**ioaddr=**__N__[,_N_...]] "
+"[**ioaddr_hi=**__N__[,_N_...]] [**epp_wide=**__N__[,_N_...]] "
+"[**debug_epp=**__N__[,_N_...]]\n"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_7i90.9.adoc:19
+msgid ""
+"The number of ioaddr indexes/addresses given is used by the driver to "
+"determine how many boards to search for. Previously the number of config "
+"strings was used, but a blank config string is perfectly acceptable for "
+"7i90."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i90.9.adoc:37
+msgid ""
+"hm2_7i90 is a device driver that interfaces the Mesa 7i90 board with the "
+"HostMot2 firmware to the LinuxCNC HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i90.9.adoc:41
+msgid ""
+"The 7i90 firmware is stored on the 7i90 itself, it is not programmed by the "
+"driver at load time. The 7i90 firmware can be changed using the mesaflash "
+"program."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i90.9.adoc:43
+msgid "The driver talks with the 7i90 over the parallel port, via EPP."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i90.9.adoc:49
+msgid ""
+"The 7i90 communicates with the LinuxCNC computer over EPP, the Enhanced "
+"Parallel Port. This provides about 1 MBps of throughput, and the "
+"communication latency is very predictable and reasonably low."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i90.9.adoc:57
+msgid ""
+"Note that the popular \"NetMOS\" aka \"MosChip 9805\" PCI parport cards *do* "
+"not work. They do not meet the EPP spec, and cannot be reliably used with "
+"the 7i90. You have to find another card, sorry."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_7i90.9.adoc:65
+msgid ""
+"EPP is very reliable under normal circumstances, but bad cabling or "
+"excessively long cabling runs may cause communication timeouts. The driver "
+"exports a parameter named hm2_7i90.<BoardNum>.io_error to inform HAL of this "
+"condition. When the driver detects an EPP timeout, it sets io_error to True "
+"and stops communicating with the 7i90 board. Setting io_error back to False "
+"makes the driver start trying to communicate with the 7i90 again."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hm2_eth.9.adoc:1
+#, no-wrap
+msgid "hm2_eth(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:7
+msgid ""
+"hm2_eth - LinuxCNC HAL driver for the Mesa Electronics Ethernet Anything IO "
+"boards, with HostMot2 firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:11
+#, no-wrap
+msgid ""
+"*loadrt hm2_eth* [**config=\"**_str_[,_str_...]**\"** ] "
+"[**board_ip=**__ip__[,__ip__...] ] [**board_mac=**__mac__[,__mac__...] ]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_eth.9.adoc:15
+#, no-wrap
+msgid "*board_ip* [default: \"\"]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_eth.9.adoc:18
+msgid ""
+"The IP address of the board(s), separated by commas.  As shipped, the board "
+"address is 192.168.1.121."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:28
+msgid ""
+"hm2_eth is a device driver that interfaces Mesa's ethernet based Anything "
+"I/O boards (with the HostMot2 firmware) to the LinuxCNC HAL.  The supported "
+"boards are: 7I76E, 7I80DB, 7I80HD, 7I92, 7I93, 7I94, 7I95, 7I96, 7I96S, "
+"7I97, 7I98. It also supports boards with the litehm2 firmware "
+"(https://github.com/sensille/litehm2). The board must have its firmware "
+"loaded on the board by the mesaflash(1) program."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:30
+msgid ""
+"hm2_eth is only available when LinuxCNC is configured with \"uspace\" "
+"realtime."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hm2_eth.9.adoc:31 src/man/man9/hm2_rpspi.9.adoc:83
+#: src/man/man9/hm2_spi.9.adoc:35
+#, no-wrap
+msgid "INTERFACE CONFIGURATION"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:36
+msgid ""
+"hm2_eth should be used on a dedicated network interface, with only a cable "
+"between the PC and the board. Wireless and USB network interfaces are not "
+"suitable."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:43
+msgid ""
+"These instructions assume your dedicated network interface is \"eth1\", "
+"192.168.1/24 is an unused private network, that the hostmot2 board is using "
+"the default address of 192.168.1.121, that you are using Debian 7 or "
+"similar, and that you do not otherwise use iptables. If any of these are "
+"false, you will need to modify the instructions accordingly. After following "
+"all the instructions, reboot so that the changes take effect."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:52
+msgid ""
+"It is particularly important to check that the network 192.168.1/24 is not "
+"already the private network used by your internet router, because this is a "
+"commonly-used value. If you use another network, you will also need to "
+"reconfigure the hostmot2 card to use an IP address on that network by using "
+"the mesaflash(1) utility and change jumper settings.  Typically, you will "
+"choose one of the networks in the "
+"https://en.wikipedia.org/wiki/IPv4#Private_networks[Private IPv4 address "
+"space.] One common alternative is PC address 10.10.10.1, hostmot2 address "
+"10.10.10.10."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:56
+msgid ""
+"Use of the dedicated ethernet interface while LinuxCNC is running can cause "
+"violation of realtime guarantees. hm2_eth will automatically mitigate most "
+"accidental causes of interference."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hm2_eth.9.adoc:57
+#, no-wrap
+msgid "Configure network with static address"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:61
+msgid ""
+"Add these lines to the file /etc/network/interfaces to configure the "
+"Ethernet interface eth1 with a static address:"
+msgstr ""
+
+#. type: delimited block -
+#: src/man/man9/hm2_eth.9.adoc:67
+#, no-wrap
+msgid ""
+"auto eth1\n"
+"iface eth1 inet static\n"
+"    address 192.168.1.1\n"
+"    hardware-irq-coalesce-rx-usecs 0\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hm2_eth.9.adoc:69
+#, no-wrap
+msgid "PACKET LOSS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:79
+msgid ""
+"While ethernet is fairly resistant to electrical noise, many systems will "
+"not have 100% perfect packet reception. The hm2_eth driver has a limited "
+"ability to deal with lost packets. Packet loss is detected by transmitting "
+"an expected read or write packet count with each request, and checking the "
+"value with each read response. When a lost packet is detected, the "
+"*packet-error* pin is asserted in that cycle, the *packet-error-level* pin "
+"is increased, and if it reaches a threshold then a permanent low-level I/O "
+"error is signaled."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:85
+msgid ""
+"However, not all hm2 special functions know how to properly recover from "
+"lost packets. For instance, the encoder special function does not properly "
+"manage the index feature when packets are lost. The author believes that "
+"this can lead to rare failures in home-to-index, which can have severe "
+"consequences."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:94
+msgid ""
+"On the other hand, pid-stepper systems will run properly for extended "
+"periods of time with packet loss on the order of .01%, as long as following "
+"error is increased enough that having stale position feedback does not "
+"trigger a following error. Altering the HAL configuration so that during "
+"transient packet loss the pid and motion feedback value is equal to the "
+"command value, instead of the stale feedback value, appears to improve "
+"tuning. This can be accomplished with a *mux2(9)* component for each "
+"feedback signal, using *packet-error* as the mux2 *sel* input."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:99
+msgid ""
+"In addition to the pins documented in *hostmot2(9)*, *hm2_eth(9)* creates "
+"the following additional pins:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_eth.9.adoc:100
+#, no-wrap
+msgid "(bit, out) hm2__<BoardType>_._<BoardNum>_.packet-error"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:103
+msgid ""
+"This pin is TRUE when the most recent cycle detected a read or write error, "
+"and FALSE at other times."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_eth.9.adoc:103
+#, no-wrap
+msgid "(s32, out) hm2__<BoardType>_._<BoardNum>_.packet-error-level"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:107
+msgid ""
+"This pin shows the current error level, with higher numbers indicating a "
+"greater number of recent detected errors. The error level is always in the "
+"range from 0 to packet-error-limit, inclusive."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_eth.9.adoc:107
+#, no-wrap
+msgid "(bit, out) hm2__<BoardType>_._<BoardNum>_.packet-error-exceeded"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:110
+msgid ""
+"This pin is TRUE when the current error level is equal to the maximum, and "
+"FALSE at other times."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:115
+msgid ""
+"In addition to the parameters documented in *hostmot2(9)*, *hm2_eth(9)* "
+"creates the following additional parameters:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_eth.9.adoc:116
+#, no-wrap
+msgid "hm2__<BoardType>_._<BoardNum>_.packet-error-decrement (s32, rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:119
+msgid ""
+"The amount deducted from _packet-error-level_ in a cycle without detected "
+"read or write errors, without going below zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_eth.9.adoc:119
+#, no-wrap
+msgid "hm2__<BoardType>_._<BoardNum>_.packet-error-increment (s32, rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:122
+msgid ""
+"The amount added to _packet-error-level_ in a cycle without detected read or "
+"write errors, without going above packet-error-limit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_eth.9.adoc:122
+#, no-wrap
+msgid "hm2__<BoardType>_._<BoardNum>_.packet-error-limit (s32, rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:126
+msgid ""
+"The level at which a detected read or write error is treated as a permanent "
+"error. When this error level is reached, the board's _io-error_ pin becomes "
+"TRUE and the condition must be manually reset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_eth.9.adoc:126
+#, no-wrap
+msgid "hm2__<BoardType>_._<BoardNum>_.packet-read-timeout (s32, rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:133
+msgid ""
+"The length of time that must pass before a read request times out. If the "
+"value is less than or equal to 0, it is interpreted as 80% of the thread "
+"period. If the value is less than 100, it is interpreted as a percentage of "
+"the thread period. Otherwise, it is interpreted as a time in nanoseconds. In "
+"any case, the timeout is never less than 100 microseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:136
+msgid ""
+"Setting this value too low can cause spurious read errors. Setting it too "
+"high can cause realtime delay errors."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:149
+msgid ""
+"hm2_eth uses an iptables chain called \"hm2-eth-rules-output. That "
+"technology is common to control network access to (INPUT chain), through "
+"(FORWARD chain) or from (OUTPUT chain) your computer. Someone who has "
+"configured a firewall on Linux has encountered iptables and is familiar with "
+"that technology. This chain contains additional rules to control network "
+"interface while HAL is running. The chain is created if it does not exist, "
+"and a jump to it is inserted at the beginning of the OUTPUT chain if it is "
+"not there already. If you have an existing iptables setup, you can insert a "
+"direct jump from OUTPUT to hm2-eth-rules-output in an order appropriate to "
+"your local network."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:153
+msgid ""
+"At (normal) exit, hm2_eth will remove the rules. After a crash, you can "
+"manually clear the rules with *sudo iptables -F hm2-eth-rules-output*; the "
+"rules are also removed by a reboot."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:159
+msgid ""
+"\"hardware-irq-coalesce-rx-usecs\" decreases time waiting to receive a "
+"packet on most systems, but on at least some Marvel-chipset NICs it is "
+"harmful.  If the line does not improve system performance, then remove it.  "
+"A reboot is required for the value to be set back to its power-on default.  "
+"This requires the ethtool package to be installed."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:164
+msgid ""
+"Some hostmot2 functions such uart are coded in a way that causes additional "
+"latency when used with hm2_eth."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:169
+msgid ""
+"On the 7i92, the HAL pins for the LEDs are called CR01..CR04, but the "
+"silkscreens are CR3..CR6. Depending on the FPGA firmware, the LEDs may "
+"initially be under control of the ethernet engine. This can be changed until "
+"power cycle with"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man9/hm2_eth.9.adoc:172
+#, no-wrap
+msgid "elbpcom 01D914000000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:177
+msgid ""
+"Depending on firmware version, this driver may cause the hardware error LED "
+"to light even though the driver and hardware are functioning normally. This "
+"will reportedly be fixed in future bitfile updates from Mesa."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_eth.9.adoc:181
+msgid "hostmot2(9), elbpcom(1)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hm2_pci.9.adoc:1
+#, no-wrap
+msgid "hm2_pci(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_pci.9.adoc:7
+msgid ""
+"hm2_pci - LinuxCNC HAL driver for the Mesa Electronics PCI-based Anything IO "
+"boards, with HostMot2 firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_pci.9.adoc:11
+#, no-wrap
+msgid "*loadrt hm2_pci* [ **config=\"**__str__[,__str__...]**\"** ]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_pci.9.adoc:21
+msgid ""
+"hm2_pci is a device driver that interfaces Mesa's PCI and PC-104/Plus based "
+"Anything I/O boards (with the HostMot2 firmware) to the LinuxCNC HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_pci.9.adoc:25
+msgid ""
+"The supported boards are: the 5i20, 5i21, 5i22, 5i23, 5i24, and 5i25 (all on "
+"PCI); the 4i65, 4i68, and 4i69 (on PC-104/Plus), and the 3x20 (using a 6i68 "
+"or 7i68 carrier card) and 6i25 (on PCI Express)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_pci.9.adoc:30
+msgid ""
+"The driver optionally programs the board's FPGA with firmware when it "
+"registers the board with the hostmot2 driver. The firmware to load is "
+"specified in the *config* modparam, as described in the hostmot2(9)  "
+"manpage, in the _config modparam_ section."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hm2_rpspi.9.adoc:1
+#, no-wrap
+msgid "hm2_rpspi(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:7
+msgid ""
+"hm2_rpspi - LinuxCNC HAL driver for the Mesa Electronics SPI Anything IO "
+"boards, with HostMot2 firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:11
+#, no-wrap
+msgid "*loadrt hm2_rpspi*\n"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:15
+msgid "HostMot2 config strings, described in the *hostmot2*(9) manpage."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_rpspi.9.adoc:15
+#, no-wrap
+msgid "*spiclk_rate* [default: 31250]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:17
+msgid "Specify the SPI clock rate in kHz. See *SPI CLOCK RATES* below."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_rpspi.9.adoc:17
+#, no-wrap
+msgid "*spiclk_rate_rd* [default: -1 (same as *spiclk_rate*)]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:21
+msgid ""
+"Specify the SPI read clock rate in kHz. Usually you read and write at the "
+"same speed. However, you may want to reduce the reading speed if the "
+"round-trip is too long (see *SPI CLOCK RATES* below)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_rpspi.9.adoc:21
+#, no-wrap
+msgid "*spiclk_base* [default: 400000000]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:31
+#, no-wrap
+msgid ""
+"This is the SPI clock divider calculation fallback value. Usually, the base "
+"rate is read from _/sys/kernel/debug/clk/vpu/clk_rate_ and used in the "
+"divider calculation (for the Rpi3 it should be 250 MHz). The *spiclk_base* "
+"is _only_ used as a fallback if the system's cannot be read. It is normally "
+"safe (and recommended) that you leave this parameter as is.\n"
+"You should set this manually to 250000000 if your system does not provide "
+"access to the kernel clock settings. Otherwise, your SPI clock frequency "
+"will be only 62.5% of the requested value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_rpspi.9.adoc:31
+#, no-wrap
+msgid "*spi_pull_miso* [default: 1 (pull-down)]"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_rpspi.9.adoc:32
+#, no-wrap
+msgid "*spi_pull_mosi* [default: 1 (pull-down)]"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_rpspi.9.adoc:33
+#, no-wrap
+msgid "*spi_pull_sclk* [default: 1 (pull-down)]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:37
+msgid ""
+"Enable or disable pull-up/pull-down on the SPI lines. A value of 0 disables "
+"any pull-up/down on the pin. A value of 1 means pull-down and 2 means "
+"pull-up. The chip enable line(s) are always pull-up enabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_rpspi.9.adoc:37
+#, no-wrap
+msgid "*spi_probe* [default: 1]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:41
+msgid ""
+"Probe SPI port and CE lines for a card. This is a bit-field indicating which "
+"combinations of SPI and CE should be probed: - 1 = SPI0/CE0, - 2 = SPI0/CE1, "
+"- 4 = SPI1/CE0, - 8 = SPI1/CE1, - 16 = SPI1/CE2."
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:45
+msgid ""
+"The probe is performed exactly in above order. Any boards found will be "
+"numbered 0...4 in the order found. See also *INTERFACE CONFIGURATION* below."
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:51
+msgid ""
+"It is an error if a probe fails and the driver will abort. The SPI0/SPI1 "
+"peripherals are located at GPIO pins (with 40-pin I/O header pin-number in "
+"parentheses): - SPI0: MOSI=10(19), MISO=9(21), SCLK=11(23), CE0=8(24), "
+"CE1=7(26) - SPI1: MOSI=20(38), MISO=19(35), SCLK=21(40), CE0=18(12), "
+"CE1=17(11), CE2=16(36)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_rpspi.9.adoc:52
+#, no-wrap
+msgid "*spi_debug* [default: -1]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:57
+msgid ""
+"Set the message level of the running process. The message level is set if "
+"*spi_debug* is set to a positive value between 0 and 5, where 0 means no "
+"messages at all and 5 means everything. A value of -1 does not touch the "
+"current message level."
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_rpspi.9.adoc:61
+msgid ""
+"Caveat Emptor: changing the message level is process-wide and all modules "
+"within the process will spit out messages at the requested level. This may "
+"cause quite some clutter in your terminal."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:69
+msgid ""
+"hm2_rpspi is a device driver for the Raspberry Pi 2/3 that interfaces Mesa's "
+"SPI based Anything I/O boards (with the HostMot2 firmware) to the LinuxCNC "
+"HAL. This driver is not based on the linux spidev driver, but on a dedicated "
+"BCM2835-SPI driver."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:74
+msgid ""
+"It is *strongly* recommended that you unload/disable the kernel's spidev "
+"driver by disabling it using *raspi-config*. Please note that having both "
+"kernel and user-space SPI drivers installed can result in unexpected "
+"interactions and system instabilities."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:76 src/man/man9/hm2_spi.9.adoc:29
+msgid "The supported boards are: 7I90HD."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:79
+msgid ""
+"The board must have a compatible firmware (ie.: 7i90_spi_svst4_8.bit)  "
+"loaded on the board by the *mesaflash*(1) program."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:82
+msgid ""
+"hm2_rpspi is only available when LinuxCNC is configured with \"uspace\" "
+"realtime. It works with Raspian and PREEMPT_RT kernel."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:90
+msgid ""
+"Up to five devices (7i90 boards) are supported. Two on SPI0 and three on "
+"SPI1. It is recommended that you, at most, use two devices and each device "
+"connected to a separate SPI port. You can choose which CE lines you prefer "
+"or fit the design and setup the *spi_probe* parameter to instruct the driver "
+"where to search for the board(s)."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hm2_rpspi.9.adoc:91
+#, no-wrap
+msgid "REALTIME PERFORMANCE OF THE BCM2835-SPI DRIVER"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:94
+msgid "TBD."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hm2_rpspi.9.adoc:95 src/man/man9/hm2_spi.9.adoc:50
+#, no-wrap
+msgid "SPI CLOCK RATES"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:101
+msgid ""
+"The maximum SPI clock of the BCM2835-SPI driver and the 7i90 is documented "
+"over 32MHz. The SPI driver can provide frequencies well beyond what is "
+"acceptable for the 7i90. A safe value to start with would be 12.5 MHz "
+"(spiclk_rate=12500) and then work your way up from there."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:107
+msgid ""
+"The SPI driver generates (very) discrete clock frequency values, especially "
+"in the MHz range because of a simple clock divider structure.  The base "
+"frequency is 250 MHz and the divider for SPI0/SPI1 scales using discrete "
+"factors. The following list specifies the *spiclk_rate* setting and the "
+"discrete SPI clock frequency (250 MHz / (2n) for n > 1): - 62500"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:111
+msgid ""
+"62.500 MHz, - 41667 - 41.667 MHz, - 31250 - 31.250 MHz, - 25000 - 25.000 "
+"MHz, - 20834 - 20.833 MHz, - 17858 - 17.857 MHz, - 15625 - 15.625 MHz, - "
+"13889 - 13.889 MHz, - 12500 - 12.500 MHz, - 11364 - 11.364 MHz, - 10417 - "
+"10.417 MHz, - 9616 - 9.615 MHz, - ...."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:117
+msgid ""
+"The lowest selectable SPI clock frequency is 30 kHz (spiclk_rate=30) for "
+"SPI0 and SPI1. Theoretically, the SPI0 port could go slower, but there is no "
+"point in doing so. You should not expect any real-time performance with such "
+"slow setting, unless your machine is located next to a black hole."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:125
+msgid ""
+"The highest SPI clock frequency is, theoretically, 125 MHz. However, you "
+"will not be able to build any reliable hardware interface at that "
+"frequency. The driver limits the clock to 62.5 MHz (cpiclk_rate=62500).  The "
+"chances are rather slim that you get the interface to work reliably at this "
+"frequency. The 7i90 interface only supports frequencies up to 50 MHz and "
+"that is with perfect cabling and impedance matching (in write direction "
+"only)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:132
+msgid ""
+"Writing to the 7i90 may be done faster than reading. This is especially "
+"important if you have \"long\" wires or any buffers on the SPI-bus path.  "
+"You can set the read clock frequency to a lower value (using "
+"*spiclk_rate_rd*) to counter the effects of the SPI-bus round-trip needed "
+"for read actions. For example, you can write at 41.67 MHz and read at 25.00 "
+"MHz."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:137
+msgid ""
+"It should be noted that the Rpi3 *must* have an adequate 5V power supply and "
+"the power should be properly decoupled right on the 40-pin I/O header. At "
+"high speeds and noise on the supply, there is the possibility of noise "
+"throwing off the SoC's PLL(s), resulting in strange behaviour."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:143
+msgid ""
+"For optimal performance on the Rpi3, you must disable the \"ondemand\" CPU "
+"frequency governor. You may add the following to your /etc/rc.local file: "
+"echo -n 1200000 > /sys/devices/system/cpu/cpufreq/policy0/scaling_min_freq "
+"echo -n performance > "
+"/sys/devices/system/cpu/cpufreq/policy0/scaling_governor"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_rpspi.9.adoc:146
+msgid ""
+"Be sure to have a proper heatsink mounted on the SoC or it will get too warm "
+"and crash."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/hm2_spi.9.adoc:1
+#, no-wrap
+msgid "hm2_spi(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_spi.9.adoc:7
+msgid ""
+"hm2_spi - LinuxCNC HAL driver for the Mesa Electronics SPI Anything IO "
+"boards, with HostMot2 firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_spi.9.adoc:11
+#, no-wrap
+msgid ""
+"*loadrt hm2_spi* [**config=\"**__str__[,__str__...]**\"** ] [ "
+"**spidev_path=**_path_[,_path_...] ] [**spidev_rate=**__rate__[,__rate__...] "
+"]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_spi.9.adoc:15
+#, no-wrap
+msgid "*spidev_path* [default: \"/dev/spidev1.0\"]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_spi.9.adoc:17
+msgid "The path to the spi device node, a character special device in /dev"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hm2_spi.9.adoc:17
+#, no-wrap
+msgid "*spidev_rate* [default: 24000]"
+msgstr ""
+
+#. type: delimited block _
+#: src/man/man9/hm2_spi.9.adoc:21
+msgid ""
+"The desired rate of the SPI clock in kHz. If the exact specified clock is "
+"not available, a lower clock is used. Due to shortcomings in the spidev API, "
+"it is not possible for hal to report the actual clock used."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_spi.9.adoc:27
+msgid ""
+"hm2_spi is a device driver that interfaces Mesa's SPI based Anything I/O "
+"boards (with the HostMot2 firmware) to the LinuxCNC HAL."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_spi.9.adoc:32
+msgid ""
+"The board must have a compatible firmware loaded on the board by the "
+"mesaflash(1) program."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_spi.9.adoc:34
+msgid ""
+"hm2_spi is only available when LinuxCNC is configured with \"uspace\" "
+"realtime."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_spi.9.adoc:41
+msgid ""
+"It is possible for one SPI bus to connect several devices; in this "
+"configuration, a master device has several chip select lines. In order to "
+"meet realtime deadlines, hm2_spi should be used on a dedicated SPI interface "
+"not shared with any other slaves."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hm2_spi.9.adoc:42
+#, no-wrap
+msgid "REALTIME PERFORMANCE OF LINUX SPIDEV DRIVERS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_spi.9.adoc:49
+msgid ""
+"As of kernel 3.8, most or all kernel SPI drivers do not achieve the high "
+"realtime response rate required for a typical LinuxCNC configuration.  The "
+"driver was tested with a modified version of the spi-s3c64xx SPI driver on "
+"the Odroid U3 platform. The patched kernel resides "
+"https://github.com/jepler/odroid-linux/tree/odroid-3.8.13-rt[on github]."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hm2_spi.9.adoc:54
+msgid ""
+"The maximum SPI clock of the 7i90 is documented as 50MHz. Other elements of "
+"the data path between HAL and the 7i90 may impose other limitations."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:6
+msgid "hostmot2 - LinuxCNC HAL driver for the Mesa Electronics HostMot2 firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:11
+msgid ""
+"See the config modparam section below for Mesa card configuration.  "
+"Typically hostmot2 is loaded with no parameters unless debugging is "
+"required."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:13
+#, no-wrap
+msgid ""
+"*loadrt hostmot2* [ **debug_idrom=**__N__ ] [ "
+"**debug_module_descriptors=**__N__ ] [ **debug_pin_descriptors=**__N__ ] [ "
+"**debug_modules=**__N__ ]\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:14
+#, no-wrap
+msgid "*debug_idrom* [default: 0]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:16
+msgid "Developer/debug use only! Enable debug logging of the HostMot2 IDROM header."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:16
+#, no-wrap
+msgid "*debug_module_descriptors* [default: 0]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:18
+msgid ""
+"Developer/debug use only! Enables debug logging of the HostMot2 Module "
+"Descriptors."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:18
+#, no-wrap
+msgid "*debug_pin_descriptors* [default: 0]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:20
+msgid ""
+"Developer/debug use only! Enables debug logging of the HostMot2 Pin "
+"Descriptors."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:20
+#, no-wrap
+msgid "*debug_modules* [default: 0]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:22
+msgid ""
+"Developer/debug use only! Enables debug logging of the HostMot2 Modules "
+"used."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:22
+#, no-wrap
+msgid "*use_serial_numbers* [default: 0]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:30
+msgid ""
+"When creating HAL pins for smart-serial devices name the pins by the board "
+"serial number rather than which board and port they are connected to. With "
+"this option set to 1 pins will have names like *hm2_8i20.1234.current* "
+"rather than *hm2_5i23.0.8i20.0.1.current*.  The identifier consists of the "
+"last 4 digits of the board serial number, which is normally on a sticker on "
+"the board. This will make configs less portable, but does mean that boards "
+"can be re-connected less carefully."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:38
+msgid ""
+"hostmot2 is a device driver that interfaces the Mesa or litehm2 HostMot2 "
+"firmware to the LinuxCNC HAL. This driver by itself does nothing, the boards "
+"that actually run the firmware require their own drivers before anything can "
+"happen. Currently drivers are available for PCI, Ethernet, SPI and EPP "
+"interfaced cards."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:43
+msgid ""
+"The HostMot2 firmware provides modules such as encoders, PWM generators, "
+"step/dir generators, and general purpose I/O pins (GPIOs). These things are "
+"called \"Modules\". The firmware is configured, at firmware compile time, to "
+"provide zero or more instances of each of these Modules."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:44
+#, no-wrap
+msgid "Board I/O Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:49
+msgid ""
+"The HostMot2 firmware runs on an FPGA board. The board interfaces with the "
+"computer via PCI, Ethernet, SPI, or EPP, and interfaces with motion control "
+"hardware, such as servos and stepper motors via I/O pins on the board."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:55
+msgid ""
+"Each I/O pin can be configured, at board-driver load time, to serve one of "
+"two purposes: Either as a particular I/O pin of a particular Module instance "
+"(encoder, pwmgen, stepgen etc), or as a general purpose digital I/O pin. By "
+"default all Module instances are enabled, and all the board's pins are used "
+"by the Module instances."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:59
+msgid ""
+"The user can disable Module instances at board-driver load time, by "
+"specifying a hostmot2 config string modparam. Any pins which belong to "
+"Module instances that have been disabled automatically become GPIOs."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:67
+msgid ""
+"All IO pins have some HAL presence, whether they belong to an active module "
+"instance or are full GPIOs. GPIOs can be changed (at run-time)  between "
+"inputs, normal outputs, and open drains, and have a flexible HAL "
+"interface. IO pins that belong to active Module instances are constrained by "
+"the requirements of the owning Module, and have a more limited interface in "
+"HAL. This is described in the General Purpose I/O section below."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:68
+#, no-wrap
+msgid "config modparam"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:75
+msgid ""
+"All the board-driver modules (hm2_pci, hm2_eth etc) accept a load-time "
+"modparam of type string array, named \"config\". This array has one config "
+"string for each board the driver should use. Each board's config string is "
+"passed to and parsed by the hostmot2 driver when the board-driver registers "
+"the board."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:78
+msgid ""
+"The config string can contain spaces, so it is usually a good idea to wrap "
+"the whole thing in double-quotes (the \" character)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:80
+msgid ""
+"The comma character (,) separates members of the config array from each "
+"other."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:83
+msgid ""
+"For example, if your control computer has one 5I20 and one 5I23 you might "
+"load the hm2_pci driver with a HAL command (in halcmd) something like this:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:86
+#, no-wrap
+msgid ""
+"*loadrt hm2_pci config=\"firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 "
+"num_pwmgens=3 num_stepgens=3,firmware=hm2/5i23/SVSS8_8.BIT "
+"sserial_port_0=0000 num_encoders=4\"*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:96
+msgid ""
+"Note: this assumes that the hm2_pci driver detects the 5I20 first and the "
+"5I23 second.  If the detection order does not match the order of the config "
+"strings, the hostmot2 driver will refuse to load the firmware and the "
+"board-driver (hm2_pci etc) will fail to load. To the best of my knowledge, "
+"there is no way to predict the order in which PCI boards will be detected by "
+"the driver, but the detection order will be consistent as long as PCI boards "
+"are not moved around. Best to try loading it and see what the detection "
+"order is."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:98
+msgid "The valid entries in the format string are:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:100
+#, no-wrap
+msgid "**[firmware=**__F__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:102
+#, no-wrap
+msgid "**[num_dplls=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:104
+#, no-wrap
+msgid "**[num_encoders=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:106
+#, no-wrap
+msgid "**[ssi_chan_**__N__**=**__abc%nq__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:108
+#, no-wrap
+msgid "**[biss_chan_**__N__**=**__abc%nq__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:110
+#, no-wrap
+msgid "**[fanuc_chan_**__N__**=**__abc%nq__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:112
+#, no-wrap
+msgid "**[num_inmux=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:114
+#, no-wrap
+msgid "**[num_inms=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:116
+#, no-wrap
+msgid "**[num_resolvers=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:118
+#, no-wrap
+msgid "**[num_pwmgens=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:120
+#, no-wrap
+msgid "**[num_3pwmgens=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:122
+#, no-wrap
+msgid "**[num_oneshots=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:124
+#, no-wrap
+msgid "**[num_periodms=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:126
+#, no-wrap
+msgid "**[num_rcpwmgens=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:128
+#, no-wrap
+msgid "**[num_stepgens=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:130
+#, no-wrap
+msgid "**[stepgen_width=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:132
+#, no-wrap
+msgid "**[sserial_port_0=**00000000**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:134
+#, no-wrap
+msgid "**[num_bspis=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:136
+#, no-wrap
+msgid "**[num_leds=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:138
+#, no-wrap
+msgid "**[num_ssrs=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:140
+#, no-wrap
+msgid "**[num_outms=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:142
+#, no-wrap
+msgid "**[num_xy2mods=**__N__**]**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:144
+#, no-wrap
+msgid "**[enable_raw]**\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:146
+#, no-wrap
+msgid "*firmware* [optional]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:150
+msgid ""
+"Load the firmware specified by F into the FPGA on this board.  If no "
+"\"**firmware=**_F_\" string is specified, the FPGA will not be re-programmed "
+"but may continue to run a previously downloaded firmware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:159
+msgid ""
+"The requested firmware F is fetched by udev, which searches for the firmware "
+"in the system's firmware search path, usually /lib/firmware. F typically has "
+"the form \"hm2/<BoardType>/file.bit\"; a typical value for F might be "
+"\"hm2/5i20/SVST8_4.BIT\". The hostmot2 firmware files are supplied by the "
+"hostmot2-firmware packages, available from linuxcnc.org and can normally be "
+"installed by entering the command \"sudo apt-get install "
+"hostmot2-firmware-5i23\" to install the support files for the 5I23 for "
+"example."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:164
+msgid ""
+"Newer FPGA cards come pre-programmed with firmware and no \"firmware=\" "
+"string should be used with these cards. To change the firmware on these "
+"cards the \"mesaflash\" utility should be used. It is perfectly valid and "
+"reasonable to load these cards with no config string at all."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:165
+#, no-wrap
+msgid "*num_dplls* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:172
+msgid ""
+"The hm2dpll is a phase-locked loop timer module which may be used to reduce "
+"sample and write time jitter for some hm2 modules. This parameter can be "
+"used to disable the hm2dpll by setting the number to 0.  There is only ever "
+"one module of this type, with 4 timer channels, so the other valid numbers "
+"are -1 (enable all) and 1, both of which end up meaning the same thing."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:172
+#, no-wrap
+msgid "*num_encoders* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:176
+msgid ""
+"Only enable the first N encoders. If N is -1, all encoders are enabled.  If "
+"N is 0, no encoders are enabled. If N is greater than the number of encoders "
+"available in the firmware, the board will fail to register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:176
+#, no-wrap
+msgid "**ssi_chan_**_N_ [optional, default: \"\"]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:181
+msgid ""
+"Specifies how the bit stream from a Synchronous Serial Interface device will "
+"be interpreted. There should be an entry for each device connected. Only "
+"channels with a format specifier will be enabled (as the software can not "
+"guess data rates and bit lengths)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:181
+#, no-wrap
+msgid "**biss_chan_**_N_ [optional, default: \"\"]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:183
+msgid "As for ssi_chan_N, but for BiSS devices."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:183
+#, no-wrap
+msgid "**fanuc_chan_**__N__ [optional, default: \"\"]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:188
+msgid ""
+"Specifies how the bit stream from a Fanuc absolute encoder will be "
+"interpreted. There should be an entry for each device connected. Only "
+"channels with a format specifier will be enabled (as the software can not "
+"guess data rates and bit lengths)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:188
+#, no-wrap
+msgid "*num_resolvers* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:193
+msgid ""
+"Only enable the first N resolvers. If N = -1 then all resolvers are "
+"enabled. This module does not work with generic resolvers (unlike the "
+"encoder module which works with any encoder). At the time of writing this "
+"Hostmot2 Resolver function only works with the Mesa 7I49 card."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:193
+#, no-wrap
+msgid "*num_pwmgens* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:197
+msgid ""
+"Only enable the first N pwmgens. If N is -1, all pwmgens are enabled.  If N "
+"is 0, no pwmgens are enabled. If N is greater than the number of pwmgens "
+"available in the firmware, the board will fail to register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:197
+#, no-wrap
+msgid "*num_3pwmgens* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:202
+msgid ""
+"Only enable the first N Three-phase pwmgens. If N is -1, all 3pwmgens are "
+"enabled. If N is 0, no pwmgens are enabled. If N is greater than the number "
+"of pwmgens available in the firmware, the board will fail to register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:202
+#, no-wrap
+msgid "*num_rcpwmgens* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:207
+msgid ""
+"Only enable the first N RC pwmgens. If N is -1, all rcpwmgens are "
+"enabled. If N is 0, no rcpwmgens are enabled. If N is greater than the "
+"number of rcpwmgens available in the firmware, the board will fail to "
+"register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:207
+#, no-wrap
+msgid "*num_stepgens* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:212
+msgid ""
+"Only enable the first N stepgens. If N is -1, all stepgens are enabled. If N "
+"is 0, no stepgens are enabled. If N is greater than the number of stepgens "
+"available in the firmware, the board will fail to register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:212
+#, no-wrap
+msgid "*num_xy2mods* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:216
+msgid ""
+"Only enable the first N xy2mods. If N is -1, all xy2mods are enabled.  If N "
+"is 0, no xy2mods are enabled. If N is greater than the number of xy2mods "
+"available in the firmware, the board will fail to register."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:217
+#, no-wrap
+msgid "*stepgen_width* [optional, default: 2]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:223
+msgid ""
+"Used to mask extra, unwanted, stepgen pins. Stepper drives typically require "
+"only two pins (step and dir) but the Hostmot2 stepgen can drive up to 8 "
+"output pins for specialised applications (depending on firmware). This "
+"parameter applies to all stepgen instances. Unused, masked pins will be "
+"available as GPIO."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:223
+#, no-wrap
+msgid ""
+"**sserial_port_**_N_ (_N_ = 0 .. 3) [optional, default: 00000000 for all "
+"ports]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:244
+msgid ""
+"Up to 32 Smart Serial devices can be connected to a Mesa Anything IO board, "
+"depending on the firmware used and the number of physical connections on the "
+"board. These are arranged in 1-4 ports (N) of 1 to 8 channels. Some Smart "
+"Serial (SSLBP) cards offer more than one load-time configuration, for "
+"example all inputs, or all outputs, or offering additional analogue input on "
+"some digital pins. To set the modes for port 0 use for example "
+"*sserial_port_0=0120xxxx*. A \"0\" in the string sets the corresponding "
+"channel to mode 0, a \"1\" to mode 1, and so on up to mode 9. An \"x\" in "
+"any position disables that channel and makes the corresponding FPGA pins "
+"available as GPIO. The string can be up to 8 characters long, and if it "
+"defines more modes than there are channels on the port then the extras are "
+"ignored. Channel numbering is left to right so the example above would set "
+"sserial device 0.0 to mode 0, 0.1 to mode 1, 0.2 to mode 2, 0.3 to mode 0 "
+"and disables channels 0.4 onwards. The sserial driver will auto-detect "
+"connected devices, no further configuration should be needed.  Unconnected "
+"channels will default to GPIO, but the pin values will vary semi-randomly "
+"during boot when card-detection runs, to it is best to actively disable any "
+"channel that is to be used for GPIO. See SSERIAL(9) for more information."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:244
+#, no-wrap
+msgid "*num_bspis* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:247
+msgid ""
+"Only enable the first N Buffered SPI drivers. If N is -1 then all the "
+"drivers are enabled. Each BSPI driver can address 16 devices."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:247
+#, no-wrap
+msgid "*num_leds* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:251
+msgid ""
+"Only enable the first N of the LEDs on the FPGA board. If N is -1, then HAL "
+"pins for all the LEDs will be created. If N=0 then no pins will be added."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:251
+#, no-wrap
+msgid "*num_ssrs* [optional, default: -1]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:255
+msgid ""
+"Only enable the first N of the SSR modules on the FPGA board. If N is -1, "
+"then HAL pins for all the SSR outputs will be created. If N=0 then no pins "
+"will be added."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:255
+#, no-wrap
+msgid "*enable_raw* [optional]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:258
+msgid ""
+"If specified, this turns on a raw access mode, whereby a user can peek and "
+"poke the firmware from HAL. See Raw Mode below."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:259
+#, no-wrap
+msgid "dpll"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:274
+msgid ""
+"The hm2dpll module has pins like \"hm2__<BoardType>_._<BoardNum>_.dpll\" It "
+"is likely that the pin-count will decrease in the future and that some pins "
+"will become parameters. This module is a phase-locked loop that will "
+"synchronise itself with the thread in which the hostmot2 \"read\" function "
+"is installed and will trigger other functions that are allocated to it at a "
+"specified time before or after the \"read\" function runs. This can be "
+"applied to the three absolute encoder types, quadrature encoder, stepgen, "
+"and xy2mod. In the case of the absolute encoders this allows the system to "
+"trigger a data transmission just prior to the time when the HAL driver reads "
+"the data. In the case of stepgens, quadrature encoders, and the xy2mod, the "
+"timers can be used to reduce position sampling jitter. This is especially "
+"valuable with the ethernet-interfaced cards."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:276 src/man/man9/hostmot2.9.adoc:345
+#: src/man/man9/hostmot2.9.adoc:646 src/man/man9/hostmot2.9.adoc:740
+#: src/man/man9/hostmot2.9.adoc:827 src/man/man9/hostmot2.9.adoc:892
+#: src/man/man9/hostmot2.9.adoc:951 src/man/man9/hostmot2.9.adoc:1001
+#: src/man/man9/hostmot2.9.adoc:1034 src/man/man9/hostmot2.9.adoc:1296
+#: src/man/man9/hostmot2.9.adoc:1333 src/man/man9/hostmot2.9.adoc:1466
+#: src/man/man9/hostmot2.9.adoc:1489 src/man/man9/sserial.9.adoc:34
+#: src/man/man9/sserial.9.adoc:104 src/man/man9/sserial.9.adoc:182
+#: src/man/man9/sserial.9.adoc:214 src/man/man9/sserial.9.adoc:273
+#: src/man/man9/sserial.9.adoc:345 src/man/man9/sserial.9.adoc:391
+#: src/man/man9/sserial.9.adoc:432 src/man/man9/sserial.9.adoc:481
+#, no-wrap
+msgid "*Pins:*\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:277
+#, no-wrap
+msgid "hm2___<BoardType>__.__<BoardNum>__.dpll._NN_.timer-us (float, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:299
+msgid ""
+"This pin sets the triggering offset of the associated timer. There are 4 "
+"timers numbered 01 to 04, represented by the _NN_ digits in the pin "
+"name. The units are microseconds (µs). Generally the value for reads will be "
+"negative, and positive for writes, so that input data is sampled prior to "
+"the main hostmot read and output data is written some time after the main "
+"hostmot2 read.  + For stepgen and quadrature encoders, the value needs to be "
+"more than the maximum variation between read times. -100 will suffice for "
+"most systems, and -50 will work on systems with good performance and "
+"latency.  + For serial encoders, the value also needs to include the time it "
+"takes to transfer the absolute encoder position. For instance, if 50 bits "
+"must be read at 500 kHz then subtract an additional 50/500 kHz = 100 µs to "
+"get a starting value of -200.  + The xy2mod uses 2 DPLL timers, one for read "
+"and one for write.  The read timer value can be the same as used by the "
+"stepgen and quadrature encoders so the same timer channel can be shared.  "
+"The write timer is typically set to a time after the main hostmot2 write "
+"this may take some experimentation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:300
+#, no-wrap
+msgid "hm2__<BoardType>__.__<BoardNum>__.dpll.base-freq-khz (float, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:304
+msgid ""
+"This pin sets the base frequency of the phase-locked loop. By default it "
+"will be set to the nominal frequency of the thread in which the PLL is "
+"running and will not normally need to be changed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:304
+#, no-wrap
+msgid "hm2__<BoardType>__.__<BoardNum>__.dpll.phase-error-us (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:308
+msgid ""
+"Indicates the phase error of the DPLL. If the number cycles by a large "
+"amount it is likely that the PLL has failed to achieve lock and adjustments "
+"will need to be made."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:308
+#, no-wrap
+msgid "hm2___<BoardType>__.__<BoardNum>__.dpll.time-const (u32, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:314
+msgid ""
+"The filter time-constant for the PLL. The default value is a compromise "
+"between insensitivity to single-cycle variations and being resilient to "
+"changes to the Linux CLOCK_MONOTONIC timescale, which can instantly change "
+"by up to ±500ppm from its nominal value, usually by timekeeping software "
+"like ntpd and ntpdate. Default 2000 (0x7d0)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:314
+#, no-wrap
+msgid "hm2___<BoardType>__.__<BoardNum>__.dpll.plimit (u32, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:319
+msgid ""
+"Sets the phase adjustment limit of the PLL. If the value is zero then the "
+"PLL will free-run at the base frequency independent of the servo thread "
+"rate. This is probably not what you want. Default 4194304 (0x400000) Units "
+"not known..."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:319
+#, no-wrap
+msgid "hm2___<BoardType>__.__<BoardNum>__.dpll.ddsize (u32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:321
+msgid "Used internally by the driver, likely to disappear."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:321
+#, no-wrap
+msgid "hm2___<BoardType>__.__<BoardNum>__.dpll.prescale (u32, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:323
+msgid "Prescale factor for the rate generator. Default 1."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:329
+msgid ""
+"Encoders have names like "
+"**hm2_**__<BoardType>__**.**__<BoardNum>__**.encoder.**__<Instance>__**.**\".  "
+"\"Instance\" is a two-digit number that corresponds to the HostMot2 encoder "
+"instance number.  There are \"num_encoders\" instances, starting with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:334
+msgid ""
+"So, for example, the HAL pin that has the current position of the second "
+"encoder of the first 5I25 board is: hm2_5i25.0.encoder.01.position (this "
+"assumes that the firmware in that board is configured so that this HAL "
+"object is available)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:338
+msgid ""
+"Each encoder uses three or four input IO pins, depending on how the firmware "
+"was compiled. Three-pin encoders use A, B, and Index (sometimes also known "
+"as Z). Four-pin encoders use A, B, Index, and Index-mask."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:343
+msgid ""
+"The hm2 encoder representation is similar to the one described by the "
+"Canonical Device Interface (in the HAL General Reference document), and to "
+"the software encoder component. Each encoder instance has the following pins "
+"and parameters:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:346
+#, no-wrap
+msgid "count (s32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:348
+msgid "Number of encoder counts since the previous reset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:348
+#, no-wrap
+msgid "position (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:350
+msgid "Encoder position in position units (count / scale)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:350
+#, no-wrap
+msgid "position-interpolated (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:356
+msgid ""
+"Encoder interpolated position in position units (count / scale). Only valid "
+"when velocity is approximately constant and the time between counts is less "
+"than the velocity timeout parameter value. Do not use for position "
+"control. Useful for spindle synchronized moves with low resolution encoders."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:356
+#, no-wrap
+msgid "position-latched (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:358
+msgid "Encoder latched position in position units (count / scale)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:358
+#, no-wrap
+msgid "velocity (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:360
+msgid "Estimated encoder velocity in position units per second."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:360
+#, no-wrap
+msgid "velocity-rpm (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:362
+msgid "Estimated encoder velocity in position units per minute."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:362
+#, no-wrap
+msgid "reset (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:367
+msgid ""
+"When this pin is True, the count and position pins are set to 0 (the value "
+"of the velocity pin is not affected by this). The driver does not reset this "
+"pin to FALSE after resetting the count to 0, that is the user's job."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:367 src/man/man9/hostmot2.9.adoc:1065
+#, no-wrap
+msgid "index-enable (bit in/out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:371
+msgid ""
+"When this pin is set to True, the count (and therefore also position)  are "
+"reset to zero on the next Index (Phase-Z) pulse. At the same time, "
+"index-enable is reset to zero to indicate that the pulse has occurred."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:371 src/man/man9/hostmot2.9.adoc:1074
+#, no-wrap
+msgid "probe-enable (bit in/out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:376
+msgid ""
+"When this pin is set to True, the encoder count (and therefore also "
+"position) are latched on the the next probe active edge. At the same time, "
+"probe-enable is reset to zero to indicate that latch event has occurred."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:376 src/man/man9/hostmot2.9.adoc:1079
+#, no-wrap
+msgid "probe-invert (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:380
+msgid ""
+"If set to True, the rising edge of the probe input pin triggers the latch "
+"event (if probe-enable is True). If set to False, the falling edge triggers."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:380
+#, no-wrap
+msgid "rawcounts (s32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:383
+msgid ""
+"Total number of encoder counts since the start, not adjusted for index or "
+"reset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:383
+#, no-wrap
+msgid "input-a, input-b, input-index (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:385
+msgid "Real time filtered values of A,B,Index encoder signals"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:385
+#, no-wrap
+msgid "quad-error-enable (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:389
+msgid ""
+"When this pin is True quadrature error reporting is enabled. when False, "
+"existing quadrature errors are cleared and error reporting is disabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:389
+#, no-wrap
+msgid "quad-error (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:392
+msgid ""
+"This bit indicates that a quadrature sequence error has been detected.  It "
+"can only be set if the corresponding quad-error-enable bit is True."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:392
+#, no-wrap
+msgid "hm2_XXXX.N.encoder.sample-frequency (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:395
+msgid ""
+"This is the sample frequency that determines all standard encoder channels "
+"digital filter time constant (see filter parameter)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:395
+#, no-wrap
+msgid "hm2_XXXX.N.encoder.muxed-sample-frequency (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:399
+msgid ""
+"This is the sample frequency that determines all muxed encoder channels "
+"digital filter time constant (see filter parameter). This also sets the "
+"encoder multiplexing frequency."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:399
+#, no-wrap
+msgid "hm2_XXXX.N.encoder.muxed-skew (float in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:404
+msgid ""
+"This sets the muxed encoder sample time delay (in ns) from the multiplex "
+"signal. Setting this properly can increase the usable multiplex frequency "
+"and compensate for cable delays (suggested value is 3* cable length in feet "
+"+20)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:404
+#, no-wrap
+msgid "hm2_XXXX.N.encoder.hires-timestamp (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:410
+msgid ""
+"When this pin is True the encoder timestamp counter frequency is ~10 MHz "
+"when False the timestamp counter frequency is ~2 MHz. This should be set "
+"True for frequency counting applications to improve the resolution. It "
+"should be set False when servo thread periods longer than 1 ms are used."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:412 src/man/man9/hostmot2.9.adoc:689
+#: src/man/man9/hostmot2.9.adoc:749 src/man/man9/hostmot2.9.adoc:844
+#: src/man/man9/hostmot2.9.adoc:1085 src/man/man9/hostmot2.9.adoc:1310
+#: src/man/man9/hostmot2.9.adoc:1433 src/man/man9/hostmot2.9.adoc:1473
+#: src/man/man9/sserial.9.adoc:52 src/man/man9/sserial.9.adoc:199
+#: src/man/man9/sserial.9.adoc:233 src/man/man9/sserial.9.adoc:299
+#: src/man/man9/sserial.9.adoc:354 src/man/man9/sserial.9.adoc:403
+#: src/man/man9/sserial.9.adoc:443 src/man/man9/sserial.9.adoc:505
+#, no-wrap
+msgid "*Parameters:*\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:413
+#, no-wrap
+msgid "scale (float r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:415
+msgid "Converts from \"count\" units to \"position\" units."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:415 src/man/man9/hostmot2.9.adoc:1070
+#, no-wrap
+msgid "index-invert (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:419
+msgid ""
+"If set to True, the rising edge of the Index input pin triggers the Index "
+"event (if index-enable is True). If set to False, the falling edge triggers."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:419
+#, no-wrap
+msgid "index-mask (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:423
+msgid ""
+"If set to True, the Index input pin only has an effect if the Index-Mask "
+"input pin is True (or False, depending on the index-mask-invert pin below)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:423
+#, no-wrap
+msgid "index-mask-invert (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:426
+msgid ""
+"If set to True, Index-Mask must be False for Index to have an effect.  If "
+"set to False, the Index-Mask pin must be True."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:426
+#, no-wrap
+msgid "counter-mode (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:429
+msgid ""
+"Set to False (the default) for Quadrature. Set to True for Step/Dir (in "
+"which case Step is on the A pin and Dir is on the B pin)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:429
+#, no-wrap
+msgid "filter (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:437
+#, no-wrap
+msgid ""
+"If set to True (the default), the quadrature counter needs 15 sample\n"
+"clocks to register a change on any of the three input lines (any pulse\n"
+"shorter than this is rejected as noise). If set to False, the\n"
+"quadrature counter needs only 3 clocks to register a change. The\n"
+"default encoder sample clock runs at approximately 25 to 33 MHz but\n"
+"can be changed globally with the sample-frequency or\n"
+"muxed-sample-frequency pin.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:437
+#, no-wrap
+msgid "vel-timeout (float r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:445
+msgid ""
+"When the encoder is moving slower than one pulse for each time that the "
+"driver reads the count from the FPGA (in the hm2_read() function), the "
+"velocity is harder to estimate. The driver can wait several iterations for "
+"the next pulse to arrive, all the while reporting the upper bound of the "
+"encoder velocity, which can be accurately guessed.  This parameter specifies "
+"how long to wait for the next pulse, before reporting the encoder "
+"stopped. This parameter is in seconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:445
+#, no-wrap
+msgid "hm2_XXXX.N.encoder.timer-number (default: -1) (s32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:451
+msgid ""
+"Sets the hm2dpll timer instance to be used to latch encoder counts. A "
+"setting of -1 does not latch encoder counts. A setting of 0 latches at the "
+"same time as the main hostmot2 read. A setting of 1..4 uses a time offset "
+"from the main hostmot2 read according to the dpll's timer-us setting."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:456 src/man/man9/hostmot2.9.adoc:1150
+msgid ""
+"Typically, timer-us should be a negative number with a magnitude larger than "
+"the largest latency (e.g., -100 for a system with mediocre latency, -50 for "
+"a system with good latency). A negative number specifies latching the "
+"specified time before the nominal hostmot2 read time."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:459
+msgid ""
+"If no DPLL module is present in the FPGA firmware, or if the encoder module "
+"does not support DPLL, then this pin is not created."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:462 src/man/man9/hostmot2.9.adoc:1156
+msgid ""
+"When available, this feature should typically be enabled. Doing so generally "
+"reduces following errors."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:463
+#, no-wrap
+msgid "Synchronous Serial Interface (SSI)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:466
+msgid "(Not to be confused with the Smart Serial Interface)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:476
+msgid ""
+"One pin is created for each SSI instance regardless of data format: (bit, "
+"in) hm2_XXXX.NN.ssi.MM.data-incomplete. This pin will be set \"True\" if the "
+"module was still transferring data when the value was read. When this "
+"problem exists there will also be a limited number of error messages printed "
+"to the UI. This pin should be used to monitor whether the problem has been "
+"addressed by config changes. Solutions to the problem depend on whether the "
+"encoder read is being triggered by the hm2dpll phase-locked-loop timer "
+"(described above) or by the trigger-encoders function (described below)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:480
+msgid ""
+"The names of the pins created by the SSI module will depend entirely on the "
+"format string for each channel specified in the loadrt command line.  A "
+"typical format string might be *ssi_chan_0=error%1bposition%24g*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:484
+msgid ""
+"This would interpret the LSB of the bit-stream as a bit-type pin named "
+"\"error\" and the next 24 bits as a Gray-coded encoder counter. The "
+"encoder-related HAL pins would all begin with \"position\"."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:487
+msgid ""
+"There should be no spaces in the format string, as this is used as a "
+"delimiter by the low-level code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:492
+msgid ""
+"The format consists of a string of alphanumeric characters that will form "
+"the HAL pin names, followed by a % symbol, a bit-count and a data type. All "
+"bits in the packet must be defined, even if they are not used.  There is a "
+"limit of 64 bits in total."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:494
+msgid "The valid format characters and the pins they create are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:495 src/man/man9/hostmot2.9.adoc:570
+#, no-wrap
+msgid "p: (Pad)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:497
+msgid ""
+"Does not create any pins, used to ignore sections of the bit stream that are "
+"not required."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:497
+#, no-wrap
+msgid "b: (Boolean)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:502
+msgid ""
+"(bit, out) hm2_XXXX.N.ssi.MM.<name>. If any bits in the designated field "
+"width are non-zero then the HAL pin will be \"True\". (bit, out)  "
+"hm2_XXXX.N.ssi.MM.<name>-not. An inverted version of the above, the HAL pin "
+"will be \"True\" if all bits in the field are zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:502 src/man/man9/hostmot2.9.adoc:574
+#, no-wrap
+msgid "u: (Unsigned)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:508
+msgid ""
+"(float, out) hm2_XXXX.N.ssi.MM.<name>. The value of the bits interpreted as "
+"an unsigned integer then scaled such that the pin value will equal the "
+"scalemax parameter value when all bits are high. (for example if the field "
+"is 8 bits wide and the scalmax parameter was 20 then a value of 255 would "
+"return 20, and 0 would return 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:508 src/man/man9/hostmot2.9.adoc:577
+#, no-wrap
+msgid "s: (Signed)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:512
+msgid ""
+"(float, out) hm2_XXXX.N.ssi.MM.<name>. The value of the bits interpreted as "
+"a 2s complement signed number then scaled similarly to the unsigned variant, "
+"except symmetrical around zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:512 src/man/man9/hostmot2.9.adoc:580
+#, no-wrap
+msgid "f: (bitField)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:517
+msgid ""
+"(bit, out) hm2_XXXX.N.ssi.MM.<name>-NN. The value of each individual bit in "
+"the data field. NN starts at 00 up to the number of bits in the field. (bit, "
+"out) hm2_XXXX.N.ssi.MM.<name>-NN-not. An inverted version of the individual "
+"bit values."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:517 src/man/man9/hostmot2.9.adoc:582
+#, no-wrap
+msgid "e: (Encoder)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:535
+msgid ""
+"(s32, out) hm2_XXXX.N.ssi.MM.<name>.count. The lower 32 bits of the total "
+"encoder counts. This value is reset both by the ...reset and the "
+"...index-enable pins. (s32, out) hm2_XXXX.N.ssi.MM.<name>.rawcounts.  The "
+"lower 32 bits of the total encoder counts. The pin is not affected by reset "
+"and index. (float, out) hm2_XXXX.N.ssi.MM.<name>.position.  The encoder "
+"position in machine units. This is calculated from the full 64-bit buffers "
+"so will show a True value even after the counts pins have wrapped. It is "
+"zeroed by reset and index enable. (bit, IO)  "
+"hm2_XXXX.N.ssi.MM.<name>.index-enable. When this pin is set \"True\" the "
+"module will wait until the raw encoder counts next passes through an integer "
+"multiple of the number of counts specified by counts-per-rev parameter and "
+"then it will zero the counts and position pins, and set the index-enable pin "
+"back to \"False\" as a signal to the system that \"index\" has been "
+"passed. this pin is used for spindle-synchronised motion and "
+"index-homing. (bit, in) (bit, out)  hm2_XXXX.N.ssi.MM.<name>.reset. When "
+"this pin is set high the counts and position pins are zeroed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:535
+#, no-wrap
+msgid "h: (Split encoder, high-order bits)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:541
+msgid ""
+"Some encoders (Including Fanuc) place the encoder part-turn counts and "
+"full-turn counts in separate, non-contiguous fields. This tag defines the "
+"high-order bits of such an encoder module. There can be only one h and one l "
+"tag per channel, the behaviour with multiple such channels will be "
+"undefined."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:541
+#, no-wrap
+msgid "l: (Split encoder, low-order bits)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:543
+msgid "Low order bits (see \"h\")"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:543
+#, no-wrap
+msgid "g: (Gray-code)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:545
+msgid ""
+"This is a modifier that indicates that the following format string is "
+"gray-code encoded.  This is only valid for encoders (e, h l) and unsigned "
+"(u) data types."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:545
+#, no-wrap
+msgid "m: (Multi-turn)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:553
+msgid ""
+"This is a modifier that indicates that the following format string is a "
+"multi-turn encoder. This is only valid for encoders (e, h l). A jump in "
+"encoder position of more than half the full scale is interpreted as a full "
+"turn and the counts are wrapped. With a multi-turn encoder this is only "
+"likely to be a data glitch and will lead to a permanent offset. This flag "
+"endures that such encoders will never wrap."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:555
+#, no-wrap
+msgid "*Parameters*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:557
+msgid "Two parameters are universally created for all SSI instances"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:558
+#, no-wrap
+msgid "hm2_XXXX.N.ssi.MM.frequency-khz (float r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:561
+msgid ""
+"This parameter sets the SSI clock frequency. The units are kHz, so 500 will "
+"give a clock frequency of 500,000 Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:561
+#, no-wrap
+msgid "hm2_XXXX.N.ssi.timer-number-num (s32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:567
+msgid ""
+"This parameter allocates the SSI module to a specific hm2dpll timer "
+"instance. This pin is only of use in firmwares which contain a hm2dpll "
+"function and will default to 1 in cases where there is such a function, and "
+"0 if there is not. The pin can be used to disable reads of the encoder, by "
+"setting to a nonexistent timer number, or to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:569
+msgid "Other parameters depend on the data types specified in the config string."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:572 src/man/man9/hostmot2.9.adoc:574
+msgid "No Parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:572
+#, no-wrap
+msgid "b: (Boolean)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:577 src/man/man9/hostmot2.9.adoc:580
+msgid ""
+"(float, r/w) hm2_XXXX.N.ssi.MM.<name>-scalemax.  The scaling factor for the "
+"channel."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:582
+msgid "No parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:592
+msgid ""
+"(float, r/w) hm2_XXXX.N.ssi.MM._<name>_.scale: (float, r.w) The encoder "
+"scale in counts per machine unit. (u32, r/w)  "
+"hm2_XXXX.N.ssi.MM._<name>_.counts-per-rev (u32, r/w) Used to emulate the "
+"index behaviour of an incremental+index encoder. This would normally be set "
+"to the actual counts per rev of the encoder, but can be any whole number of "
+"revs. Integer divisors or multipliers of the true PPR might be useful for "
+"index-homing. Non-integer factors might be appropriate where there is a "
+"synchronous drive ratio between the encoder and the spindle or ballscrew."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:593
+#, no-wrap
+msgid "BiSS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:597
+msgid ""
+"BiSS is a bidirectional variant of SSI. Currently only a single direction is "
+"supported by LinuxCNC (encoder to PC)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:599
+msgid "One pin is created for each BiSS instance regardless of data format:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:600
+#, no-wrap
+msgid "hm2_XXXX.NN.biss.MM.data-incomplete (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:606
+msgid ""
+"This pin will be set \"True\" if the module was still transferring data when "
+"the value was read.  When this problem exists there will also be a limited "
+"number of error messages printed to the UI.  This pin should be used to "
+"monitor whether the problem has been addressed by config changes.  Solutions "
+"to the problem depend on whether the encoder read is being triggered by the "
+"hm2dpll phase-locked-loop timer (described above) or by the trigger-encoders "
+"function (described below)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:614
+msgid ""
+"The names of the pins created by the BiSS module will depend entirely on the "
+"format string for each channel specified in the loadrt command line and "
+"follow closely the format defined above for SSI. Currently data packets of "
+"up to 96 bits are supported by the LinuxCNC driver, although the Mesa "
+"Hostmot2 module can handle 512 bit packets. It should be possible to extend "
+"the number of packets supported by the driver if there is a requirement to "
+"do so."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:615
+#, no-wrap
+msgid "Fanuc encoder"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:621
+msgid ""
+"The pins and format specifier for this module are identical to the SSI "
+"module described above, except that at least one pre-configured format is "
+"provided. A modparam of fanuc_chan_N=AA64 (case sensitive) will configure "
+"the channel for a Fanuc Aa64 encoder. The pins created are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:622
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.batt"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:623
+msgid "indicates battery state"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:623
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.batt-not"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:624
+msgid "inverted version of above"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:624
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.comm"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:625
+msgid "The 0-1023 absolute output for motor commutation"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:625
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.crc"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:626
+msgid "The CRC checksum. Currently HAL has no way to use this"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:626
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.encoder.count"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:627
+msgid "Encoder counts"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:627
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.encoder.index-enable"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:628
+msgid "Simulated index. Set by counts-per-rev parameter"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:628
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.encoder.position"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:629
+msgid "Counts scaled by the ...scale parameter"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:629
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.encoder.rawcounts"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:630
+msgid "Raw counts, unaffected by reset or index"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:630
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.encoder.reset"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:631
+msgid "If high/True then counts and position = 0"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:631
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.valid"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:632
+msgid "Indicates that the absolute position is valid"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:632
+#, no-wrap
+msgid "hm2_XXXX.N.fanuc.MM.valid-not"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:633
+msgid "Inverted version"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:634
+#, no-wrap
+msgid "resolver"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:644
+msgid ""
+"Resolvers have names like "
+"**hm2_**__<BoardType>__**.**__<BoardNum>__**.resolver.**__<Instance>__.  "
+"<Instance> is a 2-digit number, which for the 7I49 board will be between 00 "
+"and 05. This function only works with the Mesa Resolver interface boards (of "
+"which the 7I49 is the only example at the time of writing). This board uses "
+"an SPI interface to the FPGA card, and will only work with the correct "
+"firmware. The pins allocated will be listed in the dmesg output, but are "
+"unlikely to be usefully probed with HAL tools."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:647
+#, no-wrap
+msgid "angle (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:650
+msgid ""
+"This pin indicates the angular position of the resolver. It is a number "
+"between 0 and 1 for each electrical rotation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:650
+#, no-wrap
+msgid "position (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:653
+msgid ""
+"Calculated from the number of complete and partial revolutions since "
+"startup, reset, or index-reset multiplied by the scale parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:653
+#, no-wrap
+msgid "velocity (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:656
+msgid ""
+"Calculated from the rotational velocity and the velocity-scale "
+"parameter. The default scale is electrical rotations per second."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:656
+#, no-wrap
+msgid "velocity-rpm (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:658
+msgid "Simply velocity scaled by a factor of 60 for convenience."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:658
+#, no-wrap
+msgid "count (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:660
+msgid ""
+"This pins outputs a simulated encoder count at 2^24 counts per rev (16777216 "
+"counts)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:660
+#, no-wrap
+msgid "rawcounts (s32, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:664
+msgid ""
+"This is identical to the counts pin, except it is not reset by the \"index\" "
+"or \"reset\" pins. This is the pin which would be linked to the bldc HAL "
+"component if the resolver was being used to commutate a motor."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:664
+#, no-wrap
+msgid "reset (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:666
+msgid "Resets the position and counts pins to zero immediately."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:666
+#, no-wrap
+msgid "joint-pos-fb (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:679
+msgid ""
+"The Mesa resolver driver has the capability of emulating an absolute encoder "
+"using a position file (see the INI-config section of the manual) and the "
+"single-turn absolute operation of resolvers. At startup, and only if the "
+"*use-position-file* parameter is set to \"True\", the resolver driver will "
+"wait for a value to be written by the system to the axis.N.joint-pos-fb pin "
+"(which must be netted to this resolver pin) and will calculate the number of "
+"full turns that best matches the current resolver position. It will then "
+"pre-load the driver output with this offset. This should only be used on "
+"systems where axis movement in the unpowered state is unlikely. This feature "
+"will only work properly if the machine is initially homed to \"index\" and "
+"if the axis home positions are exactly zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:679
+#, no-wrap
+msgid "index-enable (bit, in/out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:684
+#, no-wrap
+msgid ""
+"When this pin is set high the position and counts pins will be reset\n"
+"the next time the resolver passes through the zero position. At the\n"
+"same time the pin is driven low to indicate to connected modules that\n"
+"the index has been seen, and that the counters have been reset.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:684
+#, no-wrap
+msgid "error (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:687
+#, no-wrap
+msgid ""
+"Indicates an error in the particular channel. If this value is \"True\"\n"
+"then the reported position and velocity are invalid.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:690
+#, no-wrap
+msgid "scale (float, read/write)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:693
+msgid "The position scale, in machine units per resolver electrical revolution."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:693
+#, no-wrap
+msgid "velocity-scale (float, read/write)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:697
+msgid ""
+"The conversion factor between resolver rotation speed and machine "
+"velocity. A value of 1 will typically give motor speed in RPS, a value of "
+"0.01666667 will give (approximate) RPM."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:697
+#, no-wrap
+msgid "index-divisor (default 1) (u32, read/write)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:707
+msgid ""
+"The resolver component emulates an index at a fixed point in the sin/cos "
+"cycle. Some resolvers have multiple cycles per rev (often related to the "
+"number of pole-pairs on the attached motor). LinuxCNC requires an index once "
+"per revolution for proper threading etc. This parameter should be set to the "
+"number of cycles per rev of the resolver. CAUTION: Which pseudo-index is "
+"used will not necessarily be consistent between LinuxCNC runs. Do not expect "
+"to re-start a thread after restarting LinuxCNC. It is not appropriate to use "
+"this parameter for index-homing of axis drives."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:707
+#, no-wrap
+msgid "excitation-khz (float, read/write)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:716
+#, no-wrap
+msgid ""
+"This pin sets the excitation frequency for the resolver. This pin is\n"
+"module-level rather than instance-level as all resolvers share the\n"
+"same excitation frequency. Valid values are 10 (~10 kHz), 5 (~5 kHz)\n"
+"and 2.5 (~2.5 kHz). The actual frequency depends on the FPGA\n"
+"frequency, and they correspond to CLOCK_LOW/5000, CLOCK_LOW/10000 and\n"
+"CLOCK_LOW/20000 respectively. The parameter will be set to the closest\n"
+"available of the three frequencies. A value of -1 (the default)\n"
+"indicates that the current setting should be retained.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:716
+#, no-wrap
+msgid "use-position-file (bit, read/write)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:718
+msgid "In conjunction with *joint-pos-fb* (qv) emulate absolute encoders."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:719
+#, no-wrap
+msgid "pwmgen"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:725
+msgid ""
+"pwmgens have names like "
+"\"**hm2_**__<BoardType>__**.**__<BoardNum>__**.pwmgen.**__<Instance>__\".  "
+"\"Instance\" is a two-digit number that corresponds to the HostMot2 pwmgen "
+"instance number.  There are \"num_pwmgens\" instances, starting with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:730
+msgid ""
+"So, for example, the HAL pin that enables output from the fourth pwmgen of "
+"the first 7I43 board is: `hm2_7i43.0.pwmgen.03.enable` (this assumes that "
+"the firmware in that board is configured so that this HAL object is "
+"available)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:735
+msgid ""
+"In HM2, each pwmgen uses three output IO pins: `Not-Enable`, `Out0`, and "
+"`Out1`.  The function of the Out0 and Out1 IO pins varies with output-type "
+"parameter (see below)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:738
+msgid ""
+"The hm2 pwmgen representation is similar to the software pwmgen component.  "
+"Each pwmgen instance has the following pins and parameters:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:741 src/man/man9/hostmot2.9.adoc:833
+#: src/man/man9/hostmot2.9.adoc:1053
+#, no-wrap
+msgid "enable (bit input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:745
+#, no-wrap
+msgid ""
+"If True, the pwmgen will set its Not-Enable pin False and output its\n"
+"pulses. If \"enable\" is False, pwmgen will set its Not-Enable pin True\n"
+"and not output any signals.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:745
+#, no-wrap
+msgid "value (float input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:747
+#, no-wrap
+msgid "The current pwmgen command value, in arbitrary units.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:750 src/man/man9/hostmot2.9.adoc:858
+#: src/man/man9/hostmot2.9.adoc:1010
+#, no-wrap
+msgid "scale (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:754
+#, no-wrap
+msgid ""
+"Scaling factor to convert \"value\" from arbitrary units to duty cycle:\n"
+"dc = value / scale. Duty cycle has an effective range of -1.0 to +1.0\n"
+"inclusive, anything outside that range gets clipped. The default scale is "
+"1.0.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:754
+#, no-wrap
+msgid "output-type (s32 rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:762
+#, no-wrap
+msgid ""
+"This emulates the output_type load-time argument to the software\n"
+"pwmgen component. This parameter may be changed at runtime, but most\n"
+"of the time you probably want to set it at startup and then leave it\n"
+"alone. Accepted values are 1 (PWM on Out0 and Direction on Out1), 2\n"
+"(Up on Out0 and Down on Out1), 3 (PDM mode, PDM on Out0 and Dir on\n"
+"Out1), and 4 (Direction on Out0 and PWM on Out1, \"for locked\n"
+"antiphase\").\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:762
+#, no-wrap
+msgid "offset-mode (bit input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:768
+msgid ""
+"When True, offset-mode modifies the PWM behavior so that a PWM value of 0 "
+"results in a 50% duty cycle PWM output, a -1 value results in a 0% duty "
+"cycle and +1 results in a 100% duty cycle (with default scaling). This mode "
+"is used by some PWM motor drives and PWM to analog converters. Typically the "
+"direction signal is not used in this mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:768
+#, no-wrap
+msgid "dither (bit input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:775
+msgid ""
+"When True, dither causes the PWM output to dither between two adjacent PWM "
+"register values at the PWM frequency. This increases the PWM resolution when "
+"used for analog output purposes, increasing the maximum resolution from 12 "
+"to 16 bits. Dither is only supported with PWMGen firmware version 1 or "
+"greater and only affects PWM outputs, not PDM outputs."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:778
+msgid ""
+"In addition to the per-instance HAL Parameters listed above, there are a "
+"couple of HAL Parameters that affect all the pwmgen instances:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:779
+#, no-wrap
+msgid "pwm_frequency (u32 rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:791
+msgid ""
+"This specifies the PWM frequency, in Hz, of all the pwmgen instances running "
+"in the PWM modes (modes 1 and 2). This is the frequency of the "
+"variable-duty-cycle wave. Its effective range is from 1 Hz up to 386 "
+"kHz. Note that the max frequency is determined by the ClockHigh frequency of "
+"the Anything IO board; the 5I25 and 7I92 both have a 200 MHz clock, "
+"resulting in a 386 kHz max PWM frequency. Other boards may have different "
+"clocks, resulting in different max PWM frequencies. If the user attempts to "
+"set the frequency too high, it will be clipped to the max supported "
+"frequency of the board. Frequencies below about 5 Hz are not terribly "
+"accurate, but above 5 Hz they're pretty close. The default pwm_frequency is "
+"20,000 Hz (20 kHz)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:791
+#, no-wrap
+msgid "pdm_frequency (u32 rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:807
+msgid ""
+"This specifies the PDM frequency, in Hz, of all the pwmgen instances running "
+"in PDM mode (mode 3). This is the \"pulse slot frequency\"; the frequency at "
+"which the pdm generator in the AnyIO board chooses whether to emit a pulse "
+"or a space. Each pulse (and space) in the PDM pulse train has a duration of "
+"1/pdm_frequency seconds. For example, setting the pdm_frequency to 2e6 (2 "
+"MHz) and the duty cycle to 50% results in a 1 MHz square wave, identical to "
+"a 1 MHz PWM signal with 50% duty cycle. The effective range of this "
+"parameter is from about 1525 Hz up to just under 200 MHz. Note that the max "
+"frequency is determined by the ClockHigh frequency of the Anything IO board; "
+"the 5I25 and 7I92 both have a 100 MHz clock, resulting in a 100 MHz max PDM "
+"frequency. Other boards may have different clocks, resulting in different "
+"max PDM frequencies. If the user attempts to set the frequency too high, it "
+"will be clipped to the max supported frequency of the board. The default "
+"pdm_frequency is 20,000 Hz (20 kHz)."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:808
+#, no-wrap
+msgid "3ppwmgen"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:825
+msgid ""
+"Three-Phase PWM generators (3pwmgens) are intended for controlling the "
+"high-side and low-side gates in a 3-phase motor driver. The function is "
+"included to support the Mesa motor controller daughter-cards but can be used "
+"to control an IGBT or similar driver directly. 3pwmgens have names like "
+"\"hm2__<BoardType>_._<BoardNum>_.3pwmgen._<Instance>_\" where <Instance> is "
+"a 2-digit number. There will be num_3pwmgens instances, starting at 00. Each "
+"instance allocates 7 output and one input pins on the Mesa card "
+"connectors. Outputs are: PWM A, PWM B, PWM C, /PWM A, /PWM B, /PWM C, "
+"Enable. The first three pins are the high side drivers, the second three are "
+"their complementary low-side drivers. The enable bit is intended to control "
+"the servo amplifier. The input bit is a fault bit, typically wired to "
+"over-current detection. When set the PWM generator is disabled. The three "
+"phase duty-cycles are individually controllable from -Scale to +Scale. Note "
+"that 0 corresponds to a 50% duty cycle and this is the initialization value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:828
+#, no-wrap
+msgid "A-value, B-value, C-value (float input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:832
+msgid ""
+"The PWM command value for each phase, limited to +/- \"scale\". Defaults to "
+"zero which is 50% duty cycle on high-side and low-sidepins (but see the "
+"\"deadtime\" parameter)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:839
+msgid ""
+"When high the PWM is enabled as long as the fault bit is not set by the "
+"external fault input pin. When low the PWM is disabled, with both high- side "
+"and low-side drivers low. This is not the same as 0 output (50% duty cycle "
+"on both sets of pins) or negative full scale (where the low side drivers are "
+"\"on\" 100% of the time)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:839
+#, no-wrap
+msgid "fault (bit output)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:842
+#, no-wrap
+msgid ""
+"Indicates the status of the fault bit. This output latches high once\n"
+"set by the physical fault pin until the \"enable\" pin is set to high.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:845
+#, no-wrap
+msgid "deadtime (u32 rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:858
+msgid ""
+"Sets the dead-time between the high-side driver turning off and the low-side "
+"driver turning on and vice-versa. Deadtime is subtracted from on time and "
+"added to off time symmetrically. For example with 20 kHz PWM (50 µs period), "
+"50% duty cycle and zero dead time, the PWM and NPWM outputs would be square "
+"waves (NPWM being inverted from PWM) with high times of 25 µs. With the same "
+"settings but 1 µs of deadtime, the PWM and NPWM outputs would both have high "
+"times of 23 µs (25 - (2X 1 µs), 1 µs per edge). The value is specified in "
+"nanoseconds (ns) and defaults to a rather conservative 5000 ns. Setting this "
+"parameter to too low a value could be both expensive and dangerous as if "
+"both gates are open at the same time there is effectively a short circuit "
+"across the supply."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:861
+msgid ""
+"Sets the half-scale of the specified 3-phase PWM generator. PWM values from "
+"-scale to +scale are valid. Default is +/- 1.0"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:861
+#, no-wrap
+msgid "fault-invert (bit rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:866
+msgid ""
+"Sets the polarity of the fault input pin. A value of 1 means that a fault is "
+"triggered with the pin high, and 0 means that a fault it triggered when the "
+"pin is pulled low. Default 0, fault = low so that the PWM works with the "
+"fault pin unconnected."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:866
+#, no-wrap
+msgid "sample-time (u32 rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:870
+msgid ""
+"Sets the time during the cycle when an ADC pulse is generated. 0 = start of "
+"PWM cycle and 1 = end. Not currently useful to LinuxCNC.  Default is 0.5."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:873
+msgid ""
+"In addition the per-instance parameters above there is the following "
+"parameter that affects all instances:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:874
+#, no-wrap
+msgid "frequency (u32 rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:877
+msgid ""
+"Sets the master PWM frequency. Maximum is approx 48 kHz, minimum is 1 "
+"kHz. Defaults to 20 kHz."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:878
+#, no-wrap
+msgid "oneshot"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:890
+msgid ""
+"The oneshot is a hardware one-shot device suitable for various timing, "
+"delay, signal conditioning, PWM generation, and watchdog functions. The "
+"oneshot module includes 2 timers to allow variable pulse delays for "
+"applications like phase control. Trigger sources can be software, external "
+"inputs, the DPLL timer, a built in rate generator or the other "
+"timer. Oneshots have names like "
+"\"**hm2_**__<BoardType>__**.**__<BoardNum>__**.oneshot.**__<Instance>__\" "
+"where __<Instance>__ is a 2-digit number.  There will be num_oneshots "
+"instances, starting at 00.  Each instance allocates up to two input and two "
+"output pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:893
+#, no-wrap
+msgid "width1 (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:895
+msgid "Sets the pulse width of timer1 in ms. Default is 1 ms (1/1000 s)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:895
+#, no-wrap
+msgid "width2 (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:897
+msgid "Sets the pulse width of timer2 in ms. Default is 1 ms (1/1000 s)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:897
+#, no-wrap
+msgid "filter1 (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:901
+msgid ""
+"Sets digital filter time constant for timer1's external trigger input Filter "
+"time is in ms. Default filter time constant time is 0.1 ms.  External "
+"trigger response will be delayed by the filter time setting."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:901
+#, no-wrap
+msgid "filter2 (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:905
+msgid ""
+"Sets digital filter time constant for timer2's external trigger input Filter "
+"time is in ms. Default filter time constant time is 0.1 ms.  External "
+"trigger response will be delayed by the filter time setting."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:905 src/man/man9/hostmot2.9.adoc:1002
+#, no-wrap
+msgid "rate (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:907
+msgid "Sets the frequency of the built in rate generator (in Hz)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:907
+#, no-wrap
+msgid "trigger_select1,trigger_select2 (u32 rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:909
+msgid "Sets the trigger source for timer1,timer2 respectively. Trigger sources are:"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man9/hostmot2.9.adoc:918
+#, no-wrap
+msgid ""
+"0 Trigger disabled\n"
+"1 Software trigger: triggered when hal pin swtrigger1 is true\n"
+"2 External hardware: trigger\n"
+"3 DPLL trigger: triggered by selected DPLL timer\n"
+"4 Rate trigger: triggered by build in rate generator.\n"
+"5 Timer1 trigger: triggered by timer1 output\n"
+"6 Timer2 trigger: triggered by timer2 output\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:920
+#, no-wrap
+msgid "trigger_on_rise1,trigger_on_rise2 (bit rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:923
+msgid ""
+"When true, triggers timer1, timer2 respectively on the rising edge of the "
+"trigger source."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:923
+#, no-wrap
+msgid "trigger_on_fall1,trigger_on_fall2 (bit rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:926
+msgid ""
+"When true, triggers timer1, timer2 respectively on the falling edge of the "
+"trigger source."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:926
+#, no-wrap
+msgid "retriggerable1,retriggerable2 (bit rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:931
+msgid ""
+"When true, the associated timer is retriggerable, meaning the timer will "
+"reset to full time on a trigger event even during the output pulse "
+"period. When false the timer is not retriggerable, meaning it will ignore "
+"trigger events during the output pulse period."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:931
+#, no-wrap
+msgid "enable1,enable2 (bit rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:933
+msgid "trigger enable for timer1 and timer2 respectively True to enable."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:933
+#, no-wrap
+msgid "reset1,reset2 (bit rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:936
+msgid ""
+"If true, resets timer1 and timer2 respectively, aborting any pulse in "
+"progress."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:936
+#, no-wrap
+msgid "out1,out2 (bit ro)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:938
+msgid "Pulse output status bits for timer1 and timer2."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:938
+#, no-wrap
+msgid "exttrigger1,exttrigger2 (bit ro)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:941
+msgid ""
+"External trigger input status bits for timer1 and timer2. These monitor the "
+"filtered inputs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:941
+#, no-wrap
+msgid "swtrigger1,swtrigger2 (bit rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:943
+msgid "Software trigger inputs to trigger timer1 and timer2."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:944
+#, no-wrap
+msgid "periodm"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:949
+msgid ""
+"The periodm is a period/width/duty cycle measuring module. It can measure "
+"period, frequency, pulse width and duty cycle. It can also average readings "
+"for noise filtering."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:952
+#, no-wrap
+msgid "period_us (float r)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:954
+msgid "Input period in microseconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:954
+#, no-wrap
+msgid "width_us (float r)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:956
+msgid "Input pulse width in microseconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:956
+#, no-wrap
+msgid "duty_cycle (float r)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:958
+msgid "Input duty cycle (width/period) scaling and offset are changeable."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:958
+#, no-wrap
+msgid "duty_cycle_scale (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:960
+msgid "Sets the scale of the duty cycle value, default is 100."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:960
+#, no-wrap
+msgid "duty_cycle_offset (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:963
+msgid "Sets an offset to the duty cycle value, added after scaling. Default is 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:963
+#, no-wrap
+msgid "averages (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:967
+msgid ""
+"Number of periods/widths to average. From 1 to 4095. Update rate of period, "
+"width, duty cycle, and frequency will be input frequency/averages."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:967
+#, no-wrap
+msgid "frequency (float r)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:969
+msgid "Input frequency in Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:969
+#, no-wrap
+msgid "minimum_frequency (float w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:972
+msgid ""
+"Minimum input frequency in Hz, if input frequency is lower than this "
+"threshold, the valid bit will be cleared."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:972
+#, no-wrap
+msgid "filtertc_us (float w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:977
+msgid ""
+"The periodm input in conditioned with a digital filter for noise "
+"rejection. The time constant of this filter is settable via this pin in "
+"units of microseconds. Pulses shorter than this time constant will not be "
+"recognized."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:977
+#, no-wrap
+msgid "valid (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:980
+msgid ""
+"The valid output bit is true when the input signal is present and the input "
+"frequency exceeds the minimum frequency setting."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:980
+#, no-wrap
+msgid "invert (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:984
+msgid ""
+"The invert bit sets the input polarity, when false, the input is direct "
+"which means the input high time determines the width. When set true, the "
+"input is inverted so the input low time determines the width."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:984
+#, no-wrap
+msgid "input_status (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:987
+msgid ""
+"The input_status bit reads the real time filtered input status (affected by "
+"invert pin)."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:988
+#, no-wrap
+msgid "rcpwmgen"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:999
+msgid ""
+"The rcpwmgen is a simple PWM generator optimized for use with standard RC "
+"servos that use pulse width to determine position. rcpwmgens have names like "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.rcpwmgen.**_<Instance>_\" where "
+"_<Instance>_ is a 2-digit number.  There will be __num_rcpwmgens__-many "
+"instances, starting at 00.  Each instance allocates a single output "
+"pin. Unlike the standard PWM generator, the rcpwmgen output is specified in "
+"width rather than duty cycle so the pulse width is independent of the "
+"operating frequency.  Resolution is approximately 1/2000 for standard 1 to 2 "
+"ms range RC servos."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1005
+msgid ""
+"Sets the master RC PWM frequency. Maximum is 1 kHz, minimum is 0.01 Hz.  "
+"Defaults to 50 Hz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1005
+#, no-wrap
+msgid "width (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1007
+msgid "Sets the per channel pulse width in (ms/scale)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1007
+#, no-wrap
+msgid "offset (float rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1010
+msgid ""
+"Sets the per channel pulse width offset in ms. This would be set to 1.5 ms "
+"for 1-2 ms servos for a 0 center position."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1015
+msgid ""
+"Sets the per channel pulse width scaling. For example, setting the scale to "
+"90 and the offset to 1.5 ms would result in a position range of +-45 degrees "
+"and scale in degrees for 1-2 ms servos with a full motion range of 90 "
+"degrees."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1016
+#, no-wrap
+msgid "stepgen"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1022
+msgid ""
+"stepgens have names like "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.stepgen.**_<Instance>_\". "
+"\"_Instance_\" is a two-digit number that corresponds to the HostMot2 "
+"stepgen instance number.  There are \"num_stepgens\" instances, starting "
+"with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1026
+msgid ""
+"So, for example, the HAL pin that has the current position feedback from the "
+"first stepgen of the second 5I22 board is: "
+"`hm2_5i22.1.stepgen.00.position-fb` (this assumes that the firmware in that "
+"board is configured so that this HAL object is available)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1029
+msgid ""
+"Each stepgen uses between 2 and 8 I/O pins. The signals on these pins "
+"depends on the step_type parameter (described below)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1032
+msgid ""
+"The stepgen representation is modeled on the stepgen software component.  "
+"Each stepgen instance has the following pins and parameters:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1035
+#, no-wrap
+msgid "position-cmd (float input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1039
+msgid ""
+"Target position of stepper motion, in arbitrary position units. This pin is "
+"only used when the stepgen is in position control mode (control-type=0)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1039
+#, no-wrap
+msgid "velocity-cmd (float input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1043
+msgid ""
+"Target velocity of stepper motion, in arbitrary position units per "
+"second. This pin is only used when the stepgen is in velocity control mode "
+"(control-type=1)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1043
+#, no-wrap
+msgid "counts (s32 output)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1045
+msgid "Feedback position in counts (number of steps)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1045
+#, no-wrap
+msgid "position-fb (float output)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1048
+msgid ""
+"Feedback position in scaled position units. This is similar to "
+"\"counts/position_scale\", but has finer than step resolution."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1048
+#, no-wrap
+msgid "position-latched (float output)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1051
+msgid ""
+"latched-position in scaled position units. This is similar to "
+"\"counts/position_scale\", but has finer than step resolution."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1051
+#, no-wrap
+msgid "velocity-fb (float output)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1053
+msgid "Feedback velocity in arbitrary position units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1059
+msgid ""
+"This pin enables the step generator instance. When True, the stepgen "
+"instance works as expected. When False, no steps are generated and "
+"velocity-fb goes immediately to 0. If the stepgen is moving when enable goes "
+"False it stops immediately, without obeying the maxaccel limit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1059
+#, no-wrap
+msgid "position-reset (bit input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1062
+msgid ""
+"Resets position to 0 when True. Useful for step/dir controlled spindles when "
+"switching between spindle and joint modes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1062
+#, no-wrap
+msgid "control-type (bit input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1065
+msgid ""
+"Switches between position control mode (0) and velocity control mode "
+"(1). Defaults to position control (0)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1070
+msgid ""
+"When this pin is set to True, the step count (and therefore also position) "
+"are reset to zero on the next stepgen index pulse. At the same time, "
+"index-enable is reset to zero to indicate that the pulse has occurred."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1074
+msgid ""
+"If set to True, the rising edge of the index input pin triggers the position "
+"clear event (if index-enable is True).  If set to False, the falling edge "
+"triggers."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1079
+msgid ""
+"When this pin is set to True, the step count (and therefore also position) "
+"are latched on the the next stepgen probe active edge.  At the same time, "
+"probe-enable is reset to zero to indicate that a latch event has occurred."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1083
+msgid ""
+"If set to True, the rising edge of the probe input pin triggers the latch "
+"event (if probe-enable is True).  If set to False, the falling edge "
+"triggers."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1086
+#, no-wrap
+msgid "position-scale (float r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1089
+msgid "Converts from counts to position units. position = counts / position_scale"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1089
+#, no-wrap
+msgid "maxvel (float r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1094
+msgid ""
+"Maximum speed, in position units per second. If set to 0, the driver will "
+"always use the maximum possible velocity based on the current step timings "
+"and position-scale. The max velocity will change if the step timings or "
+"position-scale changes. Defaults to 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1094
+#, no-wrap
+msgid "maxaccel (float r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1101
+msgid ""
+"Maximum acceleration, in position units per second per second.  Defaults to "
+"1.0. If set to 0, the driver will not limit its acceleration at all. This "
+"requires that the position-cmd or velocity-cmd pin is driven in a way that "
+"does not exceed the machine's capabilities. This is probably what you want "
+"if you are going to be using the LinuxCNC trajectory planner to jog or run "
+"G-code."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1101
+#, no-wrap
+msgid "steplen (u32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1103
+msgid "Duration of the step signal, in nanoseconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1103
+#, no-wrap
+msgid "stepspace (u32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1105
+msgid "Minimum interval between step signals, in nanoseconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1105
+#, no-wrap
+msgid "dirsetup (u32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1108
+msgid ""
+"Minimum duration of stable Direction signal before a step begins, in "
+"nanoseconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1108
+#, no-wrap
+msgid "dirhold (u32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1111
+msgid ""
+"Minimum duration of stable Direction signal after a step ends, in "
+"nanoseconds."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1111
+#, no-wrap
+msgid "step_type (u32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1122
+msgid ""
+"Output format, like the step_type modparam to the software stepgen(9)  "
+"component: 0 = Step/Dir, 1 = Up/Down, 2 = Quadrature, 3+ = table-lookup "
+"mode. In this mode the step_type parameter determines how long the step "
+"sequence is. Additionally the stepgen_width parameter in the loadrt config "
+"string must be set to suit the number of pins per stepgen required. Any "
+"stepgen pins above this number will be available for GPIO. This mask "
+"defaults to 2. The maximum length is 16. Note that Table mode is not enabled "
+"in all firmwares but if you see GPIO pins between the stepgen instances in "
+"the dmesg/log hardware pin list then the option may be available."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1128
+msgid ""
+"In Quadrature mode (step_type=2), the stepgen outputs one complete Gray "
+"cycle (00 → 01 → 11 → 10 → 00) for each \"step\" it takes, so the scale must "
+"be divided by 4 relative to standard step/dir. In table mode up to 6 IO pins "
+"are individually controlled in an arbitrary sequence up to 16 phases long."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1129
+#, no-wrap
+msgid "swap_step_dir (bit input)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1132
+msgid ""
+"This swaps the step and direction outputs on the selected stepgen.  This "
+"parameter is only available if the firmware supports this option."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1132
+#, no-wrap
+msgid "table-data-N (u32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1139
+msgid ""
+"There are 4 table-data-N parameters, table-data-0 to table-data-3.  These "
+"each contain 4 bytes corresponding to 4 stages in the step sequence. For "
+"example table-data-0 = 0x00000001 would set stepgen pin 0 (always called "
+"\"Step\" in the dmesg output) on the first phase of the step sequence, and "
+"table-data-4 = 0x20000000 would set stepgen pin 6 (\"Table5Pin\" in the "
+"dmesg output) on the 16th stage of the step sequence."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1139
+#, no-wrap
+msgid "hm2_XXXX.N.stepgen.timer-number (default: -1) (s32 r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1145
+#, no-wrap
+msgid ""
+"Sets the hm2dpll timer instance to be used to latch stepgen counts. A\n"
+"setting of -1 does not latch stepgen counts. A setting of 0 latches at\n"
+"the same time as the main hostmot2 read. A setting of 1..4 uses a time\n"
+"offset from the main hostmot2 read according to the dpll's timer-us\n"
+"setting.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1153
+msgid ""
+"If no DPLL module is present in the FPGA firmware, or if the stepgen module "
+"does not support DPLL, then this pin is not created."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1157
+#, no-wrap
+msgid "Smart Serial Interface"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1165
+msgid ""
+"The Smart Serial Interface allows up to 32 different devices such as the "
+"Mesa 8i20 2.2 kW 3-phase drive or 7I64 48-way IO cards to be connected to a "
+"single FPGA card.  The driver auto-detects the connected hardware port, "
+"channel and device type.  Devices can be connected in any order to any "
+"active channel of an active port (see the config modparam definition above)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1167
+msgid "For full details of the smart-serial devices see *sserial*(9)."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1168
+#, no-wrap
+msgid "BSPI"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1174
+msgid ""
+"The BSPI (Buffered SPI) driver is unusual in that it does not create any HAL "
+"pins. Instead the driver exports a set of functions that can be used by a "
+"sub-driver for the attached hardware. Typically, these would be written in "
+"the \"comp\"."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1182
+msgid ""
+"pre-processing language: see https://linuxcnc.org/docs/html/hal/comp.html or "
+"man halcompile for further details. See mesa_7i65(9) and the source of "
+"mesa_7i65.comp for details of a typical sub-driver. See "
+"hm2_bspi_setup_chan(3hm2), hm2_bspi_write_chan(3hm2), "
+"hm2_tram_add_bspi_frame(3hm2), hm2_allocate_bspi_tram(3hm2), "
+"hm2_bspi_set_read_function(3hm2) and hm2_bspi_set_write_function(3hm2)  for "
+"the exported functions."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1187
+msgid ""
+"The names of the available channels are printed to standard output during "
+"the driver loading process and take the form **hm2_**_<board "
+"name>_**.**_<board index>_**.bspi.**_<index>_, e.g., `hm2_5i23.0.bspi.0`."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1188
+#, no-wrap
+msgid "UART"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1196
+msgid ""
+"The UART driver also does not create any HAL pins, instead it declares two "
+"simple read/write functions and a setup function to be utilised by "
+"user-written code.  Typically this would be written in the \"comp\" "
+"pre-processing language: see https://linuxcnc.org/docs/html/hal/comp.html or "
+"man halcompile for further details.  See mesa_uart(9) and the source of "
+"mesa_uart.comp for details of a typical sub-driver.  See "
+"hm2_uart_setup_chan(3hm2), hm2_uart_send(3hm2), hm2_uart_read(3hm2) and "
+"hm2_uart_setup(3hm2)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1199
+msgid ""
+"The names of the available uart channels are printed to standard output "
+"during the driver loading process and take the form **hm2_**_<board "
+"name>_**.**_<board index>_**.uart.**_<index>_, e.g., `hm2_5i23.0.uart.0`."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1200
+#, no-wrap
+msgid "General Purpose I/O"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1208
+msgid ""
+"I/O pins on the board which are not used by a module instance are exported "
+"to HAL as \"full\" GPIO pins. Full GPIO pins can be configured at run-time "
+"to be inputs, outputs, or open drains, and have a HAL interface that exposes "
+"this flexibility. I/O pins that are owned by an active module instance are "
+"constrained by the requirements of the owning module, and have a restricted "
+"HAL interface."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1213
+msgid ""
+"GPIOs have names like "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.gpio.**_<IONum>_\".  _IONum_ is a "
+"three-digit number. The mapping from _IONum_ to connector and "
+"pin-on-that-connector is written to the syslog when the driver loads, and it "
+"is documented in Mesa's manual for the Anything I/O boards."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1218
+msgid ""
+"So, for example, the HAL pin that has the current inverted input value read "
+"from GPIO 012 of the second 7I43 board is: `hm2_7i43.1.gpio.012.in-not` "
+"(this assumes that the firmware in that board is configured so that this HAL "
+"object is available)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1223
+msgid ""
+"The HAL parameter that controls whether the last GPIO of the first 5I22 is "
+"an input or an output is: `hm2_5i22.0.gpio.095.is_output` (this assumes that "
+"the firmware in that board is configured so that this HAL object is "
+"available)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1228
+msgid ""
+"The hm2 GPIO representation is modeled after the Digital Inputs and Digital "
+"Outputs described in the Canonical Device Interface (part of the HAL General "
+"Reference document).  Each GPIO can have the following HAL Pins:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1229
+#, no-wrap
+msgid "in & in_not (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1232
+msgid ""
+"State (normal and inverted) of the hardware input pin. Both full GPIO pins "
+"and IO pins used as inputs by active module instances have these pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1232
+#, no-wrap
+msgid "out (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1235
+msgid ""
+"Value to be written (possibly inverted) to the hardware output pin.  Only "
+"full GPIO pins have this pin."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1237
+msgid "Each GPIO can have the following Parameters:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1238
+#, no-wrap
+msgid "is_output (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1246
+msgid ""
+"If set to 0, the GPIO is an input. The IO pin is put in a high-impedance "
+"state (weakly pulled high), to be driven by other devices. The logic value "
+"on the IO pin is available in the \"in\" and \"in_not\" HAL pins. Writes to "
+"the \"out\" HAL pin have no effect. If this parameter is set to 1, the GPIO "
+"is an output; its behavior then depends on the \"is_opendrain\" parameter.  "
+"Only full GPIO pins have this parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1246
+#, no-wrap
+msgid "is_opendrain (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1259
+msgid ""
+"This parameter only has an effect if the \"is_output\" parameter is True. If "
+"this parameter is False, the GPIO behaves as a normal output pin: The IO pin "
+"on the connector is driven to the value specified by the \"out\" HAL pin "
+"(possibly inverted), and the value of the \"in\" and \"in_not\" HAL pins is "
+"undefined. If this parameter is True, the GPIO behaves as an open-drain "
+"pin. Writing 0 to the \"out\" HAL pin drives the IO pin low, writing 1 to "
+"the \"out\" HAL pin puts the IO pin in a high-impedance state. In this "
+"high-impedance state the IO pin floats (weakly pulled high), and other "
+"devices can drive the value; the resulting value on the IO pin is available "
+"on the \"in\" and \"in_not\" pins. Only full GPIO pins and IO pins used as "
+"outputs by active module instances have this parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1259
+#, no-wrap
+msgid "invert_output (bit r/w)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1264
+msgid ""
+"This parameter only has an effect if the \"is_output\" parameter is True.  "
+"If this parameter is True, the output value of the GPIO will be the inverse "
+"of the value on the \"out\" HAL pin. Only full GPIO pins and IO pins used as "
+"outputs by active module instances have this parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1276
+msgid ""
+"When a physical I/O pin is used by a special function, the related "
+"*is_output*, and *is_opendrain* HAL parameters are aliased to the special "
+"function. For instance, if gpio 1 is taken over by pwmgen 0's first output, "
+"then aliases like `hm2_7i92.0.pwmgen.00.out0.invert_output` (referring to "
+"`hm2_7i92.0.gpio.001.invert_output`) will be automatically created. When "
+"more than one GPIO is connected to the same special function, an extra "
+"**.**_#_**.** is inserted so that the settings for each related GPIO can be "
+"set separately.  For example, for the firmware SV12IM_2X7I48_72, the aliases "
+"`hm2_5i20.0.pwmgen.00.0.enable.invert_output` (referring to "
+"`hm2_5i20.0.gpio.000.invert_output`) and "
+"`hm2_5i20.0.pwmgen.00.1.enable.invert_output` (referring to "
+"`hm2_5i20.0.gpio.023.invert_output`) are both created."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1277
+#, no-wrap
+msgid "inm and inmux"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1291
+msgid ""
+"inm/inmuxs are input debouncing modules that support hardware digital "
+"filtering of input pins. In addition to the input filtering function, the "
+"inm/inmux modules support up to 4 simple quadrature counters for MPG "
+"use. The quadrature inputs for MPG encoders 0 through 3 are inm/inmux pins 0 "
+"through 7. MPG A,B inputs use the filter time constants programmed for "
+"inputs 0..7. Each inm/inmux input pin can have a slow or fast filter "
+"constant. Filter time constants are specified in units of scan times. inms "
+"have names like "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.inm.**_<Instance>_\". inmuxes "
+"have names like "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.inmux.**_<Instance>_\".  "
+"\"Instance\" is a two-digit number that corresponds to the HostMot2 inm or "
+"inmux instance number.  There are \"num_inms\" or numx_inmuxs\" instances, "
+"starting with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1294
+msgid ""
+"Each instance reads between 8 and 32 input pins. inm and inmux are identical "
+"except for pin names and the physical interface."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1297
+#, no-wrap
+msgid "input and input-not (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1299
+msgid "True and inverted filtered input states."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1299
+#, no-wrap
+msgid "raw-input and raw-input-not (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1301
+msgid "True and inverted unfiltered input states."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1301
+#, no-wrap
+msgid "input-slow (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1304
+msgid ""
+"If True, selects the long time constant filter for the corresponding input "
+"bit, if False the short time constant is used."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1304
+#, no-wrap
+msgid "enc0-count,enc1-count,enc2-count,enc3-count (s32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1306
+msgid "MPG counters 0 through 3."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1306
+#, no-wrap
+msgid "enc0-reset,enc1-reset,enc2-reset,enc3-reset (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1308
+#, no-wrap
+msgid "Reset for MPG counters 0 through 3, count is forced to 0 if true.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1311
+#, no-wrap
+msgid "scan_rate (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1313
+msgid ""
+"This sets the input scan rate in Hz. Default scan rate is 20 kHz (50 µs scan "
+"period)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1313
+#, no-wrap
+msgid "fast_scans (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1318
+msgid ""
+"This sets the fast time constant for all input pins. This is the time "
+"constant used when the input-slow pin for the corresponding input is "
+"False. The range is 0 to 63 scan periods and the default value is 5 = 250 µs "
+"at the default 20 kHz scan_rate."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1318
+#, no-wrap
+msgid "slow_scans (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1323
+msgid ""
+"This sets the slow time constant for all input pins. This is the time "
+"constant used when the input-slow pin for the corresponding input is "
+"True. The range is 0 to 1023 scan periods and the default value is 500 = 25 "
+"ms at the default 20 kHz scan_rate."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1323
+#, no-wrap
+msgid "enc0_4xmode, enc1_4xmode, enc2_4xmode, and enc3_4xmode (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1325
+msgid "These set the MPG encoder operating modes to 4X when True and 1X when False."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1325
+#, no-wrap
+msgid "scan_width (u32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1327
+msgid ""
+"This read only parameter specifies the number of inputs scanned by the "
+"module."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1328
+#, no-wrap
+msgid "led"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1331
+msgid "Creates HAL pins for the LEDs on the FPGA board."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1334
+#, no-wrap
+msgid "**CR**__<NN>__ (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1337
+msgid ""
+"The pins are numbered from CR01 upwards with the name corresponding to the "
+"PCB silkscreen. Setting the bit to \"True\" or 1 lights the LED."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1338
+#, no-wrap
+msgid "Solid State Relay"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1343
+msgid ""
+"SSRs have names like "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.ssr.**_<Instance>_\".  _Instance_ "
+"is a two-digit number that corresponds to the HostMot2 SSR instance "
+"number. There are __num_ssrs__ instances, starting with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1345
+msgid "Each instance has a rate control pin and between 1 and 32 output pins."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1347 src/man/man9/hostmot2.9.adoc:1373
+#: src/man/man9/hostmot2.9.adoc:1390
+#, no-wrap
+msgid "**Pins:**\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1348
+#, no-wrap
+msgid "rate (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1354
+msgid ""
+"Set the internal frequency of the SSR instance, in Hz (approximate).  The "
+"valid range is 25 kHz to 25 MHz. Values below the minimum will use the "
+"minimum, and values above the max will use the max. 1 MHz is a typical "
+"value, and appropriate for all Mesa cards, and is the default.  Set to 0 to "
+"disable this SSR instance."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1354 src/man/man9/hostmot2.9.adoc:1374
+#, no-wrap
+msgid "out-NN (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1358
+msgid ""
+"The state of this SSR instance's NNth output. Set to 0 to make the output "
+"pins act like an open switch (no connection), set to 1 to make them act like "
+"a closed switch."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1358 src/man/man9/hostmot2.9.adoc:1378
+#, no-wrap
+msgid "invert-NN (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1362
+#, no-wrap
+msgid ""
+"Inverts the state of this SSR instance's NNth output, defaults to 0.\n"
+"When invert-NN is set to 1, SSR output NN is closed when the out-NN\n"
+"pin is 0 and open when the out-NN pin is 1.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hostmot2.9.adoc:1363
+#, no-wrap
+msgid "OutM Simple output module"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1369
+msgid ""
+"OutMs have names like "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.OutM.**_<Instance>_\". _Instance_ "
+"is a two-digit number that corresponds to the HostMot2 OutM instance "
+"number.  There are __num_outms__ instances, starting with 00."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1371
+msgid "Each instance has between 1 and 32 output pins."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1378
+msgid ""
+"The sets the state of this OutM instance's NNth output. Normally the output "
+"pin follows the state of this pin but may be inverted by the invert-nn HAL "
+"pin."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1382
+msgid ""
+"Inverts the state of the this OutM instance's NNth output, defaults to 0.  "
+"When invert-NN is set to 1, OutM output NN is high when the out-NN pin is 0 "
+"and low when the out-NN pin is 1."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/hostmot2.9.adoc:1383
+#, no-wrap
+msgid "xy2mod"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1388
+msgid ""
+"The xy2mod is a xy2-100 galvanometer interface. It supports 16 and 18 bit "
+"data modes and includes parabolic interpolation to provide position updates "
+"between servo thread invocations."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1391
+#, no-wrap
+msgid "posx_cmd, posy_cmd (float in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1394
+msgid ""
+"X and Y position commands. Full scale is +-posn_scale default full scale "
+"(set by posx_scale and posy_scale) is +- 1"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1394
+#, no-wrap
+msgid "posx_fb, posy_fb (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1398
+msgid ""
+"X and Y position feedback. Full scale is +-posN_scale default full scale is "
+"+- 1. This is feedback from the interpolator not the galvanometer."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1398
+#, no-wrap
+msgid "velx_cmd, vely_cmd (float in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1400
+msgid "X and Y velocity commands in units of fullscale_position/second"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1400
+#, no-wrap
+msgid "velx_fb, vely_fb (float out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1402
+msgid "X and Y velocity feedback in units of fullscale_position/second"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1402
+#, no-wrap
+msgid "accx_cmd, accy_cmd (float in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1404
+msgid "X and Y acceleration commands in units of fullscale_position/second^2"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1404
+#, no-wrap
+msgid "posx_scale, posy_scale (float in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1407
+msgid ""
+"This sets the full scale range of the position command and feedback, default "
+"is +- 1.0."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1407
+#, no-wrap
+msgid "enable (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1410
+msgid ""
+"when False, output data is 0, all interpolator values are set to 0 and "
+"overflow flags are cleared. Must be True for normal operation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1410
+#, no-wrap
+msgid "controlx, controly (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1414
+msgid ""
+"These set the galvanometer control bits. There 3 bits per channel in 16 bit "
+"mode but just 1 control bit in 18 bit mode, so values from 0..7 are valid in "
+"16 bit mode but only 0 and 4 are valid in 18 bit mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1414
+#, no-wrap
+msgid "commandx, commandy (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1417
+msgid "These set the raw 16 bit data sent to the galvanometer in command mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1417
+#, no-wrap
+msgid "commandmodex, commandmodey (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1420
+msgid ""
+"When set, these enable the command mode where 16 bit command data is sent to "
+"the galvanometer."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1420
+#, no-wrap
+msgid "18bitmodex, 18bitmodey (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1423
+msgid "When True, these enable the 18 bit data mode for the respective channel."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1423
+#, no-wrap
+msgid "posx-overflow, posy-overflow (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1426
+msgid ""
+"When true, these indicate an attempted position move beyond the full scale "
+"value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1426
+#, no-wrap
+msgid "velx-overflow, vely-overflow (bit out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1429
+msgid ""
+"When True, these indicate an attempted velocity update move beyond the full "
+"scale value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1429
+#, no-wrap
+msgid "status (u32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1431
+msgid "Raw 16 bit return status from galvanometer."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1434
+#, no-wrap
+msgid "read-timer-number (s32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1437
+msgid ""
+"Selects the DPLL timer number for pre-read sampling of the position and "
+"velocity registers. If set to -1, pre-read sampling is disabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1437
+#, no-wrap
+msgid "write-timer-number (s32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1440
+msgid ""
+"Selects the DPLL timer number for post write update of the position and "
+"velocity registers. If set to -1, post write update is disabled."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1446
+msgid ""
+"The HostMot2 firmware may include a watchdog Module; if it does, the "
+"hostmot2 driver will use it. The HAL representation of the watchdog is named "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.watchdog**\"."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1451
+msgid ""
+"The watchdog starts out asleep and inactive. Once you access the board the "
+"first time by running the hm2 write() HAL function (see below), the watchdog "
+"wakes up. From them on it must be petted periodically or it will bite. Pet "
+"the watchdog by running the hm2 write() HAL function."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1459
+msgid ""
+"When the watchdog bites, all the board's I/O pins are disconnected from "
+"their Module instances and become high-impedance inputs (pulled high), and "
+"all communication with the board stops. The state of the HostMot2 firmware "
+"modules is not disturbed (except for the configuration of the IO "
+"pins). Encoder instances keep counting quadrature pulses, and pwm- and "
+"step-generators keep generating signals (which are *not* relayed to the "
+"motors, because the IO pins have become inputs)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1462
+msgid ""
+"Resetting the watchdog (by clearing the has_bit pin, see below) resumes "
+"communication and resets the I/O pins to the configuration chosen at "
+"load-time."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1467
+#, no-wrap
+msgid "has_bit (bit in/out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1471
+msgid ""
+"True if the watchdog has bit, False if the watchdog has not bit. If the "
+"watchdog has bit and the has_bit bit is True, the user can reset it to False "
+"to resume operation."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1474
+#, no-wrap
+msgid "timeout_ns (u32 read/write)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1478
+msgid ""
+"Watchdog timeout, in nanoseconds.  This is initialized to 5,000,000 (5 "
+"milliseconds) at module load time.  If more than this amount of time passes "
+"between calls to the hm2 write() function, the watchdog will bite."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1479
+#, no-wrap
+msgid "Raw Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1484
+msgid ""
+"If the \"enable_raw\" config keyword is specified, some extra debugging pins "
+"are made available in HAL. The raw mode HAL pin names begin with "
+"\"**hm2_**_<BoardType>_**.**_<BoardNum>_**.raw**\"."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1487
+msgid ""
+"With Raw mode enabled, a user may peek and poke the firmware from HAL, and "
+"may dump the internal state of the hostmot2 driver to the syslog."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1490
+#, no-wrap
+msgid "read_address (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1492
+msgid "The bottom 16 bits of this is used as the address to read from."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1492
+#, no-wrap
+msgid "read_data (u32 out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1495
+msgid ""
+"Each time the hm2_read() function is called, this pin is updated with the "
+"value at .read_address."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1495
+#, no-wrap
+msgid "write_address (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1497
+msgid "The bottom 16 bits of this is used as the address to write to."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1497
+#, no-wrap
+msgid "write_data (u32 in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1499
+msgid "This is the value to write to .write_address."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1499
+#, no-wrap
+msgid "write_strobe (bit in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1503
+msgid ""
+"Each time the hm2_write() function is called, this pin is examined. If it is "
+"True, then value in .write_data is written to the address in .write_address, "
+"and .write_strobe is set back to False."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1503
+#, no-wrap
+msgid "dump_state (bit in/out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1507
+msgid ""
+"This pin is normally False. If it gets set to True the hostmot2 driver will "
+"write its representation of the board's internal state to the syslog, and "
+"set the pin back to False."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/hostmot2.9.adoc:1508
+#, no-wrap
+msgid "Setting up Smart Serial devices"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1511
+msgid "See setsserial(9) for the current way to set smart-serial eeprom parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1514
+#, no-wrap
+msgid "**hm2_**_<BoardType>_**.**_<BoardNum>_**.read-request**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1519
+msgid ""
+"On boards with long turn around time for reads (at the time of writing, this "
+"applies only to ethernet boards), this function sends a read request. When "
+"multiple boards are used, this can reduce the servo thread execution "
+"time. In this case, the appropriate thread order would be"
+msgstr ""
+
+#. type: delimited block .
+#: src/man/man9/hostmot2.9.adoc:1525
+#, no-wrap
+msgid ""
+"addf hm2_7i80.0.read-request\n"
+"addf hm2_7i80.1.read-request\n"
+"addf hm2_7i80.0.read\n"
+"addf hm2_7i80.1.read\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1529
+msgid ""
+"which causes the read request to be sent to board 1 before waiting for the "
+"response to the read request to arrive from board 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1530
+#, no-wrap
+msgid "**hm2_**_<BoardType>_**.**_<BoardNum>_**.read**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1532
+msgid ""
+"This reads the encoder counters, stepgen feedbacks, and GPIO input pins from "
+"the FPGA."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1532
+#, no-wrap
+msgid "**hm2_**_<BoardType>_**.**_<BoardNum>_**.write**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1536
+msgid ""
+"This updates the PWM duty cycles, stepgen rates, and GPIO outputs on the "
+"FPGA. Any changes to configuration pins such as stepgen timing, GPIO "
+"inversions, etc., are also effected by this function."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1536
+#, no-wrap
+msgid "**hm2_**_<BoardType>_**.**_<BoardNum>_**.read_gpio**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1542
+msgid ""
+"Read the GPIO input pins. Note that the effect of this function is a subset "
+"of the effect of the .read() function described above. Normally only .read() "
+"is used. The only reason to call this function is if you want to do GPIO "
+"things in a faster-than-servo thread.  (This function is not available on "
+"the 7I43 due to limitations of the EPP bus.)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1542
+#, no-wrap
+msgid "**hm2_**_<BoardType>_**.**_<BoardNum>_**.write_gpio**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1548
+msgid ""
+"Write the GPIO control registers and output pins. Note that the effect of "
+"this function is a subset of the effect of the .write() function described "
+"above. Normally only .write() is used. The only reason to call this function "
+"is if you want to do GPIO things in a faster-than-servo thread.  (This "
+"function is not available on the 7I43 due to limitations of the EPP bus.)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/hostmot2.9.adoc:1548
+#, no-wrap
+msgid "**hm2_**_<BoardType>_**.**_<BoardNum>_**.trigger-encoders**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1560
+msgid ""
+"This function will only appear if the firmware contains a BiSS, Fanuc or SSI "
+"encoder module and if the firmware does not contain a hm2dpll module (qv) or "
+"if the modparam contains num_dplls=0. This function should be inserted first "
+"in the thread so that the encoder data is ready when the main "
+"*hm2_*_XXXX_*.*_NN_*.read* function runs. An error message will be printed "
+"if the encoder read is not finished in time.  It may be possible to avoid "
+"this by increasing the data rate. If the problem persists and if \"stale\" "
+"data is acceptable then the function may be placed later in the thread, "
+"allowing a full servo cycle for the data to be transferred from the "
+"devices. If available it is better to use the synchronous hm2dpll triggering "
+"function."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1564
+msgid "hm2_pci(9), hm2_eth(9), hm2_spi(9), hm2_rpspi(9), hm2_7i43(9), hm2_7i90(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/hostmot2.9.adoc:1566
+msgid ""
+"Mesa's documentation for the Anything I/O boards, at "
+"link:[https://www.mesanet.com]."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/kins.9.adoc:1
+#, no-wrap
+msgid "kins(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:6
+msgid ""
+"kins, genhexkins, genserkins, maxkins, pentakins, pumakins, rotatekins, "
+"scarakins, tripodkins, trivkins - kinematics definitions for LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:10
+#, no-wrap
+msgid "*loadrt trivkins* (use for most cartesian machines)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:12
+#, no-wrap
+msgid "*loadrt corexykins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:14
+#, no-wrap
+msgid "*loadrt genhexkins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:16
+#, no-wrap
+msgid "*loadrt genserkins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:18
+#, no-wrap
+msgid "*loadrt lineardeltakins* (see separate manpage)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:20
+#, no-wrap
+msgid "*loadrt matrixkins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:22
+#, no-wrap
+msgid "*loadrt maxkins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:24
+#, no-wrap
+msgid "*loadrt pentakins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:26
+#, no-wrap
+msgid "*loadrt pumakins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:28 src/man/man9/rosekins.9.adoc:10
+#, no-wrap
+msgid "*loadrt rosekins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:30
+#, no-wrap
+msgid "*loadrt rotarydeltakins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:32
+#, no-wrap
+msgid "*loadrt rotatekins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:34
+#, no-wrap
+msgid "*loadrt scarakins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:36
+#, no-wrap
+msgid "*loadrt tripodkins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:38
+#, no-wrap
+msgid "*loadrt xyzab_tdr_kins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:40
+#, no-wrap
+msgid "*loadrt xyzac-trt-kins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:42
+#, no-wrap
+msgid "*loadrt xyzbc-trt-kins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:44
+#, no-wrap
+msgid "*loadrt 5axiskins*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:49
+msgid ""
+"Rather than exporting HAL pins and functions, these components provide the "
+"forward and inverse kinematics definitions for LinuxCNC."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:50
+#, no-wrap
+msgid "trivkins - generalized trivial kinematics"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:54
+msgid ""
+"Joint numbers are assigned sequentially according to the axis letters "
+"specified with the *coordinates=* parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:57
+msgid ""
+"If the coordinates= parameter is omitted, joint numbers are assigned "
+"*sequentially* to every known axis letter (\"xyzabcuvw\")."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:58
+#, no-wrap
+msgid "Example: loadrt *trivkins*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:59
+#, no-wrap
+msgid "Assigns all axis letters to joint numbers in sequence"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:63
+msgid ""
+"x==joint0, y==joint1, z==joint2 a==joint3, b==joint4, c==joint5 u==joint6, "
+"v==joint7, w==joint8"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:65 src/man/man9/kins.9.adoc:91
+#: src/man/man9/kins.9.adoc:118
+#, no-wrap
+msgid " +\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:66
+#, no-wrap
+msgid "Example: loadrt *trivkins coordinates=xyz*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:69
+#, no-wrap
+msgid "Assigns: x==joint0, y==joint1, z==joint2"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:72
+#, no-wrap
+msgid "Example: loadrt *trivkins coordinates=xz*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:75
+#, no-wrap
+msgid "Assigns: x==joint0, z==joint1"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:78
+#, no-wrap
+msgid "Example: loadrt *trivkins coordinates=xyzy*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:81
+#, no-wrap
+msgid "Assigns: x==joint0, y0==joint1, z==joint2, y1==joint3"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:89
+msgid ""
+"The default kinematics type is *KINEMATICS_IDENTITY*. GUIs may provide "
+"special features for configurations using this default kinematics type.  For "
+"instance, the AXIS GUI automatically handles joint and world mode operations "
+"so that the distinctions between joints and axes are not visible to the "
+"operator. This is feasible since there is an exact correspondence between a "
+"joint number and its matching axis letter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:92
+#, no-wrap
+msgid "The kinematics type can be set with the *kinstype=* parameter"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:95
+#, no-wrap
+msgid "kinstype=**1** for KINEMATICS_IDENTITY (default if kinstype= omitted)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:98
+#, no-wrap
+msgid "kinstype=[**b**|**B**] for KINEMATICS_BOTH"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:101
+#, no-wrap
+msgid "kinstype=[**f**|**F**] for KINEMATICS_FORWARD_ONLY"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:104
+#, no-wrap
+msgid "kinstype=[**i**|**I**] for KINEMATICS_INVERSE_ONLY"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:105
+#, no-wrap
+msgid "Example: loadrt *trivkins coordinates=xyz kinstype=b*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:110
+msgid ""
+"Use kinstype=**B** (KINEMATICS_BOTH) for configurations that need to move "
+"joints independently (joint mode) or as coordinated (teleop)  movements in "
+"world coordinates."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:113
+msgid ""
+"When using the axis gui with KINEMATICS_BOTH, the '*$*' key is used to "
+"toggle between joint and teleop (world) modes."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:116
+msgid ""
+"An axis letter may be used more than once (*duplicated*) to assign multiple "
+"joints to a single axis coordinate letter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:119
+#, no-wrap
+msgid "Example: coordinates=**xyyzw** kinstype=**B**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:122
+#, no-wrap
+msgid "Assigns: x==joint0, y==joint1 *AND* joint2, z==joint3, w==joint4"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:131
+msgid ""
+"The above example illustrates a gantry configuration that uses *duplicated* "
+"coordinate letters to indicate that two joints (joint1 and joint2) move a "
+"single axis (y). Using kinstype=**B** allows the configuration to be toggled "
+"between joint and world modes of operation.  Homing configuration options "
+"are available to synchronize the final homing move for selected joints -- "
+"see the documentation for *Homing Configuration*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:133
+#, no-wrap
+msgid "*NOTES* for *duplicated* coordinates:\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:151
+msgid ""
+"When *duplicated* coordinate letters are used, specifying KINEMATICS_BOTH "
+"(kinstype=**B**) allows a gui to support jogging of each individual joint in "
+"*joint mode*. *Caution* is required for machines where the movement of a "
+"single joint (in a set specified by a *duplicated* coordinate letter) can "
+"lead to gantry racking or other unwanted outcomes. When the kinstype= "
+"parameter is omitted, operation defaults to KINEMATICS_IDENTITY "
+"(kinstype=**1**) and a gui may allow jogging based upon a selected axis "
+"coordinate letter (or by a keyboard key) before homing is completed and the "
+"machine is still in *joint mode*. The joint selected will depend upon the "
+"gui implementation but typically only one of the multiple joints in the set "
+"will jog.  Consequently, specifying KINEMATICS_BOTH is recommended as it "
+"enables support for unambiguous, independent jogging of each individual "
+"joint.  Machines that implement homing for all joints (including the "
+"provisions for synchronizing the final homing move for multiple joints) may "
+"be homed at machine startup and automatically switch to *world* mode where "
+"per-coordinate jogging is available."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:152
+#, no-wrap
+msgid "corexykins - CoreXY Kinematics"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:154
+#, no-wrap
+msgid "X = 0.5*(JOINT_0 + JOINT_1)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:157
+#, no-wrap
+msgid "Y = 0.5*(JOINT_0 - JOINT_1)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:160
+#, no-wrap
+msgid "Z = JOINT_2"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:161
+#, no-wrap
+msgid "[KINS]JOINTS= must specify 3 or more joints (maximum 9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:163
+msgid "If enabled by the number of [KINS]JOINTS= specified, JOINT_3,4,5,6,7,8"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:163
+#, no-wrap
+msgid "correspond to coordinates A,B,C,U,V,W respectively."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:165
+#, no-wrap
+msgid "genhexkins - Hexapod Kinematics"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:171
+msgid ""
+"Gives six degrees of freedom in position and orientation (XYZABC). The "
+"location of base and platform joints is defined by HAL parameters. The "
+"forward kinematics iteration is controlled by HAL pins. (See switchkins "
+"documentation for more info)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:172
+#, no-wrap
+msgid "**genhexkins.base.**_N_**.x**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:174
+#, no-wrap
+msgid "**genhexkins.base.**_N_**.y**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:176
+#, no-wrap
+msgid "**genhexkins.base.**_N_**.z**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:178
+#, no-wrap
+msgid "**genhexkins.platform.**_N_**.x**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:180
+#, no-wrap
+msgid "**genhexkins.platform.**_N_**.y**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:182
+#, no-wrap
+msgid "**genhexkins.platform.**_N_**.z**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:184
+msgid "Parameters describing the __N__th joint's coordinates."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:185
+#, no-wrap
+msgid "**genhexkins.spindle-offset**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:188
+msgid ""
+"Added to all joints Z coordinates to change the machine origin.  Facilitates "
+"adjusting spindle position."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:189
+#, no-wrap
+msgid "**genhexkins.base-n.**_N_**.x**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:191
+#, no-wrap
+msgid "**genhexkins.base-n.**_N_**.y**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:193
+#, no-wrap
+msgid "**genhexkins.base-n.**_N_**.z**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:195
+#, no-wrap
+msgid "**genhexkins.platform-n.**_N_**.x**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:197
+#, no-wrap
+msgid "**genhexkins.platform-n.**_N_**.y**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:199
+#, no-wrap
+msgid "**genhexkins.platform-n.**_N_**.z**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:203
+msgid ""
+"Parameters describing unit vectors of __N__th joint's axis. Used to "
+"calculate strut length correction for cardanic joints and non-captive "
+"actuators."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:204
+#, no-wrap
+msgid "**genhexkins.screw-lead**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:207
+msgid ""
+"Lead of strut actuator screw, positive for the right-handed thread.  Default "
+"is 0 (strut length correction disabled)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:208
+#, no-wrap
+msgid "**genhexkins.correction.**_N_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:212
+msgid ""
+"Current values of strut length correction for non-captive actuators with "
+"cardanic joints. *genhexkins.convergence-criterion* Minimum error value that "
+"ends iterations with converged solution."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:213
+#, no-wrap
+msgid "*genhexkins.limit-iterations*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:215 src/man/man9/kins.9.adoc:282
+msgid "Limit of iterations, if exceeded iterations stop with no convergence."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:216
+#, no-wrap
+msgid "*genhexkins.max-error*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:218 src/man/man9/kins.9.adoc:285
+msgid "Maximum error value, if exceeded iterations stop with no convergence."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:219
+#, no-wrap
+msgid "*genhexkins.last-iterations*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:221 src/man/man9/kins.9.adoc:288
+msgid "Number of iterations spent for the last forward kinematics solution."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:222
+#, no-wrap
+msgid "*genhexkins.max-iterations*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:224 src/man/man9/kins.9.adoc:291
+msgid ""
+"Maximum number of iterations spent for a converged solution during current "
+"session."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:225
+#, no-wrap
+msgid "*genhexkins.tool-offset*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:228
+msgid ""
+"TCP offset from platform origin along Z to implement RTCP function.  To "
+"avoid joints jump change tool offset only when the platform is not tilted."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:229
+#, no-wrap
+msgid "genserkins - generalized serial kinematics"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:233
+msgid ""
+"Kinematics that can model a general serial-link manipulator with up to 6 "
+"angular joints.  See switchkins documentation for more info."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:240
+msgid ""
+"The kinematics use Denavit-Hartenberg definition for the joint and links.  "
+"The DH definitions are the ones used by John J Craig in \"Introduction to "
+"Robotics: Mechanics and Control\" The parameters for the manipulator are "
+"defined by HAL pins. Note that this uses a convention sometimes known as "
+"\"Modified DH Parameters\" and this must be borne in mind when setting up "
+"the system. https://w.wiki/NcY"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:241
+#, no-wrap
+msgid "**genserkins.A-**_N_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:243
+#, no-wrap
+msgid "**genserkins.ALPHA-**_N_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:245
+#, no-wrap
+msgid "**genserkins.D-**_N_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:247
+msgid "Parameters describing the __N__^th^ joint's geometry."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:248
+#, no-wrap
+msgid "matrixkins - Calibrated kinematics for 3-axis cartesian machines"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:252
+msgid ""
+"Similar to trivkins, but allows calibrating out small imperfections in axis "
+"alignment.  See matrixkins(9) man page for detailed instructions."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:253
+#, no-wrap
+msgid "maxkins - 5-axis kinematics example"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:259
+msgid ""
+"Kinematics for Chris Radek's tabletop 5 axis mill named 'max' with tilting "
+"head (B axis) and horizintal rotary mounted to the table (C axis).  Provides "
+"UVW motion in the rotated coordinate system.  The source file, maxkins.c, "
+"may be a useful starting point for other 5-axis systems."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:260
+#, no-wrap
+msgid "pentakins - Pentapod Kinematics"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:265
+msgid ""
+"Gives five degrees of freedom in position and orientation (XYZAB).  The "
+"location of base and effector joints is defined by HAL parameters.  The "
+"forward kinematics iteration is controlled by HAL pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:266
+#, no-wrap
+msgid "**pentakins.base.**_N_**.x**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:268
+#, no-wrap
+msgid "**pentakins.base.**_N_**.y**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:270
+#, no-wrap
+msgid "**pentakins.base.**_N_**.z**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:272
+#, no-wrap
+msgid "**pentakins.effector.**_N_**.r**"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:274
+#, no-wrap
+msgid "**pentakins.effector.**_N_**.z**"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:276
+msgid ""
+"Parameters describing the __N__^th^ effector joint's radius and axial "
+"position."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:277
+#, no-wrap
+msgid "*pentakins.convergence-criterion*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:279
+msgid "Minimum error value that ends iterations with converged solution."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:280
+#, no-wrap
+msgid "*pentakins.limit-iterations*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:283
+#, no-wrap
+msgid "*pentakins.max-error*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:286
+#, no-wrap
+msgid "*pentakins.last-iterations*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:289
+#, no-wrap
+msgid "*pentakins.max-iterations*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:292
+#, no-wrap
+msgid "*pentakins.tool-offset*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:295
+msgid ""
+"TCP offset from effector origin along Z to implement RTCP function.  To "
+"avoid joints jump change tool offset only when the platform is not tilted."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:296
+#, no-wrap
+msgid "pumakins - kinematics for puma typed robots"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:299
+msgid "Kinematics for a puma-style robot with 6 joints:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:300
+#, no-wrap
+msgid "*pumakins.A2*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:302
+#, no-wrap
+msgid "*pumakins.A3*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:304
+#, no-wrap
+msgid "*pumakins.D3*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:306
+#, no-wrap
+msgid "*pumakins.D4*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:308
+msgid "Describe the geometry of the robot"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:309
+#, no-wrap
+msgid "rosekins - kinematics for a rose engine using"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:312
+msgid "a transverse, longitudinal, and rotary joint (3 joints)"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:313
+#, no-wrap
+msgid "rotarydeltakins - kinematics for a rotary delta machine"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:316
+msgid "Rotary delta robot (3 Joints)"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:317
+#, no-wrap
+msgid "rotatekins - Rotated Kinematics"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:321
+#, no-wrap
+msgid "scarakins - kinematics for SCARA-type robots"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:324
+msgid "(See switchkins documentation for more info)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:325
+#, no-wrap
+msgid "*scarakins.D1*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:327
+msgid "Vertical distance from the ground plane to the center of the inner arm."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:327
+#, no-wrap
+msgid "*scarakins.D2*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:330
+msgid ""
+"Horizontal distance between joint[0] axis and joint[1] axis, i.e., the "
+"length of the inner arm."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:330
+#, no-wrap
+msgid "*scarakins.D3*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:333
+msgid ""
+"Vertical distance from the center of the inner arm to the center of the "
+"outer arm.  May be positive or negative depending on the structure of the "
+"robot."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:333
+#, no-wrap
+msgid "*scarakins.D4*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:335
+msgid ""
+"Horizontal distance between joint[1] axis and joint[2] axis, i.e., the "
+"length of the outer arm."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:335
+#, no-wrap
+msgid "*scarakins.D5*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:338
+msgid ""
+"Vertical distance from the end effector to the tooltip.  Positive means the "
+"tooltip is lower than the end effector, and is the normal case."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:338
+#, no-wrap
+msgid "*scarakins.D6*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:343
+msgid ""
+"Horizontal distance from the centerline of the end effector (and the joints "
+"2 and 3 axis) and the tooltip. Zero means the tooltip is on the "
+"centerline. Non-zero values should be positive, if negative they introduce a "
+"180 degree offset on the value of joint[3]."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:344
+#, no-wrap
+msgid "tripodkins - Tripod Kinematics"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:349
+msgid ""
+"The joints represent the distance of the controlled point from three "
+"predefined locations (the motors), giving three degrees of freedom in "
+"position (XYZ)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:350
+#, no-wrap
+msgid "*tripodkins.Bx*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:352
+#, no-wrap
+msgid "*tripodkins.Cx*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/kins.9.adoc:354
+#, no-wrap
+msgid "*tripodkins.Cy*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:356
+msgid "The location of the three motors is (0,0), (Bx,0), and (Cx,Cy)"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:357
+#, no-wrap
+msgid "xyzac-trt-kins - 5 Axis mill (Table Rotary/Tilting)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:364
+msgid ""
+"Tilting table (A) and horizontal rotary mounted to table (C axis) (5 Joints "
+"0:x,1:y,2:z,3:a,4:c) with provisions to switch between xyzac and trivkins "
+"kinematic types. The joint mapping can be altered with the coordinates "
+"parameter in the same way as supported by trivkins. (See switchkins "
+"documentation for more info)"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:365
+#, no-wrap
+msgid "xyzbc-trt-kins - 5 Axis mill (Table Rotary/Tilting)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:371
+msgid ""
+"(5 Joints 0:x,1:y,2:z,3:b,4:c) with provisions to switch between xyzbc and "
+"trivkins kinematic types. The joint mapping can be altered with the "
+"coordinates parameter in the same way as supported by trivkins. (See "
+"switchkins documentation for more info)"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/kins.9.adoc:372
+#, no-wrap
+msgid "5axiskins - 5 Axis bridge mill"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:378
+msgid ""
+"XYZBCW -- the W coordinate values (typically used for tool motion) are "
+"incorporated into XYZ positioning. (Only 5 joints are needed by the "
+"kinematics module but an additional joint is needed to display W "
+"values). (See switchkins documentation for more info)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:386
+msgid ""
+"By default, 5axiskins uses coordinates XYZBCW assigned consecutively to "
+"joints 0..5. The module coordinates parameter may be used to assign multiple "
+"joints to an axis letter and/or to assign joints to additional coordinates "
+"A,U,V with a one-to-one correspondence to the assigned joints. Example: "
+"XYZBCWYV (8 joints total numbered 0..7) uses two joints for Y (joints 1,6) "
+"and adds an additional coordinate V that has a one-to-one relation to joint "
+"7."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:390
+msgid ""
+"Note: These kinematics may be used with the vismach 5axisgui providing that "
+"the joint-letter assignments agree with the default ordering expected by it "
+"(XYZBCW -> joints 0..5)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:394
+msgid "For additional information, see the Documents 'Advanced Topics':"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:396
+#, no-wrap
+msgid "*Kinematics*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:398
+#, no-wrap
+msgid "*5-Axis Kinematics*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:400
+#, no-wrap
+msgid "*Switchable Kinematics*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:402
+msgid "_Kinematics_ section in the LinuxCNC documentation"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/kins.9.adoc:406
+msgid ""
+"The HAL component *userkins.comp* is a template for making kinematic modules "
+"using the halcompile tool. The unmodified template supports an identity xyz "
+"configuration that uses 3 joints.  See *userkins*(9) for more info."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/lcd.9.adoc:1
+#, no-wrap
+msgid "lcd(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:6
+msgid "lcd - Stream HAL data to an LCD screen"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:10
+#, no-wrap
+msgid ""
+"*loadrt lcd fmt_strings=\"\"Plain Text %4.4f\\nAnd So on|Second Page, Next "
+"Inst\"\"*\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lcd.9.adoc:13
+#, no-wrap
+msgid "*lcd* (requires a floating-point thread)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:15
+msgid "All LCD instances are updated by the same function."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lcd.9.adoc:18
+#, no-wrap
+msgid "**lcd.**_NN_**.out** (u32) out*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:21
+msgid ""
+"The output byte stream is sent via this pin. One character is sent every "
+"thread invocation. There in no handshaking provided."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lcd.9.adoc:21
+#, no-wrap
+msgid "**lcd.**_NN_**.page.**_PP._**arg.**_NN_ (float/s32/u32/bit) in*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:23
+msgid "The input pins have types matched to the format string specifiers."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lcd.9.adoc:23
+#, no-wrap
+msgid "**lcd.**_NN_**.page_num** (u32) in*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:26
+msgid ""
+"Selects the page number. Multiple layouts may be defined, and this pin "
+"switches between them."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lcd.9.adoc:26
+#, no-wrap
+msgid "**lcd.**_NN_**.contrast** (float) in*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:30
+msgid ""
+"Attempts to set the contrast of the LCD screen using the byte sequence ESC C "
+"and then a value from 0x20 to 0xBF (matching the Mesa 7I73).  The value "
+"should be between 0 and 1."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lcd.9.adoc:33
+#, no-wrap
+msgid "*lcd._NN_*.decimal-separator* (u32) rw*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:37
+msgid ""
+"Sets the decimal separator used for floating point numbers. The default "
+"value is 46 (0x2E) which corresponds to \".\". If a comma is required then "
+"set this parameter to 44 (0x2C)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:42
+#, no-wrap
+msgid ""
+"*lcd* takes format strings much like those used in C and many other\n"
+"languages in the printf and scanf functions and their variants.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:51
+msgid ""
+"The component was written specifically to support the Mesa 7I73 pendant "
+"controller, however, it may be of use streaming data to other character "
+"devices and, as the output format mimics the ADM3 terminal format, it could "
+"be used to stream data to a serial device. Perhaps even a genuine ADM3. The "
+"strings contain a mixture of text values (which are displayed directly), "
+"\"escaped\" formatting codes and numerical format descriptors.  For a "
+"detailed description of formatting codes see: "
+"https://en.wikipedia.org/wiki/Printf ."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:54
+msgid ""
+"The component can be configured to display an unlimited number of "
+"differently-formatted pages, which may be selected with a HAL pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lcd.9.adoc:55
+#, no-wrap
+msgid "*Escaped codes*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:61
+msgid ""
+"`\\n` Inserts a clear-to-end, carriage return and line feed character.  This "
+"will still linefeed and clear even if an automatic wrap has occurred (lcd "
+"has no knowledge of the width of the lcd display).  To print in the "
+"rightmost column it is necessary to allow the format to wrap and omit the "
+"`\\n` code."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:64
+msgid ""
+"`\\t` Inserts a tab (actually 4 spaces in the current version rather than a "
+"true tab.)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:68
+msgid ""
+"`\\`__NN__ inserts the character defined by the hexadecimal code __NN__.  As "
+"the ',' character is used in the format string to separate LCD instances it "
+"must be represented by `\\2C` in the format string (the decimal separator is "
+"handled differently)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:70
+msgid "`\\\\` Inserts a literal `\\`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lcd.9.adoc:71
+#, no-wrap
+msgid "*Numerical formats*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:78
+#, no-wrap
+msgid ""
+"*lcd* differs slightly from the standard printf conventions. One\n"
+"significant difference is that width limits are strictly enforced to\n"
+"prevent the LCD display wrapping and spoiling the layout. The field\n"
+"width includes the sign character so that negative numbers will often\n"
+"have a smaller valid range than positive. Numbers that do not fit in\n"
+"the specified width are displayed as a line of asterisks (**********).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:81
+msgid ""
+"Each format begins with a \"`%`\" symbol. (For a literal `%` use \"`%%`\").  "
+"Immediately after the % the following modifiers may be used:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:84
+msgid ""
+"  \" \" (space) Pad the number to the specified width with spaces. This is "
+"the default and is not strictly necessary."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:86
+msgid "  \"0\" Pad the number to the specified width with the numeral 0."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:88
+msgid "  \"+\" Force display of a + symbol before positive numbers. This (like the"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:91
+msgid ""
+"sign) will appear immediately to the left of the digits for a space-padded "
+"number and in the extreme left position for a 0-padded number."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:99
+msgid ""
+"  \"1234567890\" A numerical entry (other than the leading 0 above) defines "
+"the total number of characters to display including the decimal separator "
+"and the sign. Whilst this number can be as many digits as required, the "
+"maximum field width is 20 characters. The inherent precision of the "
+"\"double\" data type means that more than 14 digits will tend to show errors "
+"in the least significant digits. The integer data types will never fill more "
+"than 10 decimal digits."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:105
+msgid ""
+"  Following the width specifier should be the decimal specifier. This can "
+"only be a full-stop character (.) as the comma (,) is used as the instance "
+"separator. Currently lcd does not access the locale information to determine "
+"the correct separator but the *decimal-separator* HAL parameter can be used "
+"to choose any desired separator."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:109
+msgid ""
+"  Following the decimal separator should be a number that determines how "
+"many places of decimals to display. This entry is ignored in the case of "
+"integer formats."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:113
+msgid ""
+"All the above modifiers are optional, but to specify a decimal precision the "
+"decimal point must precede the precision, e.g., as in \"%.3f\". The default "
+"decimal precision is 4."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:115
+msgid "The numerical formats supported are:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:123
+#, no-wrap
+msgid ""
+"*%f %F* (for example, %+09.3f): These create a floating-point type HAL\n"
+"pin. The example would be displayed in a 9-character field, with 3\n"
+"places of decimals, as a decimal separator, padded to the left with 0s\n"
+"and with a sign displayed for both positive and negative. Conversely a\n"
+"plain %f would be 6 digits of decimal, variable format width, with a\n"
+"sign only shown for negative numbers. Both %f and %F create exactly the\n"
+"same format.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:128
+#, no-wrap
+msgid ""
+"*%i %d* (For example %+ 4d): Creates a signed (s32) HAL pin. The example\n"
+"would display the value at a fixed 4 characters, space padded, width\n"
+"including the \"+\" giving a range of +999 to -999. %i and %d create\n"
+"identical output.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:131
+#, no-wrap
+msgid ""
+"*%u* (for example %08u): Creates an unsigned (u32) HAL pin. The example\n"
+"would be a fixed 8 characters wide, padded with zeros.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:136
+#, no-wrap
+msgid ""
+"*%x, %X*: Creates an unsigned (u32) HAL pin and displays the value in\n"
+"Hexadecimal. Both %x and %X display capital letters for digits ABCDEF. A\n"
+"width may be specified, though the u32 HAL type is only 8 hex digits\n"
+"wide.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:139
+#, no-wrap
+msgid ""
+"*%o*: Creates an unsigned (u32) pin and displays the value in octal\n"
+"representation.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:144
+#, no-wrap
+msgid ""
+"*%c*: Creates a u32 HAL pin and displays the character corresponding to\n"
+"the value of the pin. Values less than 32 (space) are suppressed. A\n"
+"width specifier may be used, for example %20c might be used to create a\n"
+"complete line of one character.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:154
+#, no-wrap
+msgid ""
+"*%b*: This specifier has no equivalent in printf. It creates a bit\n"
+"(boolean) type HAL pin. The b should be followed by two characters and\n"
+"the display will show the first of these when the pin is true, and the\n"
+"second when false. Note that the characters follow, not precede the \"b\",\n"
+"unlike the case with other formats. The characters may be \"escaped\" Hex\n"
+"values. For example \"%b\\FF \" will display a solid black block if true,\n"
+"and a space if false and \"%b\\7F\\7E\" would display right-arrow for "
+"false\n"
+"and left-arrow for true. An unexpected value of 'E' indicates a\n"
+"formatting error.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:158
+#, no-wrap
+msgid ""
+"*Pages*: The page separator is the \"|\" (pipe) character (if the actual\n"
+"character is needed then \\7C may be used). A \"Page\" in this context\n"
+"refers to a separate format which may be displayed on the same display.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lcd.9.adoc:164
+#, no-wrap
+msgid ""
+"*Instances*: The instance separator is the comma. This creates a\n"
+"completely separate lcd instance, for example to drive a second lcd\n"
+"display on the second 7I73. The use of comma to separate instances is\n"
+"built in to the modparam reading code so not even escaped commas \"\\,\"\n"
+"can be used. A comma may be displayed by using the \\2C sequence.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/lineardeltakins.9.adoc:1
+#, no-wrap
+msgid "lineardeltakins(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:6
+msgid "lineardeltakins - Kinematics for a linear delta robot"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:10
+#, no-wrap
+msgid "*loadrt lineardeltakins*\n"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/lineardeltakins.9.adoc:11 src/man/man9/rosekins.9.adoc:11
+#, no-wrap
+msgid "KINEMATICS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:18
+msgid ""
+"The kinematics model is appropriate for a rostock/kossel-style design with "
+"three joints arranged in an equilateral triangle. (0,0) is always the center "
+"of the working volume. Joint 0 is at (0,R) and subsequent joints are 120 "
+"degrees clockwise (note that joint 0 is not at zero radians). The length of "
+"the arm is _L_."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:22
+msgid ""
+"Joints 0-2 are the linear carriages. Axes ABC and UVW are passed through "
+"unchanged in joints 3-8, so that e.g., A can still be used to control an "
+"extruder."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lineardeltakins.9.adoc:25
+#, no-wrap
+msgid "*lineardeltakins.R* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:27
+msgid "Effective diameter of the platform."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:31
+msgid ""
+"The radius R is different than the distance from the center of the table to "
+"the center of the belt/smooth rod/extrusion that the joints ride on. In "
+"RepRap delta parlance, R is DELTA_RADIUS which is computed as"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:33
+msgid "DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/lineardeltakins.9.adoc:34
+#, no-wrap
+msgid "*lineardeltakins.L* float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:37
+msgid ""
+"Length of the rod connecting the carriage to the effector. In RepRap delta "
+"parlance, L is DELTA_DIAGONAL_ROD."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/lineardeltakins.9.adoc:43
+msgid ""
+"The R and L values can be adjusted while LinuxCNC is running. However, doing "
+"so while in coordinated mode will lead to a step change in joint position, "
+"which generally will trigger a following error if in joint mode with machine "
+"on."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/motion.9.adoc:1
+#, no-wrap
+msgid "motion(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:6
+msgid "motion, axis - accepts NML motion commands, interacts with HAL in realtime"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:10
+#, no-wrap
+msgid ""
+"**loadrt motmod** [**base_period_nsec=**_period_] [**base_thread_fp=**_0 or "
+"1_] [**servo_period_nsec=**_period_] [**traj_period_nsec=**_period_] "
+"[**num_joints=**_[1-16]_] [**num_dio=**_[1-64]_ | "
+"**names_dout=**_name_[,...] **names_din=**_name_[,...]] "
+"[**num_aio=**_[1-64]_ | **names_aout=**_name_[,...] "
+"__names_ain=_*_name_[,...]] [**num_misc_error=**_[0-64]_] "
+"[**num_spindles=**_[1-8]_] [**unlock_joints_mask=**_jointmask_] "
+"[**num_extrajoints=**_[0-16]_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:12
+msgid "The limits for the following items are compile-time settings:"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:13
+#, no-wrap
+msgid "*num_joints*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:14
+msgid "Maximum number of joints is set by *EMCMOT_MAX_JOINTS*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:15
+#, no-wrap
+msgid "*num_dio*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:17
+msgid ""
+"Maximum number of digital IO pins is set by *EMCMOT_MAX_DIO*.  Minimum is 1, "
+"if *num_dio* is not specified, it defaults to *DEFAULT_DIO*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:18
+#, no-wrap
+msgid "*names_dout*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:25
+msgid ""
+"A comma-separated list of names for digital output pins.  This parameter is "
+"mutually exclusive with *num_dio*, but can be combined with *names_din*. A "
+"maximum of *EMCMOT_MAX_DIO* names can be specified. The default digital "
+"output pin has names like *motion.digital-out-00* whereas "
+"*names_dout=*_is-homing-x,is-homing-y_ will create the HAL pins "
+"*motion.dout-is-homing-x* and *motion.dout-is-homing-y*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:26
+#, no-wrap
+msgid "*names_din*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:32
+msgid ""
+"A comma-separated list of names for digital input pins.  This parameter is "
+"mutually exclusive with *num_dio*, but can be combined with *names_dout*. A "
+"maximum of *EMCMOT_MAX_DIO* names can be specified. The default digital "
+"input pin has names like *motion.digital-in-00* whereas "
+"*names_din=*_homed-x,homed-y_ will create the HAL pins *motion.din-homed-x* "
+"and *motion.din-homed-y*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:33
+#, no-wrap
+msgid "*num_aio*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:36
+#, no-wrap
+msgid ""
+"Maximum number of analog IO pins is set by\n"
+"*EMCMOT_MAX_AIO*.\n"
+"  Minimum is 1, if *num_aio* is not specified, it defaults to "
+"*DEFAULT_AIO*.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:37
+#, no-wrap
+msgid "*names_aout*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:44
+msgid ""
+"A comma-separated list of names for analog output pins.  This parameter is "
+"mutually exclusive with *num_aio*, but can be combined with *names_ain*. A "
+"maximum of *EMCMOT_MAX_AIO* names can be specified. The default analog "
+"output pin has names like *motion.analog-out-00* whereas "
+"*names_aout=*_feedrate1,feedrate2_ will create the HAL pins "
+"*motion.aout-feedrate1* and *motion.aout-feedrate2*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:45
+#, no-wrap
+msgid "*names_ain*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:51
+msgid ""
+"A comma-separated list of names for analog input pins.  This parameter is "
+"mutually exclusive with *num_aio*, but can be combined with *names_aout*. A "
+"maximum of *EMCMOT_MAX_AIO* names can be specified. The default analog input "
+"pin has names like *motion.analog-in-00* whereas *names_ain=*_proxy1,proxy2_ "
+"will create the HAL pins *motion.ain-proxy1* and *motion.ain-proxy2*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:52
+#, no-wrap
+msgid "*num_misc_error*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:54
+msgid "Maximum number of extra error inputs is set by *EMCMOT_MAX_MISC_ERRORS*.  +"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:56
+#, no-wrap
+msgid "*names_misc_errors*: A comma-separated list of names for extra error\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:56
+#, no-wrap
+msgid "inputs."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:62
+msgid ""
+"This parameter is mutually exclusive with num_misc_error. If using "
+"num_misc_error the additional error input pins will have names like "
+"*motion.misc-error-00* whereas *names_misc_errors=overtemp,undertemp* will "
+"create hal pins *motion.err-overtemp* and *motion.err-undertemp*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:63 src/man/man9/motion.9.adoc:66
+#, no-wrap
+msgid "*num_spindles*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:65
+msgid "Maximum number of spindles is set by EMCMOT_MAX_SPINDLES.  +"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:67
+msgid "Maximum number of spindles is set by *EMCMOT_MAX_SPINDLES*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:70
+msgid ""
+"Pin names starting with \"*joint*\" or \"*axis*\" are read and updated by "
+"the motion-controller function."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:77
+msgid ""
+"By default, the base thread does not support floating point. Software "
+"stepping, software encoder counting, and software pwm do not use floating "
+"point.  *base_thread_fp* can be used to enable floating point in the base "
+"thread (for example for brushless DC motor control)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:83
+msgid ""
+"These pins and parameters are created by the realtime *motmod* module.  This "
+"module provides a HAL interface for LinuxCNC's motion planner.  Basically "
+"*motmod* takes in a list of waypoints and generates a nice blended and "
+"constraint-limited stream of joint positions to be fed to the motor drives."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:91
+msgid ""
+"The optional *num_extrajoints* parameter specifies a quantity of joints that "
+"participate in homing but are not used by kinematics transformations. After "
+"homing, control of an 'extra' joint is transferred to a posthome command HAL "
+"pin (joint.N.posthome-cmd) and the motor feedback value is ignored. 'Extra' "
+"joints must be managed by independent motion planners/controllers (typically "
+"using limit3 HAL components). Extra joints maybe unhomed only when motion is "
+"disabled."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:97
+msgid ""
+"The maximum *num_extrajoints* value is equal to the *num_joints* value.  "
+"(Note that using the maximum value would allow no operation in world "
+"coordinates). The *num_joints* value must be equal to the sum of the number "
+"of joints used for kinematics calculations plus the number of 'extra' "
+"joints."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:107
+msgid ""
+"The *num_joints* parameter is conventionally set using the INI file setting "
+"**[KINS]JOINTS=**value. The *num_extrajoints* is set by the additional "
+"motmod parameter **[EMCMOT]motmod num_extrajoints=**value.  HAL pin "
+"numbering for all joints is zero based [*0 ... num_joints-1*].  When "
+"specified, 'extra' joints are assigned the last *num_extrajoints* in the "
+"numbering sequence. For example, specifying [KINS]JOINTS=5 and "
+"[EMCMOT]motmod num_extrajoints=2 for a 3 joint trivkins configuration "
+"*[KINS] KINEMATICS=trivkins coordinates=xyz* uses joints 0,1,2 for the "
+"kinematic joints and joints 3,4 for the 'extra' joints."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:116
+msgid ""
+"An equal number of digital or analog IO pins will always be created. For "
+"example, if *names_din* is specified with two pins, two named input and two "
+"default named output pins will be created. In cases where *names_dout* is "
+"specified with two pins and *names_din* with three pins, two named output "
+"and one default named output pin will be created, along with three named "
+"input pins. This principle applies independently to digital and analog IO "
+"pins, allowing for scenarios such as having three digital pins and two "
+"analog pins."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/motion.9.adoc:117
+#, no-wrap
+msgid "MOTION PINS"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:119
+#, no-wrap
+msgid "*motion-command-handler.time* OUT S32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:121
+msgid "Time (in CPU clocks) for the motion module motion-command-handler"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:121
+#, no-wrap
+msgid "*motion-controller.time* OUT S32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:123
+msgid "Time (in CPU clocks) for the motion module motion-controller"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:123
+#, no-wrap
+msgid "*motion.adaptive-feed* IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:128
+msgid ""
+"When adaptive feed is enabled with M52 P1, the commanded velocity is "
+"multiplied by this value. This effect is multiplicative with the NML-level "
+"feed override value and motion.feed-hold. Negative values are valid and will "
+"run the G-code path in reverse."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:128
+#, no-wrap
+msgid "**motion.analog-in-**_NN_ IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:130
+msgid "These pins are used by M66 Enn wait-for-input mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:130
+#, no-wrap
+msgid "**motion.analog-out-**_NN_ OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:132
+msgid "These pins are used by M67-68."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:132
+#, no-wrap
+msgid "*motion.coord-error* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:134
+msgid "TRUE when motion has encountered an error, such as exceeding a soft limit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:134
+#, no-wrap
+msgid "*motion.coord-mode* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:136
+msgid "TRUE when motion is in \"coordinated mode\", as opposed to \"teleop mode\""
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:136
+#, no-wrap
+msgid "*motion.current-vel* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:138
+msgid "Current cartesian velocity"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:138
+#, no-wrap
+msgid "**motion.digital-in-**_NN_ IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:140
+msgid "These pins are used by M66 Pnn wait-for-input mode."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:140
+#, no-wrap
+msgid "**motion.digital-out-**_NN_ OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:142
+msgid "These pins are controlled by the M62 through M65 words."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:142
+#, no-wrap
+msgid "*motion.distance-to-go* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:144
+msgid "Distance remaining in the current move"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:144
+#, no-wrap
+msgid "*motion.enable* IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:148
+msgid ""
+"If this bit is driven FALSE, motion stops, the machine is placed in the "
+"\"machine off\" state, and a message is displayed for the operator.  For "
+"normal motion, drive this bit TRUE."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:148
+#, no-wrap
+msgid "*motion.eoffset-active* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:150
+msgid "Indicates external offsets are active (non-zero)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:150
+#, no-wrap
+msgid "*motion.eoffset-limited* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:153
+msgid ""
+"Indicates motion with external offsets was limited by a soft limit "
+"constraint ([AXIS_L]MIN_LIMIT,MAX_LIMIT)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:153
+#, no-wrap
+msgid "*motion.feed-hold* IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:156
+msgid ""
+"When Feed Stop Control is enabled with M53 P1, and this bit is TRUE, the "
+"feed rate is set to 0."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:158
+msgid "Note: feed-hold applies to G-code commands -- not jogs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:159
+#, no-wrap
+msgid "*motion.feed-inhibit* IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:161
+msgid "When this pin is TRUE, machine motion is inhibited for G-code commands."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:166
+msgid ""
+"If the machine is performing a spindle synchronized move when this pin goes "
+"TRUE, the spindle synchronized motion will finish, and any following moves "
+"will be inhibited (this is to prevent damage to the machine, the tool, or "
+"the work piece)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:170
+msgid ""
+"If the machine is in the middle of a (non-spindle synchronized) move when "
+"this pin goes TRUE, the machine will decelerate to a stop at the maximum "
+"allowed acceleration rate."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:172
+msgid "Motion resumes when this pin goes FALSE."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:174
+msgid "Note: feed-inhibit applies to G-code commands -- not jogs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:175
+#, no-wrap
+msgid "*motion.feed-upm* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:183
+msgid ""
+"Current feed rate in G-code program units per minute for motion.motion-type "
+"feed(2) and arc(3). Value is the G-code program F value multiplied by the "
+"current feed override value and the motion.adaptive-feed setting (if M52 "
+"active). Value is zero if motion.feed-hold or motion.feed-inhibit are "
+"asserted. If units (G20 or G21) are not specified in the G-code file then "
+"units will be the last units used."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:183
+#, no-wrap
+msgid "*motion.feed-inches-per-minute* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:189
+msgid ""
+"Current feed rate in inches per minute for motion.motion-type feed(2)  and "
+"arc(3). Value is the inch equivalent of the G-code program F value "
+"multiplied by the current feed override value and the motion.adaptive-feed "
+"setting (if M52 active). Value is zero if motion.feed-hold or "
+"motion.feed-inhibit are asserted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:189
+#, no-wrap
+msgid "*motion.feed-inches-per-second* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:195
+msgid ""
+"Current feed rate in inches per second for motion.motion-type feed(2)  and "
+"arc(3). Value is the inch equivalent of the G-code program F value "
+"multiplied by the current feed override value and the motion.adaptive-feed "
+"setting (if M52 active). Value is zero if motion.feed-hold or "
+"motion.feed-inhibit are asserted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:195
+#, no-wrap
+msgid "*motion.feed-mm-per-minute* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:201
+msgid ""
+"Current feed rate in mm per minute for motion.motion-type feed(2) and "
+"arc(3). Value is the mm equivalent of the G-code program F value multiplied "
+"by the current feed override value and the motion.adaptive-feed setting (if "
+"M52 active). Value is zero if motion.feed-hold or motion.feed-inhibit are "
+"asserted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:201
+#, no-wrap
+msgid "*motion.feed-mm-per-second* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:207
+msgid ""
+"Current feed rate in mm per second for motion.motion-type feed(2) and "
+"arc(3). Value is the mm equivalent of the G-code program F value multiplied "
+"by the current feed override value and the motion.adaptive-feed setting (if "
+"M52 active). Value is zero if motion.feed-hold or motion.feed-inhibit are "
+"asserted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:207
+#, no-wrap
+msgid "*motion.homing-inhibit* IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:211
+msgid ""
+"If this bit is TRUE, initiation of any joint homing move (including \"Home "
+"All\") is disallowed and an error is reported. By default, homing is allowed "
+"in joint mode whenever motion is enabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:211
+#, no-wrap
+msgid "*motion.is-all-homed* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:213
+msgid "TRUE if all active joints is homed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:213
+#, no-wrap
+msgid "*motion.jog-inhibit* IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:216
+msgid ""
+"If this bit is TRUE, jogging of any joint or axis is disallowed and an error "
+"is reported."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:216
+#, no-wrap
+msgid "*motion.jog-stop* IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:219
+msgid ""
+"If any jog is active when the pin state changes to TRUE then that jog will "
+"be stopped following the associated acceleration values."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:219
+#, no-wrap
+msgid "*motion.jog-stop-immediate* IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:222
+msgid ""
+"If any jog is active when the pin state changes to TRUE then that jog will "
+"be stopped immediately."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:222
+#, no-wrap
+msgid "*motion.jog-is-active* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:224
+msgid "TRUE if any joint or axis is jogging."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:224
+#, no-wrap
+msgid "*motion.in-position* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:227
+msgid ""
+"TRUE if the machine is in position (ie, not currently moving towards the "
+"commanded position)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:227
+#, no-wrap
+msgid "**motion.misc-error-**_NN_ IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:231
+msgid ""
+"Extra error inputs for faults such as over-temperature sensors, low coolant "
+"warnings, custom HAL component errors. If driven TRUE this will disable a "
+"machine. Similar to spindle.amp-fault-in."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:231
+#, no-wrap
+msgid "*motion.motion-enabled* OUT BIT"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:232
+#, no-wrap
+msgid "*motion.motion-type* OUT S32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:237
+msgid ""
+"These values are from src/emc/nml_intf/motion_types.h.  + ____ 0: Idle (no "
+"motion)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:250
+msgid "6: Rotary unlock for traverse ____"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:251
+#, no-wrap
+msgid "*motion.on-soft-limit* OUT BIT"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:252
+#, no-wrap
+msgid "*motion.probe-input* IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:256
+msgid ""
+"G38.n uses the value on this pin to determine when the probe has made "
+"contact. TRUE for probe contact closed (touching), FALSE for probe contact "
+"open."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:256
+#, no-wrap
+msgid "*motion.program-line* OUT S32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:259
+msgid ""
+"The current program line while executing. Zero if not running or between "
+"lines while single stepping."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:259
+#, no-wrap
+msgid "*motion.requested-vel* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:264
+msgid ""
+"The current requested velocity in user units per second. This value is the "
+"F-word setting from the G-code file, possibly reduced to accommodate machine "
+"velocity and acceleration limits. The value on this pin does not reflect the "
+"feed override or any other adjustments."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:264
+#, no-wrap
+msgid "*motion.servo.last-period* OUT U32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:269
+msgid ""
+"The number of CPU clocks between invocations of the servo thread.  "
+"Typically, this number divided by the CPU speed gives the time in seconds, "
+"and can be used to determine whether the realtime motion controller is "
+"meeting its timing constraints"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:269
+#, no-wrap
+msgid "*motion.switchkins-type* IN float"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:275
+msgid ""
+"Kinematics modules that define the functions kinematicsSwitchable()  and "
+"kinematicsSwitch() receive the *integer* value of this pin to select the "
+"machine kinematics functions. Extra G-code commands may be required to "
+"synchronize task and motion before and after changes to the pin value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:275
+#, no-wrap
+msgid "*motion.teleop-mode* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:277
+msgid "Motion mode is teleop (axis coordinate jogging available)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:277
+#, no-wrap
+msgid "*motion.tooloffset.L* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:280
+msgid ""
+"Current tool offset for each axis where (*L* is the axis letter, one of: *x "
+"y z a b c u v w*)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:280
+#, no-wrap
+msgid "*motion.tp-reverse* OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:282
+msgid "Trajectory planning is reversed (reverse run)"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/motion.9.adoc:283
+#, no-wrap
+msgid "AXIS PINS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:286
+msgid "(*L* is the axis letter, one of: *x y z a b c u v w*)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:287
+#, no-wrap
+msgid "**axis.**_L_**.eoffset** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:289
+msgid "Current external offset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:289
+#, no-wrap
+msgid "**axis.**_L_**.eoffset-clear** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:291
+msgid "Clear external offset request"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:291
+#, no-wrap
+msgid "**axis.**_L_**.eoffset-counts** IN S32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:298
+msgid ""
+"Counts input for external offset. The eoffset-counts are transferred to an "
+"internal register. The applied external offset is the product of the "
+"register counts and the eoffset-scale value. The register is *reset to zero "
+"at each machine startup*. If the machine is turned off with an external "
+"offset active, the eoffset-counts pin should be set to zero before "
+"restarting."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:298
+#, no-wrap
+msgid "**axis.**_L_**.eoffset-enable** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:300
+msgid ""
+"Enable for external offset (also requires INI file setting for "
+"[AXIS_L]OFFSET_AV_RATIO)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:300
+#, no-wrap
+msgid "**axis.**_L_**.eoffset-request** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:302
+msgid "Debug pin for requested external offset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:302
+#, no-wrap
+msgid "**axis.**_L_**.eoffset-scale** IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:304
+msgid "Scale for external offset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:304
+#, no-wrap
+msgid "**axis.**_L_**.jog-accel-fraction** IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:308
+msgid ""
+"Sets acceleration for wheel jogging to a fraction of the INI "
+"max_acceleration for the axis. Values greater than 1 or less than zero are "
+"ignored."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:308
+#, no-wrap
+msgid "**axis.**_L_**.jog-counts** IN S32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:310 src/man/man9/motion.9.adoc:396
+msgid ""
+"Connect to the \"counts\" pin of an external encoder to use a physical jog "
+"wheel."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:310
+#, no-wrap
+msgid "**axis.**_L_**.jog-enable** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:313
+msgid ""
+"When TRUE (and in manual mode), any change to \"jog-counts\" will result in "
+"motion.  When false, \"jog-counts\" is ignored."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:313
+#, no-wrap
+msgid "**axis.**_L_**.jog-scale** IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:316 src/man/man9/motion.9.adoc:401
+msgid "Sets the distance moved for each count on \"jog-counts\", in machine units."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:316
+#, no-wrap
+msgid "**axis.**_L_**.jog-vel-mode** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:322
+msgid ""
+"When FALSE (the default), the jogwheel operates in position mode. The axis "
+"will move exactly jog-scale units for each count, regardless of how long "
+"that might take. When TRUE, the wheel operates in velocity mode - motion "
+"stops when the wheel stops, even if that means the commanded motion is not "
+"completed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:322
+#, no-wrap
+msgid "**axis.**_L_**.kb-jog-active** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:324
+msgid "(free planner axis jogging active (keyboard or halui))"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:324
+#, no-wrap
+msgid "**axis.**_L_**.pos-cmd** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:329
+msgid ""
+"The axis commanded position. There may be several offsets between the axis "
+"and motor coordinates: backlash compensation, screw error compensation, and "
+"home offsets. External offsets are reported separately (axis.*L*.eoffset)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:329
+#, no-wrap
+msgid "**axis.**_L_**.teleop-pos-cmd** OUT FLOAT"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:330
+#, no-wrap
+msgid "**axis.**_L_**.teleop-tp-enable** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:332
+msgid "TRUE when the \"teleop planner\" is enabled for this axis."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:332
+#, no-wrap
+msgid "**axis.**_L_**.teleop-vel-cmd* OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:334
+msgid "The axis's commanded velocity."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:334
+#, no-wrap
+msgid "**axis.**_L_**.teleop-vel-lim** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:336
+msgid "The velocity limit for the teleop planner."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:336
+#, no-wrap
+msgid "**axis.**_L_**.wheel-jog-active** OUT BIT"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/motion.9.adoc:338
+#, no-wrap
+msgid "JOINT PINS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:341
+msgid "_N_ is the joint number (0 ... _num_joints_-1))"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:343
+msgid ""
+"Note: Pins marked *(DEBUG)* serve as debugging aids and are subject to "
+"change or removal at any time."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:344
+#, no-wrap
+msgid "**joint.**_N_**.acc-cmd** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:346
+msgid "The joint's commanded acceleration."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:346
+#, no-wrap
+msgid "**joint.**_N_**.active** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:348
+msgid "TRUE when this joint is active."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:348
+#, no-wrap
+msgid "**joint.**_N_**.amp-enable-out** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:350
+msgid "TRUE if the amplifier for this joint should be enabled."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:350
+#, no-wrap
+msgid "**joint.**_N_**.amp-fault-in** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:353
+msgid ""
+"Should be driven TRUE if an external fault is detected with the amplifier "
+"for this joint."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:353
+#, no-wrap
+msgid "**joint.**_N_**.backlash-corr** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:355
+msgid "Backlash or screw compensation raw value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:355
+#, no-wrap
+msgid "**joint.**_N_**.backlash-filt** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:358
+msgid "Backlash or screw compensation filtered value (respecting motion limits)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:358
+#, no-wrap
+msgid "**joint.**_N_**.backlash-vel** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:360
+msgid "Backlash or screw compensation velocity."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:360
+#, no-wrap
+msgid "**joint.**_N_**.coarse-pos-cmd** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:361
+#, no-wrap
+msgid "**joint.**_N_**.error** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:363
+msgid ""
+"TRUE when t*his joint has encountered an error, such as a limit switch "
+"closing."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:363
+#, no-wrap
+msgid "**joint.**_N_**.f-error** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:365
+msgid "The actual following error."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:365
+#, no-wrap
+msgid "**joint.**_N_**.f-error-lim** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:367
+msgid "The following error limit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:367
+#, no-wrap
+msgid "**joint.**_N_**.f-errored** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:369
+msgid "TRUE when this joint has exceeded the following error limit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:369
+#, no-wrap
+msgid "**joint.**_N_**.faulted** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:370
+#, no-wrap
+msgid "**joint.**_N_**.free-pos-cmd** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:372
+msgid "The \"free planner\" commanded position for this joint."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:372
+#, no-wrap
+msgid "**joint.**_N_**.free-tp-enable** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:374
+msgid "TRUE when the \"free planner\" is enabled for this joint."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:374
+#, no-wrap
+msgid "**joint.**_N_**.free-vel-lim** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:376
+msgid "The velocity limit for the free planner."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:376
+#, no-wrap
+msgid "**joint.**_N_**.home-state** OUT S32 *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:378
+msgid "homing state machine state"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:378
+#, no-wrap
+msgid "**joint.**_N_**.home-sw-in** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:380
+msgid "Should be driven TRUE if the home switch for this joint is closed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:380
+#, no-wrap
+msgid "**joint.**_N_**.homed** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:382
+msgid "TRUE if the joint has been homed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:382
+#, no-wrap
+msgid "**joint.**_N_**.homing** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:384
+msgid "TRUE if the joint is currently homing."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:384
+#, no-wrap
+msgid "**joint.**_N_**.in-position** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:386
+msgid "TRUE if the joint is using the \"free planner\" and has come to a stop."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:386
+#, no-wrap
+msgid "**joint.**_N_**.index-enable** IO BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:388
+msgid ""
+"Should be attached to the index-enable pin of the joint's encoder to enable "
+"homing to index pulse."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:388
+#, no-wrap
+msgid "**joint.**_N_**.is-unlocked** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:390
+msgid "Indicates joint is unlocked (see JOINT UNLOCK PINS)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:390
+#, no-wrap
+msgid "**joint.**_N_**.jog-accel-fraction** IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:394
+msgid ""
+"Sets acceleration for wheel jogging to a fraction of the INI "
+"max_acceleration for the joint. Values greater than 1 or less than zero are "
+"ignored."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:394
+#, no-wrap
+msgid "**joint.**_N_**.jog-counts** IN S32"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:396
+#, no-wrap
+msgid "**joint.**_N_**.jog-enable** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:399
+msgid ""
+"When TRUE (and in manual mode), any change to \"jog-counts\" will result in "
+"motion. When false, \"jog-counts\" is ignored."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:399
+#, no-wrap
+msgid "**joint.**_N_**.jog-scale** IN FLOAT"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:401
+#, no-wrap
+msgid "**joint.**_N_**.jog-vel-mode** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:407
+msgid ""
+"When FALSE (the default), the jogwheel operates in position mode. The joint "
+"will move exactly jog-scale units for each count, regardless of how long "
+"that might take. When TRUE, the wheel operates in velocity mode - motion "
+"stops when the wheel stops, even if that means the commanded motion is not "
+"completed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:407
+#, no-wrap
+msgid "**joint.**_N_**.kb-jog-active** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:409
+msgid "(free planner joint jogging active (keyboard or halui))"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:409
+#, no-wrap
+msgid "**joint.**_N_**.motor-offset** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:411
+msgid "joint motor offset established when joint is homed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:411
+#, no-wrap
+msgid "**joint.**_N_**.motor-pos-cmd** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:413
+msgid "The commanded position for this joint."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:413
+#, no-wrap
+msgid "**joint.**_N_**.motor-pos-fb** IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:415
+msgid "The actual position for this joint."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:415
+#, no-wrap
+msgid "**joint.**_N_**.neg-hard-limit** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:417
+msgid "The negative hard limit for the joint"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:417
+#, no-wrap
+msgid "**joint.**_N_**.neg-lim-sw-in** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:419
+msgid ""
+"Should be driven TRUE if the negative limit switch for this joint is "
+"tripped."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:419
+#, no-wrap
+msgid "**joint.**_N_**.pos-cmd** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:423
+msgid ""
+"The joint (as opposed to motor) commanded position. There may be several "
+"offsets between the joint and motor coordinates: backlash compensation, "
+"screw error compensation, and home offsets."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:423
+#, no-wrap
+msgid "**joint.**_N_**.pos-fb** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:426
+msgid ""
+"The joint feedback position. This value is computed from the actual motor "
+"position minus joint offsets. Useful for machine visualization."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:426
+#, no-wrap
+msgid "**joint.**_N_**.pos-hard-limit** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:428
+msgid "The positive hard limit for the joint."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:428
+#, no-wrap
+msgid "**joint.**_N_**.pos-lim-sw-in** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:431
+msgid ""
+"Should be driven TRUE if the positive limit switch for this joint is "
+"tripped."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:431
+#, no-wrap
+msgid "**joint.**_N_**.unlock** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:434
+msgid ""
+"TRUE if the axis is a locked joint (typically a rotary) and a move is "
+"commanded (see JOINT UNLOCK PINS)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:434
+#, no-wrap
+msgid "**joint.**_N_**.vel-cmd** OUT FLOAT *(DEBUG)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:436
+msgid "The joint's commanded velocity."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:436
+#, no-wrap
+msgid "**joint.**_N_**.wheel-jog-active** OUT BIT *(DEBUG)*"
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/motion.9.adoc:438
+#, no-wrap
+msgid "JOINT posthome pins"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:443
+msgid ""
+"Each joint designated as an 'extra' joint is provided with a HAL pin "
+"**joint.**_N_**.posthome-cmd**.  The pin value is ignored prior to homing.  "
+"After homing, the pin value is augmented by the motor offset value and "
+"routed to the **joint.**_N_**.motor-pos-cmd**."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/motion.9.adoc:444
+#, no-wrap
+msgid "JOINT unlock pins"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:449
+msgid ""
+"The joint pins used for unlocking a joint (**joint.**_N_**.unlock**, "
+"**joint.**_N_**.is-unlocked**), are created according to the "
+"**unlock_joints_mask=**jointmask parameter for motmod.  These pins may be "
+"required for locking indexers (typically a rotary joint)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:451
+msgid "The jointmask bits are: (lsb)0:joint0, 1:joint1, 2:joint2, ..."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:453
+msgid ""
+"Example: loadrt motmod ... **unlock_joints_mask=**0x38 creates unlock pins "
+"for joints 3, 4, 5."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/motion.9.adoc:454
+#, no-wrap
+msgid "SPINDLE PINS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:457
+msgid "(*M* is the spindle number (*0* ... *num_spindles-1*))"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:458
+#, no-wrap
+msgid "**spindle.**_M_**.amp-fault-in** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:460
+msgid ""
+"Should be driven TRUE if an external fault is detected with the amplifier "
+"for this spindle."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:460
+#, no-wrap
+msgid "**spindle.**_M_**.at-speed** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:465
+msgid ""
+"Motion will pause until this pin is TRUE, under the following conditions: "
+"before the first feed move after each spindle start or speed change; before "
+"the start of every chain of spindle-synchronized moves; and if in CSS mode, "
+"at every rapid->feed transition."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:465
+#, no-wrap
+msgid "**spindle.**_M_**.brake** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:467
+msgid "TRUE when the spindle brake should be applied."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:467
+#, no-wrap
+msgid "**spindle.**_M_**.forward** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:469
+msgid "TRUE when the spindle should rotate forward."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:469
+#, no-wrap
+msgid "**spindle.**_M_**.index-enable** I/O BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:472
+msgid ""
+"For correct operation of spindle synchronized moves, this signal must be "
+"hooked to the index-enable pin of the spindle encoder."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:472
+#, no-wrap
+msgid "**spindle.**_M_**.inhibit** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:474
+msgid "When TRUE, the spindle speed is set and held to 0."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:474
+#, no-wrap
+msgid "**spindle.**_M_**.is-oriented** IN BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:479
+msgid ""
+"Acknowledge pin for spindle-orient. Completes orient cycle. If "
+"spindle-orient was true when spindle-is-oriented was asserted, the "
+"spindle-orient pin is cleared and the spindle-locked pin is asserted.  Also, "
+"the spindle-brake pin is asserted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:479
+#, no-wrap
+msgid "**spindle.**_M_**.locked** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:481
+msgid "Spindle orient complete pin. Cleared by any of M3, M4 or M5."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:481
+#, no-wrap
+msgid "**spindle.**_M_**.on** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:483
+msgid "TRUE when spindle should rotate."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:483
+#, no-wrap
+msgid "**spindle.**_M_**.orient** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:485
+msgid ""
+"Indicates start of spindle orient cycle. Set by M19. Cleared by any of M3, "
+"M4 or M5."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:488
+msgid ""
+"If spindle-orient-fault is not zero during spindle-orient true, the M19 "
+"command fails with an error message."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:489
+#, no-wrap
+msgid "**spindle.**_M_**.orient-angle** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:492
+msgid ""
+"Desired spindle orientation for M19. Value of the M19 R word parameter plus "
+"the value of the [RS274NGC]ORIENT_OFFSET INI parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:492
+#, no-wrap
+msgid "**spindle.**_M_**.orient-fault** IN S32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:495
+msgid ""
+"Fault code input for orient cycle.  Any value other than zero will cause the "
+"orient cycle to abort."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:495
+#, no-wrap
+msgid "**spindle.**_M_**.orient-mode** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:497
+msgid "Desired spindle rotation mode. Reflects M19 P parameter word."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:497
+#, no-wrap
+msgid "**spindle.**_M_**.reverse** OUT BIT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:499
+msgid "TRUE when the spindle should rotate backward."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:499
+#, no-wrap
+msgid "**spindle.**_M_**.revs** IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:502
+msgid ""
+"For correct operation of spindle synchronized moves, this signal must be "
+"hooked to the position pin of the spindle encoder."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:502
+#, no-wrap
+msgid "**spindle.**_M_**.speed-cmd-rps** FLOAT OUT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:504
+msgid "Commanded spindle speed in units of revolutions per second."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:504
+#, no-wrap
+msgid "**spindle.**_M_**.speed-in** IN FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:507
+msgid ""
+"Actual spindle speed feedback in revolutions per second; used for G96 "
+"(constant surface speed) and G95 (feed per revolution) modes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:507
+#, no-wrap
+msgid "**spindle.**_M_**.speed-out** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:509
+msgid "Desired spindle speed in rotations per minute."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:509
+#, no-wrap
+msgid "**spindle.**_M_**.speed-out-abs** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:511
+msgid ""
+"Desired spindle speed in rotations per minute, always positive regardless of "
+"spindle direction."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:511
+#, no-wrap
+msgid "**spindle.**_M_**.speed-out-rps** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:513
+msgid "Desired spindle speed in rotations per second."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:513
+#, no-wrap
+msgid "**spindle.**_M_**.speed-out-rps-abs** OUT FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:515
+msgid ""
+"Desired spindle speed in rotations per second, always positive regardless of "
+"spindle direction."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/motion.9.adoc:516
+#, no-wrap
+msgid "MOTION PARAMETERS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:520
+msgid ""
+"Many of the parameters serve as debugging aids, and are subject to change or "
+"removal at any time."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:521
+#, no-wrap
+msgid "*motion-command-handler.tmax* RW S32"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:523 src/man/man9/motion.9.adoc:528
+msgid ""
+"Show information about the execution time of these HAL functions in CPU "
+"clocks."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:524
+#, no-wrap
+msgid "*motion-command-handler.tmax-increased* RO S32"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:526
+#, no-wrap
+msgid "*motion-controller.tmax* RW S32"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:529
+#, no-wrap
+msgid "*motion-controller.tmax-increased* RO BIT"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:530
+#, no-wrap
+msgid "*motion.debug-*_*_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:532
+msgid "These values are used for debugging purposes."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:537
+#, no-wrap
+msgid "*motion-command-handler*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:541
+msgid ""
+"Receive and process incoming motion commands.  The pin named "
+"*motion-command-handler.time* and parameters "
+"**motion-command-handler.tmax,tmax-increased**are created for this function."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/motion.9.adoc:541
+#, no-wrap
+msgid "*motion-controller*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:545
+msgid ""
+"Runs the LinuxCNC motion controller.  The pin named *motion-controller.time* "
+"and parameters *motion-controller.tmax,tmax-increased* are created for this "
+"function."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:549
+msgid "This manual page is incomplete."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:551
+msgid "Identification of pins categorized with *(DEBUG)* is dubious."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/motion.9.adoc:554
+msgid "iocontrol(1), milltask(1), spindle(9)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/opto_ac5.9.adoc:1
+#, no-wrap
+msgid "opto_ac5(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:6
+msgid "opto_ac5 - Realtime driver for opto22 PCI-AC5 cards"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:10
+#, no-wrap
+msgid "*loadrt opto_ac5* [**portconfig0=0x**_N_] [**portconfig1=0x**_N_]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:24
+msgid ""
+"These pins and parameters are created by the realtime *opto_ac5* module.  "
+"The portconfig0 and portconfig1 variables are used to configure the two "
+"ports of each card. The first 24 bits of a 32 bit number represent the 24 "
+"i/o points of each port. The lowest (rightmost) bit would be HAL pin 0 which "
+"is header connector pin 47. Then next bit to the left would be HAL pin 1, "
+"header connector pin 45 and so on, until bit 24 would be HAL pin 23, header "
+"connector pin 1. \"1\" bits represent output points. So channel 0..11 as "
+"inputs and 12..23 as outputs would be represented by (in binary) "
+"111111111111000000000000 which is 0xfff000 in hexadecimal.  That is the "
+"number you would use, e.g., `loadrt opto_ac5 portconfig0=0xfff000`."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:27
+msgid ""
+"If no portconfig variable is specified the default configuration is 12 "
+"inputs then 12 outputs."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:29
+msgid "Up to 4 boards are supported. Boards are numbered starting at 0."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:31
+msgid "Portnumber can be 0 or 1. Port 0 is closest to the card bracket."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/opto_ac5.9.adoc:34
+#, no-wrap
+msgid "**opto_ac5.**_BOARDNUMBER_**.port.**_PORTNUMBER_**.in-**_PINNUMBER_ OUT bit"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/opto_ac5.9.adoc:37
+#, no-wrap
+msgid ""
+"**opto_ac5.**_BOARDNUMBER_**.port.**_PORTNUMBER_**.in-**_PINNUMBER_**-not** "
+"OUT bit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:42
+msgid ""
+"Connect a HAL bit signal to this pin to read an i/o point from the card.  "
+"The PINNUMBER represents the position in the relay rack.  E.g., PINNUMBER 0 "
+"is position 0 in a opto22 relay rack and would be pin 47 on the 50 pin "
+"header connector.  The *-not* pin is inverted so that LOW gives TRUE and "
+"HIGH gives FALSE."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/opto_ac5.9.adoc:42
+#, no-wrap
+msgid "**opto_ac5.**_BOARDNUMBER_**.port.**_PORTNUMBER_**.out-**_PINNUMBER_ IN bit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:47
+msgid ""
+"Connect a HAL bit signal to this pin to write to an i/o point of the "
+"card. The PINNUMBER represents the position in the relay rack. E.g., "
+"PINNUMBER 23 is position 23 in a opto22 relay rack and would be pin 1 on the "
+"50 pin header connector."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/opto_ac5.9.adoc:47
+#, no-wrap
+msgid "**opto_ac5.**_BOARDNUMBER_**.led.**_NUMBER_ OUT bit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:49
+msgid "Turns one of the on board LEDS on/off. LEDS are numbered 0 to 3."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/opto_ac5.9.adoc:52
+#, no-wrap
+msgid ""
+"**opto_ac5.**_BOARDNUMBER_**.port.**_PORTNUMBER_**.out-**_PINNUMBER_**-invert** "
+"W bit"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:55
+msgid ""
+"When TRUE, invert the meaning of the corresponding *-out* pin so that TRUE "
+"gives LOW and FALSE gives HIGH."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/opto_ac5.9.adoc:58
+#, no-wrap
+msgid "*opto_ac5.0.digital-read*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:60
+msgid "Add this to a thread to read all the input points."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/opto_ac5.9.adoc:60
+#, no-wrap
+msgid "*opto_ac5.0.digital-write*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:62
+msgid "Add this to a thread to write all the output points and LEDS."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:66
+msgid "All boards are loaded with the same port configurations as the first board."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/opto_ac5.9.adoc:69
+msgid "https://wiki.linuxcnc.org/cgi-bin/wiki.pl?OptoPciAc5"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/rosekins.9.adoc:1
+#, no-wrap
+msgid "rosekins(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/rosekins.9.adoc:6
+msgid "rosekins - Kinematics for a rose engine"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/rosekins.9.adoc:17
+msgid ""
+"joint_0 linear, transverse (perpendicular to spindle) joint_1 linear, "
+"longitudinal (parallel to spindle identity to z) joint_2 rotary, spindle "
+"(workholding, not tool holding, e.g. not a highspeed spindle)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/rosekins.9.adoc:20
+#, no-wrap
+msgid "*rosekins.revolutions* float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/rosekins.9.adoc:23
+msgid ""
+"Count of crossings of the negative X axis.  Clockwise crossings increment "
+"revolutions by 1, counterclockwise crossings decrement by 1."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/rosekins.9.adoc:23
+#, no-wrap
+msgid "*rosekins.theta_degrees* float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/rosekins.9.adoc:25
+msgid "Principal value for arctan(Y/X)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/rosekins.9.adoc:25
+#, no-wrap
+msgid "*rosekins.bigtheta_degrees* float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/rosekins.9.adoc:27
+msgid "Accumulated angle (theta + revolutions * 360)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/rosekins.9.adoc:34
+msgid ""
+"Theta is the principal value of arctan(Y/X). Joint_2 angle values are not "
+"limited to principal values of arctan(Y/X) but accumulate continuously as "
+"the spindle is rotated. HAL pins are provided for the principal value and a "
+"count of the number of revolutions."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/rosekins.9.adoc:39
+msgid ""
+"The transverse motion is exactly perpendicular to the spindle. In a "
+"traditional rose engine, the transverse motion is created by 'rocking' the "
+"headstock about a pivot. A typical pivot length combined with the limited "
+"amount of X travel in a real machine make the perpendicular approximation a "
+"reasonable model."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/sampler.9.adoc:1
+#, no-wrap
+msgid "sampler(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:6
+msgid "sampler - sample data from HAL in real time"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:10
+#, no-wrap
+msgid ""
+"*loadrt sampler* **depth=**_depth1_[,_depth2_...] "
+"**cfg=**_string1_[,_string2_...]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:20
+#, no-wrap
+msgid ""
+"*sampler* and **halsampler**(1) are used together to sample HAL data in\n"
+"real time and store it in a file. *sampler* is a realtime HAL component\n"
+"that exports HAL pins and creates a FIFO in shared memory. It then\n"
+"begins sampling data from the HAL and storing it to the FIFO.\n"
+"*halsampler* is a non-realtime program that copies data from the FIFO to\n"
+"stdout, where it can be redirected to a file or piped to some other\n"
+"program.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:23
+#, no-wrap
+msgid "*depth=*_depth1_[,_depth2_...]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:29
+msgid ""
+"sets the depth of the realtime->non-realtime FIFO that *sampler* creates to "
+"buffer the realtime data. Multiple values of _depth_ (separated by commas) "
+"can be specified if you need more than one FIFO (for example if you want to "
+"sample data from two different realtime threads)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:29
+#, no-wrap
+msgid "*cfg=*_string1_[,_string2_...]"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:34
+msgid ""
+"defines the set of HAL pins that *sampler* exports and later samples data "
+"from. One _string_ must be supplied for each FIFO, separated by "
+"commas. *sampler* exports one pin for each character in _string._ Legal "
+"characters are:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:43
+#, no-wrap
+msgid ""
+"::\n"
+"  *F, f* (float pin)\n"
+"::\n"
+"  *B, b* (bit pin)\n"
+"::\n"
+"  *S, s* (s32 pin)\n"
+"::\n"
+"  *U, u* (u32 pin)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:46
+#, no-wrap
+msgid "*sampler.*_N_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:48 src/man/man9/streamer.9.adoc:37
+msgid "One function is created per FIFO, numbered from zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:51
+#, no-wrap
+msgid "*sampler.*_N_*.pin.*_M_ input"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:55
+msgid ""
+"Pin for the data that will wind up in column _M_ of FIFO _N_ (and in column "
+"_M_ of the output file). The pin type depends on the config string."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:55
+#, no-wrap
+msgid "*sampler.*_N_*.curr-depth* s32 output"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:58
+msgid ""
+"Current number of samples in the FIFO. When this reaches _depth_ new data "
+"will begin overwriting old data, and some samples will be lost."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:58
+#, no-wrap
+msgid "*sampler.*_N_*.full* bit output"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:61
+msgid "TRUE when the FIFO _N_ is full, FALSE when there is room for another sample."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:61
+#, no-wrap
+msgid "*sampler.*_N_*.enable* bit input"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:64
+msgid ""
+"When TRUE, samples are captured and placed in FIFO _N_, when FALSE, no "
+"samples are acquired. Defaults to TRUE."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:67
+#, no-wrap
+msgid "**sampler.**_N_**.overruns** s32 read/write"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:71
+msgid ""
+"The number of times that *sampler* has tried to write data to the HAL pins "
+"but found no room in the FIFO. It increments whenever *full* is true, and "
+"can be reset by the *setp* command."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sampler.9.adoc:71
+#, no-wrap
+msgid "**sampler.**_N_**.sample-num** s32 read/write"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:76
+msgid ""
+"A number that identifies the sample. It is automatically incremented for "
+"each sample, and can be reset using the *setp* command. The sample number "
+"can optionally be printed in the first column of the output from "
+"*halsampler*, using the _-t_ option (see *man 1 halsampler* )."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sampler.9.adoc:80
+msgid "halsampler(1), streamer(9), halstreamer(1)"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/setsserial.9.adoc:1
+#, no-wrap
+msgid "setsserial(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:6
+msgid "setsserial - a utility for setting Smart Serial NVRAM parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:10
+#, no-wrap
+msgid ""
+"**loadrt setsserial cmd=\"**_command parameter_/_device "
+"value_/_filename_**\"**\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:13
+#, no-wrap
+msgid ""
+"*NOTE:* This rather clunky utility is no longer needed except for flashing "
+"new smart-serial remote firmware.\n"
+"Smart-serial remote parameters can now be set in the HAL file in the normal "
+"way.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:25
+#, no-wrap
+msgid "*loadrt setsserial cmd=*\"set hm2_8i20.001f.nvmaxcurrent 750\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:27
+msgid "Commands available are *set* and *flash*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:30
+msgid ""
+"This utility should be used under halcmd, without LinuxCNC running or any "
+"realtime threads running."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:32
+msgid "A typical command sequence would be:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:40
+msgid ""
+"``` halrun loadrt hostmot2 use_serial_numbers=1 loadrt hm2_pci "
+"config=\"firmware=hm2/5i23/svss8_8.bit\" show param loadrt setsserial "
+"cmd=\"set hm2_8i20.001f.nvmaxcurrent 750\" exit ```"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:44
+msgid ""
+"This example uses the option to have the HAL pins and parameters labelled by "
+"the serial number of the remote.  This is not necessary but can reduce the "
+"scope for confusion.  (The serial number is normally on a sticker on the "
+"device.)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:48
+msgid ""
+"The next line loads the hm2_pci driver in the normal way.  The hm2_7i43 "
+"driver should work equally well, as should any future 7i80 driver.  If the "
+"card has already been strted up and a firmware has been loaded, then the "
+"config string may be omitted."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:53
+msgid ""
+"\"show param\" is optional, but provides a handy list of all the devices and "
+"parameters.  It also shows the current values of the parameters which can be "
+"useful for determining scaling.  u32 pin values are always shown in hex, but "
+"new values can be entered in decimal or hex.  Use the Ox123ABC format to "
+"enter a hex value."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:60
+msgid ""
+"The next line invokes setsserial. This is run in a slightly strange way in "
+"order to have kernel-level access to a live Hostmot2 config.  It is "
+"basically a HAL module that always fails to load.  This may lead to error "
+"messages being printed to the `halcmd:` prompt.  These can often be "
+"ignored. All the real feedback is via the dmesg command.  It is suggested to "
+"have a second terminal window open to run dmesg after each command."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:63
+msgid ""
+"On exiting there will typically be a further error message related to the "
+"driver failing to unload setsserial. This can be ignored."
+msgstr ""
+
+#. TODO// Add a "get" command to avoid this problem.
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:65
+msgid "The parameter changes will not show up until the drivers are reloaded."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:73
+#, no-wrap
+msgid ""
+"*Flashing Firmware* To flash new firmware to an FPGA card such as the\n"
+"5i25 or 5i20 the \"mesaflash\" utility should be used. Setsserial is only\n"
+"useful for changing/updating the firmware on smart-serial remote such as\n"
+"the 8i20. The firmware should be placed somewhere in the\n"
+"/lib/firmware/hm2 tree, where the Linux firmware loading macros can find\n"
+"it.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:78
+msgid ""
+"The flashing routine operates in a realtime thread, and can only send "
+"prompts to the user through the kernel log (dmesg). It is most convenient to "
+"open two terminal windows, one for command entry and one to monitor "
+"progress."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:80
+msgid "In the first terminal enter"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:82
+msgid "`tail -f /var/log/kern.log`"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:84
+msgid "This terminal will now display status information."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:90
+msgid ""
+"The second window will be used to enter the commands. It is important that "
+"LinuxCNC and/or HAL are not already loaded when the process is started. To "
+"flash new firmware it is necessary to move a jumper on the smart-serial "
+"remote drive and to switch smart-serial communication to a slower baudrate."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:99
+msgid ""
+"A typical command sequence is then ``` halrun loadrt hostmot2 "
+"sserial_baudrate=115200 loadrt hm2_pci "
+"config=\"firmware=hm2/5i23/svss8_8.bit\" loadrt setsserial cmd=\"flash "
+"hm2_5i23.0.8i20.0.1 hm2/8i20/8i20T.BIN\" exit ``` It is not necessary (or "
+"useful) to specify a config string in a system using the 5i25 or 6i25 cards."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:102
+msgid ""
+"Note that it is necessary to exit halrun and unload the realtime environment "
+"before flashing the next card (exit)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/setsserial.9.adoc:105
+msgid ""
+"The correct sserial channel name to use can be seen in the dmesg output in "
+"the feedback terminal after the loadrt hm2_pci step of the sequence."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/siggen.9.adoc:1
+#, no-wrap
+msgid "siggen(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:6
+msgid "siggen - signal generator"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:10
+#, no-wrap
+msgid "**loadrt siggen **[**num_chan=**_num_* | **names=**_name1_[,_name2_...]]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:17
+#, no-wrap
+msgid ""
+"*siggen* is a signal generator that can be used for testing and other\n"
+"applications that need simple waveforms. It produces sine, cosine,\n"
+"triangle, sawtooth, and square waves of variable frequency, amplitude,\n"
+"and offset, which can be used as inputs to other HAL components.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:22
+#, no-wrap
+msgid ""
+"*siggen* supports a maximum of sixteen channels. The number of channels\n"
+"actually loaded is set by the *num_chan* argument when the module is\n"
+"loaded. Alternatively, specify *names=* and unique names separated by\n"
+"commas.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:26
+msgid ""
+"The *num_chan=* and *names=* specifiers are mutually exclusive. If neither "
+"*num_chan=* nor *names=* are specified, the default value is one."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:32
+msgid ""
+"The names for pins, parameters, and functions are prefixed as: "
+"**siggen.**_N_**.** for _N_=0,1,...,_num_-1 when using *num_chan=*_num_ "
+"*name*_N_*.* for nameN=name1,name2,... when using *names=name1,name2,...*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:34
+msgid "The **siggen.**_N_**.** format is shown in the following descriptions."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:37
+#, no-wrap
+msgid "**siggen.**_N_**.update** (uses floating-point)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:41
+msgid ""
+"Updates output pins for signal generator _N_. Each time it is called it "
+"calculates a new sample. It should be called many times faster than the "
+"desired signal frequency, to avoid distortion and aliasing."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:44
+#, no-wrap
+msgid "**siggen.**_N_**.frequency** float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:47
+msgid ""
+"The output frequency for signal generator _N_, in Hertz.  The default value "
+"is 1.0 Hertz."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:47
+#, no-wrap
+msgid "**siggen.**_N_**.amplitude** float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:51
+msgid ""
+"The output amplitude for signal generator _N_.  If *offset* is zero, the "
+"outputs will swing from -*amplitude* to +**amplitude**.  The default value "
+"is 1.00."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:51
+#, no-wrap
+msgid "**siggen.**_N_**.offset** float in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:54
+msgid ""
+"The output offset for signal generator _N_.  This value is added directly to "
+"the output signal. The default value is zero."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:54
+#, no-wrap
+msgid "**siggen.**_N_**.reset** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:56
+msgid ""
+"Resets output pins to pretermined states: sine 0 sawtooth 0 square -1 * "
+"amplitude cosine -1 * amplitude triangle -1 * amplitude"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:56
+#, no-wrap
+msgid "**siggen.**_N_**.clock** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:58
+msgid "The clock output. Bit type clock signal output at the commanded frequency."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:58
+#, no-wrap
+msgid "**siggen.**_N_**.square** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:61
+msgid ""
+"The square wave output. Positive while *triangle* and *cosine* are ramping "
+"upwards, and while *sine* is negative."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:61
+#, no-wrap
+msgid "**siggen.**_N_**.sine** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:63
+msgid "The sine output. Lags *cosine* by 90 degrees."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:63
+#, no-wrap
+msgid "**siggen.**_N_**.cosine** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:65
+msgid "The cosine output. Leads *sine* by 90 degrees."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:65
+#, no-wrap
+msgid "**siggen.**_N_**.triangle** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:69
+msgid ""
+"The triangle wave output.  Ramps up while *square* is positive, and down "
+"while *square* is negative.  Reaches its positive and negative peaks at the "
+"same time as *cosine*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/siggen.9.adoc:69
+#, no-wrap
+msgid "**siggen.**_N_**.sawtooth** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/siggen.9.adoc:74
+msgid ""
+"The sawtooth output. Ramps upwards to its positive peak, then instantly "
+"drops to its negative peak and starts ramping again.  The drop occurs when "
+"*triangle* and *cosine* are at their positive peaks, and coincides with the "
+"falling edge of *square*."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/sserial.9.adoc:1
+#, no-wrap
+msgid "sserial(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:6
+msgid ""
+"sserial - Smart Serial LinuxCNC HAL driver for the Mesa Electronics HostMot2 "
+"Smart-Serial remote cards"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:15
+msgid ""
+"The Mesa Smart-Serial interface is a 2.5Mbs proprietary interface between "
+"the Mesa Anything-IO cards and a range of subsidiary devices termed "
+"\"smart-serial remotes\". The remote cards perform a variety of functions, "
+"but typically they combine various classes of IO. The remote cards are "
+"self-configuring, in that they tell the main LinuxCNC Hostmot2 driver what "
+"their pin functions are and what they should be named."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:19
+msgid ""
+"Many sserial remotes offer different pinouts depending on the mode they are "
+"started up in. This is set using the sserial_port_N= option in the hm2_pci "
+"modparam. See the hostmot2 manpage for further details."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:21
+msgid "It is likely that this documentation will be permanently out of date."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:27
+msgid ""
+"Each Anything-IO board can attach up to 8 sserial remotes to each header "
+"(either the 50-pin headers on the 5I20/5I22/5I23/7I43 or the 25-pin "
+"connectors on the 5I25, 6I25 and 7I80). The remotes are grouped into "
+"\"ports\" of up to 8 \"channels\". Typically each header will be a single 8 "
+"channel port, but this is not necessarily always the case."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/sserial.9.adoc:28
+#, no-wrap
+msgid "PORTS"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:32
+msgid ""
+"In addition to the per-channel/device pins detailed below there are three "
+"per-port pins and three parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:35
+#, no-wrap
+msgid "(bit, in) .sserial.port-N.run"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:43
+msgid ""
+"Enables the specific Smart Serial module.  Setting this pin low will disable "
+"all boards on the port and puts the port in a pass-through mode where device "
+"parameter setting is possible.  It is necessary to toggle the state of this "
+"pin if there is a requirement to alter a remote parameter on a live "
+"system. This pin defaults to TRUE and can be left unconnected. However, "
+"toggling the pin low-to-high will re-enable a faulted drive so the pin could "
+"usefully be connected to the iocontrol.0.user-enable-out pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:44
+#, no-wrap
+msgid "(u32, ro) .run_state"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:47
+msgid ""
+"Shows the state of the sserial communications state-machine. This pin will "
+"generally show a value of 0x03 in normal operation, 0x07 in setup mode and "
+"0x00 when the \"run\" pin is false."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:48
+#, no-wrap
+msgid "(u32, ro) .error-count"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:50
+msgid ""
+"Indicates the state of the Smart Serial error handler, see the parameters "
+"section for more details."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:53
+#, no-wrap
+msgid "(u32 r/w) .fault-inc"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:56
+msgid ""
+"Any over-run or handshaking error in the SmartSerial communications will "
+"increment the .fault-count pin by the amount specified by this "
+"parameter. Default = 10."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:57
+#, no-wrap
+msgid "(u32 r/w) .fault-dec"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:59
+msgid ""
+"Every successful read/write cycle decrements the fault counter by this "
+"amount. Default = 1."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:60
+#, no-wrap
+msgid "(u32 r/w) .fault-lim"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:70
+msgid ""
+"When the fault counter reaches this threshold the Smart Serial interface on "
+"the corresponding port will be stopped and an error printed in "
+"dmesg. Together these three pins allow for control over the degree of fault- "
+"tolerance allowed in the interface. The default values mean that if more "
+"than one transaction in ten fails, more than 20 times, then a hard error "
+"will be raised. If the increment were to be set to zero then no error would "
+"ever be raised, and the system would carry on regardless. Conversely setting "
+"decrement to zero, threshold to 1 and limit to 1 means that absolutely no "
+"errors will be tolerated. (This structure is copied directly from vehicle "
+"ECU practice.)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:74
+msgid ""
+"Any other parameters than the ones above are created by the card itself from "
+"data in the remote firmware. They may be set in the HAL file using \"setp\" "
+"in the usual way."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:79
+msgid ""
+"Because a Smart-Serial remote can only communicate non-process data to the "
+"host card in setup mode, it is necessary to stop and re-start the "
+"smart-serial port associated with the card to alter the value of a "
+"parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:83
+msgid ""
+"ALSO NOTE: in the case of parameters beginning with \"nv\" (which are stored "
+"in non-volatile memory) the effect will not be seen until after the next "
+"power cycle of the drive."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:86
+msgid ""
+"Unchanged values will not be re-written so it is safe to leave the \"setp\" "
+"commands in the HAL file or delete them as you see fit."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/sserial.9.adoc:87
+#, no-wrap
+msgid "DEVICES"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:92
+msgid ""
+"The other pins and parameters created in HAL depend on the devices "
+"detected. The following list of Smart Serial devices is by no means "
+"exhaustive."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/sserial.9.adoc:93
+#, no-wrap
+msgid "8I20"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:102
+msgid ""
+"The 8I20 is a 2.2 kW three-phase drive for brushless DC motors and AC servo "
+"motors. 8I20 pins and parameters have names like "
+"\"hm2__<BoardType>_._<BoardNum>_.8i20._<PortNum>_._<ChanNum>_._<Pin>_\", for "
+"example \"hm2_5i23.0.8i20.1.3.current\" would set the phase current for the "
+"drive connected to the fourth channel of the second sserial port of the "
+"first 5I23 board. Note that the sserial ports do not necessarily correlate "
+"in layout or number to the physical ports on the card."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:105
+#, no-wrap
+msgid "(float in) angle"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:116
+msgid ""
+"The rotor angle of the motor in fractions of a full *phase* revolution. An "
+"angle of 0.5 indicates that the motor is half a turn / 180 degrees / π "
+"radians from the zero position. The zero position is taken to be the "
+"position that the motor adopts under no load with a positive voltage applied "
+"to the A (or U) phase and both B and C (or V and W) connected to -V or 0 "
+"V. A 6 pole motor will have 3 zero positions per physical rotation. Note "
+"that the 8I20 drive automatically adds the phase lead/lag angle, and that "
+"this pin should see the raw rotor angle. There is a HAL module (bldc) which "
+"handles the complexity of differing motor and drive types."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:116
+#, no-wrap
+msgid "(float, in) current"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:120
+msgid ""
+"The phase current command to the drive. This is scaled from -1 to +1 for "
+"forwards and reverse maximum currents. The absolute value of the current is "
+"set by the max_current parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:120
+#, no-wrap
+msgid "(float, ro) bus-voltage"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:123
+msgid ""
+"The drive bus voltage in V. This will tend to show 25.6 V when the drive is "
+"unpowered and the drive will not operate below about 50 V."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:123
+#, no-wrap
+msgid "(float, ro) temp"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:125
+msgid "The temperature of the driver in degrees C."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:125
+#, no-wrap
+msgid "(u32, ro) comms"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:128
+msgid "The communication status of the drive. See the manual for more details."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:128
+#, no-wrap
+msgid "(bit, ro) status and fault."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:131
+msgid ""
+"The following fault/status bits are exported. For further details see the "
+"8I20 manual:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:140
+msgid ""
+"fault.U-current / fault.U-current-not fault.V-current / fault.V-current-not "
+"fault.W-current / fault.W-current-not fault.bus-high / fault.bus-high-not "
+"fault.bus-overv / fault.bus-overv-not fault.bus-underv / "
+"fault.bus-underv-not fault.framingr / fault.framingr-not fault.module / "
+"fault.module-not fault.no-enable / fault.no-enable-not fault.overcurrent / "
+"fault.overcurrent-not fault.overrun / fault.overrun-not fault.overtemp / "
+"fault.overtemp-not fault.watchdog / fault.watchdog-not"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:147
+msgid ""
+"status.brake-old / status.brake-old-not status.brake-on / "
+"status.brake-on-not status.bus-underv / status.bus-underv-not "
+"status.current-lim / status.current-lim-no status.ext-reset / "
+"status.ext-reset-not status.no-enable / status.no-enable-not status.pid-on / "
+"status.pid-on-not status.sw-reset / status.sw-reset-not status.wd-reset / "
+"status.wd-reset-not"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:148
+#, no-wrap
+msgid "*Parameters:*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:151
+msgid ""
+"The following parameters are exported. See the PDF documentation "
+"downloadable from Mesa for further details:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:164
+msgid ""
+"hm2_5i25.0.8i20.0.1.angle-maxlim hm2_5i25.0.8i20.0.1.angle-minlim "
+"hm2_5i25.0.8i20.0.1.angle-scalemax hm2_5i25.0.8i20.0.1.current-maxlim "
+"hm2_5i25.0.8i20.0.1.current-minlim hm2_5i25.0.8i20.0.1.current-scalemax "
+"hm2_5i25.0.8i20.0.1.nvbrakeoffv hm2_5i25.0.8i20.0.1.nvbrakeonv "
+"hm2_5i25.0.8i20.0.1.nvbusoverv hm2_5i25.0.8i20.0.1.nvbusundervmax "
+"hm2_5i25.0.8i20.0.1.nvbusundervmin hm2_5i25.0.8i20.0.1.nvkdihi "
+"hm2_5i25.0.8i20.0.1.nvkdil hm2_5i25.0.8i20.0.1.nvkdilo "
+"hm2_5i25.0.8i20.0.1.nvkdp hm2_5i25.0.8i20.0.1.nvkqihi "
+"hm2_5i25.0.8i20.0.1.nvkqil hm2_5i25.0.8i20.0.1.nvkqilo "
+"hm2_5i25.0.8i20.0.1.nvkqp hm2_5i25.0.8i20.0.1.nvmaxcurrent "
+"hm2_5i25.0.8i20.0.1.nvrembaudrate hm2_5i25.0.8i20.0.1.swrevision "
+"hm2_5i25.0.8i20.0.1.unitnumber"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:165
+#, no-wrap
+msgid "(float, rw) max_current"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:170
+msgid ""
+"Sets the maximum drive current in Amps. The default value is the maximum "
+"current programmed into the drive EEPROM. The value must be positive, and an "
+"error will be raised if a current in excess of the drive maximum is "
+"requested."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:170
+#, no-wrap
+msgid "(u32, ro) serial_number"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:173
+msgid ""
+"The serial number of the connected drive. This is also shown on the label on "
+"the drive."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/sserial.9.adoc:174
+#, no-wrap
+msgid "7I64"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:180
+msgid ""
+"The 7I64 is a 24-input 24-output IO card. 7I64 pins and parameters have "
+"names like "
+"\"hm2__<BoardType>__.__<BoardNum>__.7i64.__<PortNum>__.__<ChanNum>__.__<Pin>__\", "
+"for example `hm2_5i23.0.7i64.1.3.output-01`."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:183
+#, no-wrap
+msgid "7i64.0.0.output-NN (bit, in)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:188
+msgid ""
+"Writing a 1 or TRUE to this pin will enable output driver NN. Note that the "
+"outputs are drivers (switches)  rather than voltage outputs. The LED "
+"adjacent to the connector on the board shows the status. The output can be "
+"inverted by setting a parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:189
+#, no-wrap
+msgid "7i64.0.0.input-NN (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:193
+msgid ""
+"The value of input NN. Note that the inputs are isolated and both pins of "
+"each input must be connected, typically to signal and the ground of the "
+"signal. (This need not be the ground of the board.)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:194
+#, no-wrap
+msgid "7i64.0.0.input-NN-not (bit, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:195
+msgid "An inverted copy of the corresponding input."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:196
+#, no-wrap
+msgid "7i64.0.0.analog0 & 7i64.0.0.analog1 (float, out)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:197
+msgid "The two analogue inputs (0 to 3.3 V) on the board."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:200
+#, no-wrap
+msgid "7i64.0.0.output-NN-invert (bit, rw)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:203
+msgid ""
+"Setting this parameter to 1 / TRUE will invert the output value, such that "
+"writing 0 to .gpio.NN.out will enable the output and vice-versa."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/sserial.9.adoc:204
+#, no-wrap
+msgid "7I76"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:212
+msgid ""
+"The 7I76 is not really a smart-serial device. It serves as a breakout for a "
+"number of other Hostmot2 functions. There are connections for 5 step "
+"generators (for which see the main hostmot2 manpage). The stepgen pins are "
+"associated with the 5I25 (hm2_5i25.0.stepgen.00....) whereas the "
+"smart-serial pins are associated with the 7I76 "
+"(hm2_5i25.0.7i76.0.0.output-00)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:215
+#, no-wrap
+msgid "(float out) .7i76.0.0.analogN (modes 1 and 2 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:216 src/man/man9/sserial.9.adoc:393
+msgid "Analogue input values."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:217
+#, no-wrap
+msgid "(float out) .7i76.0.0.fieldvoltage (mode 2 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:218 src/man/man9/sserial.9.adoc:395
+#: src/man/man9/sserial.9.adoc:435
+msgid "Field voltage monitoring pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:219
+#, no-wrap
+msgid "(bit in) .7i76.0.0.spindir"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:220 src/man/man9/sserial.9.adoc:285
+msgid ""
+"This pin provides a means to drive the spindle VFD direction terminals on "
+"the 7I76 board."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:221
+#, no-wrap
+msgid "(bit in) .7i76.0.0.spinena"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:222 src/man/man9/sserial.9.adoc:288
+msgid "This pin drives the spindle-enable terminals on the 7I76 board."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:223
+#, no-wrap
+msgid "(float in) .7i76.0.0.spinout"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:224
+msgid ""
+"This controls the analogue output of the 7I76. This is intended as a speed "
+"control signal for a VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:225
+#, no-wrap
+msgid "(bit out) .7i76.0.0.output-NN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:226 src/man/man9/sserial.9.adoc:282
+msgid ""
+"(NN = 0 to 15). 16 digital outputs. The sense of the signal can be set via a "
+"parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:227
+#, no-wrap
+msgid "(bit out) .7i76.0.0.input-NN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:228 src/man/man9/sserial.9.adoc:275
+msgid "(NN = 0 to 31) 32 digital inputs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:229
+#, no-wrap
+msgid "(bit in) .7i76.0.0.input-NN-not"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:231
+msgid ""
+"(NN = 0 to 31) An inverted copy of the inputs provided for convenience.  The "
+"two complementary pins may be connected to different signal nets."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:234
+#, no-wrap
+msgid "(u32 ro) .7i76.0.0.nvbaudrate"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:235 src/man/man9/sserial.9.adoc:357
+#: src/man/man9/sserial.9.adoc:406 src/man/man9/sserial.9.adoc:449
+msgid "Indicates the vbaud rate. This probably should not be altered."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:236
+#, no-wrap
+msgid "(u32 ro) .7i76.0.0.nvunitnumber"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:239 src/man/man9/sserial.9.adoc:361
+#: src/man/man9/sserial.9.adoc:410
+msgid ""
+"Indicates the serial number of the device and should match a sticker on the "
+"card. This can be useful for working out which card is which."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:240
+#, no-wrap
+msgid "(u32 ro) .7i76.0.0.nvwatchdogtimeout"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:243 src/man/man9/sserial.9.adoc:365
+#: src/man/man9/sserial.9.adoc:414 src/man/man9/sserial.9.adoc:457
+msgid ""
+"The sserial remote watchdog timeout. This is separate from the Anything-IO "
+"card timeout. This is unlikely to need to be changed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:244
+#, no-wrap
+msgid "(bit rw) .7i76.0.0.output-NN-invert"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:246 src/man/man9/sserial.9.adoc:302
+#: src/man/man9/sserial.9.adoc:368 src/man/man9/sserial.9.adoc:446
+msgid "Invert the sense of the corresponding output pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:247
+#, no-wrap
+msgid "(bit rw) .7i76.0.0.spindir-invert"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:249
+msgid "Invert the senseof the spindle direction pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:250
+#, no-wrap
+msgid "(bit rw) .7i76.0.0.spinena-invert"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:252 src/man/man9/sserial.9.adoc:308
+msgid "Invert the sense of the spindle-enable pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:253
+#, no-wrap
+msgid "(float rw) .7i76.0.0.spinout-maxlim"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:254 src/man/man9/sserial.9.adoc:310
+msgid "The maximum speed request allowable"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:255
+#, no-wrap
+msgid "(float rw) .7i76.0.0.spinout-minlim"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:256 src/man/man9/sserial.9.adoc:312
+msgid "The minimum speed request."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:257
+#, no-wrap
+msgid "(float rw) .7i76.0.0.spinout-scalemax"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:261
+msgid ""
+"The spindle speed scaling.  This is the speed request which would correspond "
+"to full-scale output from the spindle control pin.  For example with a 10 V "
+"drive voltage and a 10000 RPM scalemax a value of 10,000 RPM on the spinout "
+"pin would produce 10 V output.  However, if spinout-maxlim were set to 5000 "
+"RPM then no voltage above 5 V would be output."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:262
+#, no-wrap
+msgid "(u32 ro) .7i76.0.0.swrevision"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:264
+msgid ""
+"The onboard firmware revision number.  Utilities (man setsserial for "
+"details) exist to update and change this firmware."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/sserial.9.adoc:265
+#, no-wrap
+msgid "7I77"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:271
+msgid ""
+"The 7I77 is an 6-axis servo control card. The analogue outputs are "
+"smart-serial devices, but the encoders are conventional hostmot2 encoders "
+"and further details of them may be found in the hostmot2 manpage."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:274
+#, no-wrap
+msgid "(bit out) .7i77.0.0.input-NN"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:276
+#, no-wrap
+msgid "(bit in) .7i77.0.0.input-NN-not"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:279
+msgid ""
+"(NN = 0 to 31) An inverted copy of the inputs provided for convenience. The "
+"two complementary pins may be connected to different signal nets."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:280
+#, no-wrap
+msgid "(bit out) .7i77.0.0.output-NN"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:283
+#, no-wrap
+msgid "(bit in) .7i77.0.0.spindir"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:286
+#, no-wrap
+msgid "(bit in) .7i77.0.0.spinena"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:289
+#, no-wrap
+msgid "(float in) .7i77.0.0.spinout"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:291
+msgid ""
+"This controls the analog output of the 7I77. This is intended as a speed "
+"control signal for a VFD."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:292
+#, no-wrap
+msgid "(bit in) .7i77.0.1.analogena"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:294
+msgid "This pin drives the analog enable terminals on the 7I77 board."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:295
+#, no-wrap
+msgid "(float in) .7i77.0.1.analogoutN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:297
+msgid "(N = 0 to 5) This controls the analog output of the 7I77."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:300
+#, no-wrap
+msgid "(bit rw) .7i77.0.0.output-NN-invert"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:303
+#, no-wrap
+msgid "(bit rw) .7i77.0.0.spindir-invert"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:305
+msgid "Invert the sense of the spindle direction pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:306
+#, no-wrap
+msgid "(bit rw) .7i77.0.0.spinena-invert"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:309
+#, no-wrap
+msgid "(float rw) .7i77.0.0.spinout-maxlim"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:311
+#, no-wrap
+msgid "(float rw) .7i77.0.0.spinout-minlim"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:313
+#, no-wrap
+msgid "(float rw) .7i77.0.0.spinout-scalemax"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:319
+msgid ""
+"The spindle speed scaling. This is the speed request which would correspond "
+"to full-scale output from the spindle control pin. For example with a 10 V "
+"drive voltage and a 10000 RPM scalemax a value of 10,000 RPM on the spinout "
+"pin would produce 10 V output. However, if spinout-maxlim were set to 5,000 "
+"RPM then no voltage above 5 V would be output."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:320
+#, no-wrap
+msgid "(float rw) .7i77.0.0.analogoutN-maxlim"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:322
+msgid "(N = 0 to 5) The maximum speed request allowable"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:323
+#, no-wrap
+msgid "(float rw) .7i77.0.0.analogoutN-minlim"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:325
+msgid "(N = 0 to 5) The minimum speed request."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:326
+#, no-wrap
+msgid "(float rw) .7i77.0.0.analogoutN-scalemax"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:332
+msgid ""
+"(N = 0 to 5) The analog speed scaling. This is the speed request which would "
+"correspond to full-scale output from the spindle control pin. For example "
+"with a 10V drive voltage and a 10,000 rpm scalemax a value of 10,000 rpm on "
+"the spinout pin would produce 10V output. However, if spinout-maxlim were "
+"set to 5,000 rpm then no voltage above 5V would be output."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/sserial.9.adoc:333
+#, no-wrap
+msgid "7I69"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:337
+msgid ""
+"The 7I69 is a 48 channel digital IO card. It can be configured in four "
+"different modes:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:343
+msgid ""
+"MODE 0: Bidirectional mode (48 bits in 48 bits out) MODE 1: Input only mode "
+"(48 bits in) MODE 2: Output only mode (48 bits out) MODE 3: 24/24mode (24 "
+"bits in = bits 0..23 and 24 bits out = bits 24..47) MODE 4: Bidirectional "
+"mode (48 bits in 48 bits out) plus 4 MPG encoder channels oninputs 0 through "
+"7"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:346
+#, no-wrap
+msgid "(bit in) .7i69.0.0.output-NN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:348
+msgid "Digital output. Sense can be inverted with the corresponding Parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:349
+#, no-wrap
+msgid "(bit out) .7i69.0.0.input-NN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:350
+msgid "Digital input"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:351
+#, no-wrap
+msgid "(bit out) .7i69.0.0.input-NN-not"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:352
+msgid "Digital input, inverted."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:355
+#, no-wrap
+msgid "(u32 ro) .7i69.0.0.nvbaudrate"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:358
+#, no-wrap
+msgid "(u32 ro) .7i69.0.0.nvunitnumber"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:362
+#, no-wrap
+msgid "(u32 ro) .7i69.0.0.nvwatchdogtimeout"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:366
+#, no-wrap
+msgid "(bit rw) .7i69.0.0.output-NN-invert"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:369 src/man/man9/sserial.9.adoc:415
+#: src/man/man9/sserial.9.adoc:458
+#, no-wrap
+msgid "(u32 ro) .7i69.0.0.swrevision"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:371 src/man/man9/sserial.9.adoc:417
+#: src/man/man9/sserial.9.adoc:460
+msgid ""
+"The onboard firmware revision number.  Utilities exist to update and change "
+"this firmware."
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/sserial.9.adoc:372
+#, no-wrap
+msgid "7I70"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:379
+msgid ""
+"The 7I70 is a remote isolated 48 input card. The 7I70 inputs sense positive "
+"inputs relative to a common field ground. Input impedance is 10KΩ and input "
+"voltage can range from 5VDC to 32VDC. All inputs have LED status "
+"indicators. The input common field ground is galvanically isolated from the "
+"communications link."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:385
+msgid ""
+"The 7I70 has three software selectable modes. These different modes select "
+"different sets of 7I70 data to be transferred between the host and the 7I70 "
+"during real time process data exchanges. For high speed applications, "
+"choosing the correct mode can reduced the data transfer sizes, resulting in "
+"higher maximum update rates."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:389
+msgid ""
+"MODE 0: Input mode (48 bits input data only MODE 1: Input plus analog mode "
+"(48 bits input data plus 6 channels of analog data) MODE 2: Input plus field "
+"voltage"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:392
+#, no-wrap
+msgid "(float out) .7i70.0.0.analogN (modes 1 and 2 only)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:394
+#, no-wrap
+msgid "(float out) .7i70.0.0.fieldvoltage (mode 2 only)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:396
+#, no-wrap
+msgid "(bit out) .7i70.0.0.input-NN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:397
+msgid "(NN = 0 to 47) 48 digital inputs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:398
+#, no-wrap
+msgid "(bit in) .7i70.0.0.input-NN-not"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:401
+msgid ""
+"(NN = 0 to 47) An inverted copy of the inputs provided for convenience. The "
+"two complementary pins may be connected to different signal nets."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:404
+#, no-wrap
+msgid "(u32 ro) .7i70.0.0.nvbaudrate"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:407
+#, no-wrap
+msgid "(u32 ro) .7i70.0.0.nvunitnumber"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:411
+#, no-wrap
+msgid "(u32 ro) .7i70.0.0.nvwatchdogtimeout"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/sserial.9.adoc:418
+#, no-wrap
+msgid "7I71"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:423
+msgid ""
+"The 7I71 is a remote isolated 48 output card. The 48 outputs are 8VDC to "
+"28VDC sourcing drivers (common + field power) with 300 mA maximum current "
+"capability. All outputs have LED status indicators."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:427
+msgid ""
+"The 7I71 has two software selectable modes. For high speed applications, "
+"choosing the correct mode can reduced the data transfer sizes, resulting in "
+"higher maximum update rates:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:430
+msgid ""
+"MODE 0: Output only mode (48 bits output data only) MODE 1: Outputs plus "
+"read back field voltage"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:433
+#, no-wrap
+msgid "(float out) .7i71.0.0.fieldvoltage (mode 2 only)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:436 src/man/man9/sserial.9.adoc:439
+#, no-wrap
+msgid "(bit out) .7i71.0.0.output-NN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:438 src/man/man9/sserial.9.adoc:441
+msgid ""
+"(NN = 0 to 47) 48 digital outputs. The sense may be inverted by the invert "
+"parameter."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:444
+#, no-wrap
+msgid "(bit rw) .7i71.0.0.output-NN-invert"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:447
+#, no-wrap
+msgid "(u32 ro) .7i71.0.0.nvbaudrate"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:450
+#, no-wrap
+msgid "(u32 ro) .7i71.0.0.nvunitnumber"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:453
+msgid ""
+"Indicates the serial number of the device and should match a sticker on the "
+"card. This can be useful for determining which card is which."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:454
+#, no-wrap
+msgid "(u32 ro) .7i71.0.0.nvwatchdogtimeout"
+msgstr ""
+
+#. type: Title ===
+#: src/man/man9/sserial.9.adoc:461
+#, no-wrap
+msgid "7I73"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:464
+msgid "The 7I73 is a remote real time pendant or control panel interface."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:470
+msgid ""
+"The 7I73 supports up to four 50 kHz encoder inputs for MPGs, 8 digital "
+"inputs and 6 digital outputs and up to a 64 Key keypad. If a smaller keypad "
+"is used, more digital inputs and outputs become available. Up to eight 0.0 V "
+"to 3.3 V analog inputs are also provided. The 7I73 can drive a 4 line 20 "
+"character LCD for local DRO applications."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:476
+msgid ""
+"The 7I73 has 3 software selectable process data modes. These different modes "
+"select different sets of 7I73 data to be transferred between the host and "
+"the 7I73 during real time process data exchanges. For high speed "
+"applications, choosing the correct mode can reduced the data transfer sizes, "
+"resulting in higher maximum update rates"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:479
+#, no-wrap
+msgid ""
+"MODE 0: I/O + ENCODER MODE 1: I/O + ENCODER + ANALOG IN MODE 2: I/O\n"
+"ENCODER + ANALOG IN FAST DISPLAY"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:482
+#, no-wrap
+msgid "(float out) .7i73.0.0.analoginN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:485
+msgid ""
+"Analogue inputs. Up to 8 channels may be available dependent on software and "
+"hardware configuration modes (see the PDF manual downloadable from "
+"www.mesanet.com)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:486
+#, no-wrap
+msgid "(u32 in) .7i73.0.1.display (modes 1 and 2)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:490
+msgid ""
+"Data for LCD display. This pin may be conveniently driven by the HAL \"lcd\" "
+"component which allows the formatted display of the values any number of HAL "
+"pins and textual content."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:491
+#, no-wrap
+msgid "(u32 in) .7i73.0.1.display32 (mode 2 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:493
+msgid ""
+"4 bytes of data for LCD display. This mode is not supported by the HAL "
+"\"lcd\" component."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:494
+#, no-wrap
+msgid "(s32 out) .7i73.0.1.encN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:495
+msgid "The position of the MPG encoder counters."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:496
+#, no-wrap
+msgid "(bit out) .7i73.0.1.input-NN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:498
+msgid "Up to 24 digital inputs (dependent on config)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:499
+#, no-wrap
+msgid "(bit out) .7i73.0.1.input-NN-not"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:500
+msgid "Inverted copy of the digital inputs"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:501
+#, no-wrap
+msgid "(bit in) .7i73.0.1.output-NN"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:503
+msgid "Up to 22 digital outputs (dependent on config)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:507
+msgid "(u32 ro) .7i73.0.1.nvanalogfilter (u32 ro) .7i73.0.1.nvbaudrate (u32 ro)"
+msgstr ""
+
+#. type: Block title
+#: src/man/man9/sserial.9.adoc:507
+#, no-wrap
+msgid "7i73.0.1.nvcontrast (u32 ro) .7i73.0.1.nvdispmode (u32 ro)"
+msgstr ""
+
+#. type: Block title
+#: src/man/man9/sserial.9.adoc:508
+#, no-wrap
+msgid "7i73.0.1.nvencmode0 (u32 ro) .7i73.0.1.nvencmode1 (u32 ro)"
+msgstr ""
+
+#. type: Block title
+#: src/man/man9/sserial.9.adoc:509
+#, no-wrap
+msgid "7i73.0.1.nvencmode2 (u32 ro) .7i73.0.1.nvencmode3 (u32 ro)"
+msgstr ""
+
+#. type: Block title
+#: src/man/man9/sserial.9.adoc:510
+#, no-wrap
+msgid "7i73.0.1.nvkeytimer (u32 ro) .7i73.0.1.nvunitnumber (u32 ro)"
+msgstr ""
+
+#. type: Block title
+#: src/man/man9/sserial.9.adoc:511
+#, no-wrap
+msgid "7i73.0.1.nvwatchdogtimeout (u32 ro) .7i73.0.1.output-00-invert"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:514
+msgid "For further details of the use of the above see the Mesa manual."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:515
+#, no-wrap
+msgid "(bit rw) .7i73.0.1.output-01-invert"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:517
+msgid "Invert the corresponding output bit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/sserial.9.adoc:518
+#, no-wrap
+msgid "(s32 ro) .7i73.0.1.swrevision"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/sserial.9.adoc:518
+msgid "The version of firmware installed."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/stepgen.9.adoc:1
+#, no-wrap
+msgid "stepgen(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:6
+msgid "stepgen - software step pulse generation"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:10
+#, no-wrap
+msgid ""
+"**loadrt stepgen step_type=**_type0_[,_type1_...] "
+"[**ctrl_type=**_type0_[,_type1_...]] [**user_step_type=#,#**...]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:17
+#, no-wrap
+msgid ""
+"*stepgen* is used to control stepper motors. The maximum step rate\n"
+"depends on the CPU and other factors, and is usually in the range of 5\n"
+"kHz to 25 kHz. If higher rates are needed, a hardware step generator is\n"
+"a better choice.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:28
+#, no-wrap
+msgid ""
+"*stepgen* has two control modes, which can be selected on a channel by\n"
+"channel basis using *ctrl_type*. Possible values are \"*p*\" for position\n"
+"control, and \"*v*\" for velocity control. The default is position\n"
+"control, which drives the motor to a commanded position, subject to\n"
+"acceleration and velocity limits. Velocity control drives the motor at a\n"
+"commanded speed, again subject to accel and velocity limits. Usually,\n"
+"position mode is used for machine axes. Velocity mode is reserved for\n"
+"unusual applications where continuous movement at some speed is desired,\n"
+"instead of movement to a specific position. (Note that velocity mode\n"
+"replaces the former component *freqgen*.)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:34
+#, no-wrap
+msgid ""
+"*stepgen* can control a maximum of 16 motors. The number of\n"
+"motors/channels actually loaded depends on the number of _type_ values\n"
+"given. The value of each _type_ determines the outputs for that channel.\n"
+"Position or velocity mode can be individually selected for each channel.\n"
+"Both control modes support the same 16 possible step types.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:39
+msgid ""
+"By far the most common step type is '0', standard step and direction.  "
+"Others include up/down, quadrature, and a wide variety of three, four, and "
+"five phase patterns that can be used to directly control some types of motor "
+"windings. (When used with appropriate buffers of course.)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:43
+msgid ""
+"Some of the stepping types are described below, but for more details "
+"(including timing diagrams) see the *stepgen* section of the HAL reference "
+"manual."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:44
+#, no-wrap
+msgid "type 0: step/dir"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:51
+msgid ""
+"Two pins, one for step and one for direction. *make-pulses* must run at "
+"least twice for each step (once to set the step pin true, once to clear "
+"it). This limits the maximum step rate to half (or less) of the rate that "
+"can be reached by types 2-14. The parameters *steplen* and *stepspace* can "
+"further lower the maximum step rate. Parameters *dirsetup* and *dirhold* "
+"also apply to this step type."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:51
+#, no-wrap
+msgid "type 1: up/down"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:54
+msgid ""
+"Two pins, one for 'step up' and one for 'step down'. Like type 0, "
+"*make-pulses* must run twice per step, which limits the maximum speed."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:54
+#, no-wrap
+msgid "type 2: quadrature"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:57
+msgid ""
+"Two pins, phase-A and phase-B. For forward motion, A leads B. Can advance by "
+"one step every time *make-pulses* runs."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:57
+#, no-wrap
+msgid "type 3: three phase, full step"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:61
+msgid ""
+"Three pins, phase-A, phase-B, and phase-C. Three steps per full cycle, then "
+"repeats. Only one phase is high at a time - for forward motion the pattern "
+"is A, then B, then C, then A again."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:61
+#, no-wrap
+msgid "type 4: three phase, half step"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:65
+msgid ""
+"Three pins, phases A through C. Six steps per full cycle. First A is high "
+"alone, then A and B together, then B alone, then B and C together, etc."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:65
+#, no-wrap
+msgid "types 5 through 8: four phase, full step"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:71
+msgid ""
+"Four pins, phases A through D. Four steps per full cycle. Types 5 and 6 are "
+"suitable for use with unipolar steppers, where power is applied to the "
+"center tap of each winding, and four open-collector transistors drive the "
+"ends. Types 7 and 8 are suitable for bipolar steppers, driven by two "
+"H-bridges."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:71
+#, no-wrap
+msgid "types 9 and 10: four phase, half step"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:74
+msgid ""
+"Four pins, phases A through D. Eight steps per full cycle. Type 9 is "
+"suitable for unipolar drive, and type 10 for bipolar drive."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:74
+#, no-wrap
+msgid "types 11 and 12: five phase, full step"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:77
+msgid ""
+"Five pins, phases A through E. Five steps per full cycle. See HAL reference "
+"manual for the patterns."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:77
+#, no-wrap
+msgid "types 13 and 14: five phase, half step"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:80
+msgid ""
+"Five pins, phases A through E. Ten steps per full cycle. See HAL reference "
+"manual for the patterns."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:80
+#, no-wrap
+msgid "type 15: user-specified"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:83
+msgid ""
+"This uses the waveform specified by the *user_step_type* module parameter, "
+"which may have up to 10 steps and 5 phases."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:86
+#, no-wrap
+msgid "*stepgen.make-pulses* (no floating-point)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:90
+msgid ""
+"Generates the step pulses, using information computed by *update-freq*.  "
+"Must be called as frequently as possible, to maximize the attainable step "
+"rate and minimize jitter.  Operates on all channels at once."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:90
+#, no-wrap
+msgid "*stepgen.capture-position* (uses floating point)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:93
+msgid ""
+"Captures position feedback value from the high speed code and makes it "
+"available on a pin for use elsewhere in the system.  Operates on all "
+"channels at once."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:93
+#, no-wrap
+msgid "*stepgen.update-freq* (uses floating point)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:96
+msgid ""
+"Accepts a velocity or position command and converts it into a form usable by "
+"*make-pulses* for step generation.  Operates on all channels at once."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:99
+#, no-wrap
+msgid "**stepgen.**__N__**.counts** s32 out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:101
+msgid ""
+"The current position, in counts, for channel _N_. Updated by "
+"*capture-position*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:101
+#, no-wrap
+msgid "**stepgen.**__N__**.position-fb** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:105
+msgid ""
+"The current position, in length units (see parameter *position-scale*).  "
+"Updated by *capture-position*. The resolution of *position-fb* is much finer "
+"than a single step.  If you need to see individual steps, use *counts*."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:105
+#, no-wrap
+msgid "**stepgen.**__N__**.enable** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:107
+msgid "Enables output steps - when false, no steps are generated."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:107
+#, no-wrap
+msgid "**stepgen.**__N__**.velocity-cmd** float in (velocity mode only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:110
+msgid ""
+"Commanded velocity, in length units per second (see parameter "
+"*position-scale*)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:110
+#, no-wrap
+msgid "**stepgen.**__N__**.position-cmd** float in (position mode only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:112
+msgid "Commanded position, in length units (see parameter *position-scale).*"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:112
+#, no-wrap
+msgid "**stepgen.**__N__**.step** bit out (step type 0 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:114
+msgid "Step pulse output."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:114
+#, no-wrap
+msgid "**stepgen.**__N__**.dir** bit out (step type 0 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:116
+msgid "Direction output: low for forward, high for reverse."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:116
+#, no-wrap
+msgid "**stepgen.**__N__**.up** bit out (step type 1 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:118
+msgid "Count up output, pulses for forward steps."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:118
+#, no-wrap
+msgid "**stepgen.**__N__**.down** bit out (step type 1 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:120
+msgid "Count down output, pulses for reverse steps."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:120
+#, no-wrap
+msgid "**stepgen.**__N__**.phase-A** thru *phase-E* bit out (step types 2-14 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:124
+msgid ""
+"Output bits. *phase-A* and *phase-B* are present for step types 2-14, "
+"*phase-C* for types 3-14, *phase-D* for types 5-14, and *phase-E* for types "
+"11-14.  Behavior depends on selected stepping type."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:127
+#, no-wrap
+msgid "*stepgen.*_N_*.frequency* float ro"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:129
+msgid "The current step rate, in steps per second, for channel _N_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:129
+#, no-wrap
+msgid "*stepgen.*_N_*.maxaccel* float rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:131
+msgid "The acceleration/deceleration limit, in length units per second squared."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:131
+#, no-wrap
+msgid "*stepgen.*_N_*.maxvel* float rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:136
+msgid ""
+"The maximum allowable velocity, in length units per second.  If the "
+"requested maximum velocity cannot be reached with the current combination of "
+"scaling and *make-pulses* thread period, it will be reset to the highest "
+"attainable value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:136
+#, no-wrap
+msgid "*stepgen.*_N_*.position-scale* float rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:139
+msgid ""
+"The scaling for position feedback, position command, and velocity command, "
+"in steps per length unit."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:139
+#, no-wrap
+msgid "*stepgen.*_N_*.rawcounts* s32 ro"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:142
+msgid ""
+"The position in counts, as updated by *make-pulses*.  (Note: this is updated "
+"more frequently than the *counts* pin.)"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:142
+#, no-wrap
+msgid "*stepgen.*_N_*.steplen* u32 rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:145
+msgid ""
+"The length of the step pulses, in nanoseconds.  Measured from rising edge to "
+"falling edge."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:145
+#, no-wrap
+msgid "*stepgen.*_N_*.stepspace* u32 rw (step types 0 and 1 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:152
+msgid ""
+"The minimum space between step pulses, in nanoseconds. Measured from falling "
+"edge to rising edge. The actual time depends on the step rate and can be "
+"much longer. If *stepspace* is 0, then *step* can be asserted every "
+"period. This can be used in conjunction with *hal_parport*'s auto-resetting "
+"pins to output one step pulse per period. In this mode, *steplen* must be "
+"set for one period or less."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:152
+#, no-wrap
+msgid "*stepgen.*_N_*.dirsetup* u32 rw (step type 0 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:155
+msgid ""
+"The minimum setup time from direction to step, in nanoseconds periods.  "
+"Measured from change of direction to rising edge of step."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:155
+#, no-wrap
+msgid "*stepgen.*_N_*.dirhold* u32 rw (step type 0 only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:158
+msgid ""
+"The minimum hold time of direction after step, in nanoseconds.  Measured "
+"from falling edge of step to change of direction."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/stepgen.9.adoc:158
+#, no-wrap
+msgid "*stepgen.*_N_*.dirdelay* u32 rw (step types 1 and higher only)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:160
+msgid "The minimum time between a forward step and a reverse step, in nanoseconds."
+msgstr ""
+
+#. type: Title ==
+#: src/man/man9/stepgen.9.adoc:161
+#, no-wrap
+msgid "TIMING"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:168
+msgid ""
+"There are five timing parameters which control the output waveform. No step "
+"type uses all five, and only those which will be used are exported to "
+"HAL. The values of these parameters are in nano-seconds, so no recalculation "
+"is needed when changing thread periods. In the timing diagrams that follow, "
+"they are identified by the following numbers:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:170
+msgid "{empty}(1) *stepgen.n.steplen*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:172
+msgid "{empty}(2) *stepgen.n.stepspace*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:174
+msgid "{empty}(3) *stepgen.n.dirhold*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:176
+msgid "{empty}(4) *stepgen.n.dirsetup*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:178
+msgid "{empty}(5) *stepgen.n.dirdelay*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:182
+msgid ""
+"For step type 0, timing parameters 1 thru 4 are used. The following timing "
+"diagram shows the output waveforms, and what each parameter adjusts."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:186
+msgid ""
+"For step type 1, timing parameters 1, 2, and 5 are used. The following "
+"timing diagram shows the output waveforms, and what each parameter adjusts."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:193
+msgid ""
+"For step types 2 and higher, the exact pattern of the outputs depends on the "
+"step type (see the HAL manual for a full listing). The outputs change from "
+"one state to another at a minimum interval of *steplen*.  When a direction "
+"change occurs, the minimum time between the last step in one direction and "
+"the first in the other direction is the sum of *steplen* and *dirdelay*."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/stepgen.9.adoc:196
+msgid "The HAL User Manual."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/streamer.9.adoc:1
+#, no-wrap
+msgid "streamer(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:5
+msgid "streamer - stream file data into HAL in real time"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:8
+#, no-wrap
+msgid "*loadrt streamer depth*=_depth1[,depth2...]_ *cfg*=_string1[,string2...]_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:14
+#, no-wrap
+msgid ""
+"*streamer* and *halstreamer(1)* are used together to stream data from a file "
+"into the HAL in real time.\n"
+"*streamer* is a realtime HAL component that exports HAL pins and creates a "
+"FIFO in shared memory.\n"
+"*hal_streamer* is a non-realtime program that copies data from stdin into "
+"the FIFO, so that *streamer* can write it to the HAL pins.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:17
+#, no-wrap
+msgid "*depth*=_depth1[,depth2...]_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:21
+msgid ""
+"Sets the depth of the FIFO that the realtime *streamer* creates to receive "
+"data from the non-realtime *hal-streamer*.  Multiple values of _depth_ "
+"(separated by commas) can be specified if you need more than one FIFO (for "
+"example if you want to stream data to two different realtime threads)."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:22
+#, no-wrap
+msgid "*cfg*=_string1[,string2...]_"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:28
+msgid ""
+"Defines the set of HAL pins that *streamer* exports and later writes data "
+"to.  One _string_ must be supplied for each FIFO, separated by commas.  "
+"*streamer* exports one pin for each character in _string_.  Legal characters "
+"are:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:30
+#, no-wrap
+msgid "*F*, *f* (float pin)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:31
+#, no-wrap
+msgid "*B*, *b* (bit pin)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:32
+#, no-wrap
+msgid "*S*, *s* (s32 pin)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:33
+#, no-wrap
+msgid "*U*, *u* (u32 pin)\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:35
+#, no-wrap
+msgid "*streamer*._N_"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:40
+#, no-wrap
+msgid "*streamer*._N_.*pin*._M_ output"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:43
+msgid ""
+"Data from column _M_ of the data in FIFO _N_ appears on this pin.  The pin "
+"type depends on the config string."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:44
+#, no-wrap
+msgid "*streamer*._N_.*curr-depth* s32 output"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:47
+msgid ""
+"Current number of samples in the FIFO.  When this reaches zero, new data "
+"will no longer be written to the pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:48
+#, no-wrap
+msgid "*streamer*._N_.*empty* bit output"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:50
+msgid "TRUE when the FIFO _N_ is empty, FALSE when valid data is available."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:51
+#, no-wrap
+msgid "*streamer*._N_.*enable* bit input"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:54
+msgid ""
+"When TRUE, data from FIFO _N_ is written to the HAL pins.  When false, no "
+"data is transferred.  Defaults to TRUE."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:55
+#, no-wrap
+msgid "*streamer*._N_.*underruns* s32 read/write"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:58
+msgid ""
+"The number of times that *sampler* has tried to write data to the HAL pins "
+"but found no fresh data in the FIFO.  It increments whenever *empty* is "
+"true, and can be reset by the *setp* command."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:59
+#, no-wrap
+msgid "*streamer*._N_.*clock bit input"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:61
+msgid "Clock for data as specified by the clock-mode pin."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/streamer.9.adoc:62
+#, no-wrap
+msgid "*streamer*._N_.*clock-mode s32 input"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:64
+msgid "Defines behavior of clock pin:"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:66
+msgid "0 (*default*) free run at every iteration"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:67
+msgid "1 clock on falling edge of clock pin"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:68
+msgid "2 clock on rising edge of clock pin"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:69
+msgid "3 clock on any edge of clock pin"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:73
+msgid "halstreamer(1), sampler(9), halsampler(1)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/streamer.9.adoc:77
+msgid ""
+"Should an enable HAL pin be added, to allow streaming to be turned on and "
+"off?"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/supply.9.adoc:1
+#, no-wrap
+msgid "supply(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:6
+msgid "supply - set output pins with values from parameters (obsolete)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:10
+#, no-wrap
+msgid "**loadrt supply num_chan=**_num_\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:20
+#, no-wrap
+msgid ""
+"*supply* was used to allow the inputs of other HAL components to be\n"
+"manipulated for testing purposes. When it was written, the only way to\n"
+"set the value of an input pin was to connect it to a signal and connect\n"
+"that signal to an output pin of some other component, and then let that\n"
+"component write the pin value. *supply* was written to be that \"other\n"
+"component\". It reads values from parameters (set with the HAL command\n"
+"*setp*) and writes them to output pins.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:25
+msgid ""
+"Since *supply* was written, the *setp* command has been modified to allow it "
+"to set unconnected pins as well as parameters. In addition, the *sets* "
+"command was added, which can directly set HAL signals, as long as there are "
+"no output pins connected to them. Therefore, *supply* is obsolete."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:29
+#, no-wrap
+msgid ""
+"*supply* supports a maximum of eight channels. The number of channels\n"
+"actually loaded is set by the *num_chan* argument when the module is\n"
+"loaded. If *numchan* is not specified, the default value is one.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/supply.9.adoc:32
+#, no-wrap
+msgid "*supply.*_N_*.update* (uses floating-point)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:34
+msgid "Updates output pins for channel _N_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/supply.9.adoc:37
+#, no-wrap
+msgid "**supply.**_N_**.q** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:39
+msgid "Output bit, copied from parameter **supply.**_N_**.d**."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/supply.9.adoc:39
+#, no-wrap
+msgid "**supply.**_N_**._q** bit out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:41
+msgid "Output bit, inverted copy of parameter **supply.**_N_**.d**."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/supply.9.adoc:41
+#, no-wrap
+msgid "**supply.**_N_**.variable** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:43
+msgid "Analog output, copied from parameter **supply.**_N_**.value**."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/supply.9.adoc:43
+#, no-wrap
+msgid "**supply.**_N_**._variable** float out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:45
+msgid "Analog output, equal to -1.0 times parameter **supply.**_N_**.value**."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/supply.9.adoc:45
+#, no-wrap
+msgid "**supply.**_N_**.d** bit rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:47
+msgid "Data source for *q* and *_q* output pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/supply.9.adoc:47
+#, no-wrap
+msgid "*supply.**_N_**.value** bit rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/supply.9.adoc:48
+msgid "Data source for *variable* and *_variable* output pins."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/threads.9.adoc:1
+#, no-wrap
+msgid "threads(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/threads.9.adoc:6
+msgid "threads - creates hard realtime HAL threads"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/threads.9.adoc:10
+#, no-wrap
+msgid ""
+"**loadrt threads name1=_name_** **period1=**_period_ [**fp1**=<**0**|**1**>] "
+"[<_thread-2-info_>] [<_thread-3-info_>]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/threads.9.adoc:20
+#, no-wrap
+msgid ""
+"*threads* is used to create hard realtime threads which can execute HAL\n"
+"functions at specific intervals. It is not a true HAL component, in that\n"
+"it does not export any functions, pins, or parameters of its own. Once\n"
+"it has created one or more threads, the threads stand alone, and the\n"
+"*threads* component can be unloaded without affecting them. In fact, it\n"
+"can be unloaded and then reloaded to create additional threads, as many\n"
+"times as needed.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/threads.9.adoc:34
+#, no-wrap
+msgid ""
+"*threads* can create up to three realtime threads. Threads must be\n"
+"created in order, from fastest to slowest. Each thread is specified by\n"
+"three arguments. *name1* is used to specify the name of the first thread\n"
+"(thread 1). *period1* is used to specify the period of thread 1 in\n"
+"nanoseconds. Both _name_ and _period_ are required. The third argument,\n"
+"*fp1* is optional, and is used to specify if thread 1 will be used to\n"
+"execute floating point code. If not specified, it defaults to *1*, which\n"
+"means that the thread will support floating point. Specify *0* to\n"
+"disable floating point support, which saves a small amount of execution\n"
+"time by not saving the FPU context. For additional threads, *name2*,\n"
+"*period2*, *fp2*, *name3*, *period3*, and *fp3* work exactly the same.\n"
+"If more than three threads are needed, unload threads, then reload it to\n"
+"create more threads.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/threads.9.adoc:54
+msgid ""
+"The existence of *threads* might be considered a bug. Ideally, creation and "
+"deletion of threads would be done directly with *halcmd* commands, such as "
+"\"*newthread *_name period_\", \"*delthread *_name_\", or similar.  However, "
+"limitations in the current HAL implementation require thread creation to "
+"take place in kernel space, and loading a component is the most "
+"straightforward way to do that."
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/watchdog.9.adoc:1
+#, no-wrap
+msgid "watchdog(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:6
+msgid "watchdog - monitor multiple inputs for a \"heartbeat\""
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:10
+#, no-wrap
+msgid "*loadrt watchdog num_inputs=*__N__\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:13
+msgid ""
+"You must specify the number of inputs, from 1 to 32.  Each input has a "
+"separate timeout value."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/watchdog.9.adoc:16
+#, no-wrap
+msgid "*process*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:20
+msgid ""
+"Check all input pins for transitions, clear the *ok-out* pin if any input "
+"has no transition within its timeout period. This function does not use "
+"floating point, and should be added to a fast thread."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/watchdog.9.adoc:20
+#, no-wrap
+msgid "*set-timeouts*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:26
+msgid ""
+"Check for timeout changes, and convert the float timeout inputs to int "
+"values that can be used in *process*. This function also monitors "
+"*enable-in* for false to true transitions, and re-enables monitoring when "
+"such a transition is detected. This function does use floating point, and it "
+"is appropriate to add it to the servo thread."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/watchdog.9.adoc:29
+#, no-wrap
+msgid "*watchdog.input-n* bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:31
+msgid "Input number _n_. The inputs are numbered from 0 to *num_inputs*-1."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/watchdog.9.adoc:31
+#, no-wrap
+msgid "*watchdog.enable-in* bit in (default: _FALSE_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:35
+msgid ""
+"If TRUE, forces out-ok to be false. Additionally, if a timeout occurs on any "
+"input, this pin must be set FALSE and TRUE again to re-start the monitoring "
+"of input pins."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/watchdog.9.adoc:35
+#, no-wrap
+msgid "*watchdog.ok-out* bit out (default: _FALSE_)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:40
+msgid ""
+"OK output. This pin is true only if enable-in is TRUE and no timeout has "
+"been detected. This output can be connected to the enable input of a "
+"*charge_pump* or *stepgen* (in v mode), to provide a heartbeat signal to "
+"external monitoring hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/watchdog.9.adoc:48
+#, no-wrap
+msgid ""
+"*watchdog.timeout-n float in* Timeout value for input number n. The\n"
+"inputs are numbered from 0 to *num_inputs*-1. The timeout is in seconds,\n"
+"and may not be below zero. Note that a timeout of 0.0 will likely\n"
+"prevent *ok-out* from ever becoming true. Also note that excessively\n"
+"long timeouts are relatively useless for monitoring purposes.\n"
+msgstr ""
+
+#. type: Title =
+#: src/man/man9/weighted_sum.9.adoc:1
+#, no-wrap
+msgid "weighted_sum(9)"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:6
+msgid "weighted_sum - convert a group of bits to an integer"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:10
+#, no-wrap
+msgid "**loadrt weighted_sum wsum_sizes=**__size__[,__size__,...]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:12
+msgid ""
+"Creates weighted sum groups each with the given number of input bits "
+"(_size_)."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:20
+msgid ""
+"The weighted_sum converts a group of bits to an integer. The conversion is "
+"the sum of the weights of the bits that are on plus any offset. The weight "
+"of the m-th bit is 2^m. This is similar to a binary coded decimal but with "
+"more options. The hold bit stops processing the input changes so the sum "
+"will not change."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:23
+msgid ""
+"The default value for each weight is 2^m where m is the bit number.  This "
+"results in a binary to unsigned conversion."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:25
+msgid ""
+"There is a limit of 8 weighted summers and each may have up to 16 input "
+"bits."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/weighted_sum.9.adoc:28
+#, no-wrap
+msgid "*process_wsums (requires a floating point thread)*"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:30
+msgid "Read all input values and update all output values."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/weighted_sum.9.adoc:33
+#, no-wrap
+msgid "**wsum.**_N_**.bit.**_M_**.in** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:35
+msgid "The _m_'th input of weighted summer _n_."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/weighted_sum.9.adoc:35
+#, no-wrap
+msgid "**wsum.**_N_**.hold** bit in"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:38
+msgid ""
+"When TRUE, the _sum_ output does not change.  When FALSE, the _sum_ output "
+"tracks the _bit_ inputs according to the weights and offset."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/weighted_sum.9.adoc:38
+#, no-wrap
+msgid "**wsum.**_N_**.sum** signed out"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:40
+msgid "The output of the weighted summer"
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/weighted_sum.9.adoc:40
+#, no-wrap
+msgid "**wsum.**_N_**.bit.**_M_**.weight** signed rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:43
+msgid ""
+"The weight of the _m_'th input of weighted summer _n_.  The default value is "
+"2^__m__."
+msgstr ""
+
+#. type: Labeled list
+#: src/man/man9/weighted_sum.9.adoc:43
+#, no-wrap
+msgid "**wsum.**_N_**.offset** signed rw"
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:45
+msgid ""
+"The offset is added to the weights corresponding to all TRUE inputs to give "
+"the final sum."
+msgstr ""
+
+#. type: Plain text
+#: src/man/man9/weighted_sum.9.adoc:48
+msgid "scaled_s32_sums(9), sum2(9)"
+msgstr ""
+
+#. use image:: for equation png files -- no latexmath
+#. type: Title =
+#: src/motion/5-axis-kinematics.adoc:9
+#, no-wrap
+msgid "5-Axis Kinematics(((5-Axis Kinematics)))"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:20
+msgid ""
+"Coordinated multi-axis CNC machine tools controlled with LinuxCNC, require a "
+"special kinematics component for each type of machine. This chapter "
+"describes some of the most popular 5-axis machine configurations and then "
+"develops the forward (from work to joint coordinates) and inverse (from "
+"joint to work) transformations in a general mathematical process for two "
+"types of machine."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:22
+msgid ""
+"The kinematics components are given as well as vismach simulation models to "
+"demonstrate their behaviour on a computer screen. Examples of HAL file data "
+"are also given."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:24
+msgid ""
+"Note that with these kinematics, the rotational axes move in the opposite "
+"direction of what the convention is. See section [\"rotational "
+"axes\"](https://linuxcnc.org/docs/html/gcode/machining-center.html#_rotational_axes) "
+"for details."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/5-axis-kinematics.adoc:25
+#, no-wrap
+msgid "5-Axis Machine Tool Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:28
+msgid ""
+"In this section we deal with the typical 5-axis milling or router machines "
+"with five joints or degrees-of-freedom which are controlled in coordinated "
+"moves."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:30
+msgid ""
+"3-axis machine tools cannot change the tool orientation, so 5-axis machine "
+"tools use two extra axes to set the cutting tool in an appropriate "
+"orientation for efficient machining of freeform surfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:32
+msgid ""
+"Typical 5-axis machine tool configurations are shown in Figs. 3, 5, 7 and "
+"9-11 [1,2] in section Figures."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:34
+msgid ""
+"The kinematics of 5-axes machine tools are much simpler than that of 6-axis "
+"serial arm robots, since 3 of the axes are normally linear axes and only two "
+"are rotational axes."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/5-axis-kinematics.adoc:35
+#, no-wrap
+msgid "Tool Orientation and Location"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:38
+msgid ""
+"CAD/CAM systems are typically used to generate the 3D CAD models of the "
+"workpiece as well as the CAM data for input to the CNC 5-axis machine. The "
+"tool or cutter location (CL) data, is composed of the cutter tip position "
+"and the cutter orientation relative to the workpiece coordinate system. Two "
+"vectors, as generated by most CAM systems and shown in Fig. 1, contain this "
+"information:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:39
+#, no-wrap
+msgid "5-axis-figures/equation__1.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:42
+msgid ""
+"The K vector is equivalent to the 3rd vector from the pose matrix E~6~ that "
+"was used in the 6-axis robot kinematics [3] and the Q vector is equivalent "
+"to the 4th vector of E~6~. In MASTERCAM for example this information is "
+"contained in the intermediate output \".nci\" file."
+msgstr ""
+
+#. type: Block title
+#: src/motion/5-axis-kinematics.adoc:43
+#, no-wrap
+msgid "Cutter location data"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:44
+#, no-wrap
+msgid "5-axis-figures/Figure-1.png"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/5-axis-kinematics.adoc:46
+#, no-wrap
+msgid "Translation and Rotation Matrices"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:50
+msgid ""
+"Homogeneous transformations provide a simple way to describe the mathematics "
+"of multi-axis machine kinematics. A transformation of the space H is a 4x4 "
+"matrix and can represent translation and rotation transformations. Given a "
+"point x,y,x described by a vector u = {x,y,z,1}^T^, then its transformation "
+"v is represented by the matrix product"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:51
+#, no-wrap
+msgid "5-axis-figures/equation__2.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:54
+msgid ""
+"There are four fundamental transformation matrices on which 5-axis "
+"kinematics can be based:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:55
+#, no-wrap
+msgid "5-axis-figures/equation__3.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:58
+msgid ""
+"The matrix T(a,b,c) implies a translation in the X, Y, Z coordinate "
+"directions by the amounts a, b, c respectively. The R matrices imply "
+"rotations of the angle theta about the X, Y and Z coordinate axes "
+"respectively. The 'C' and 'S' symbols refer to cosine and sine functions "
+"respectively."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/5-axis-kinematics.adoc:59
+#, no-wrap
+msgid "Table Rotary/Tilting 5-Axis Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:62
+msgid ""
+"In these machine tools the two rotational axes mount on the work table of "
+"the machine. Two forms are typically used:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:64
+msgid ""
+"A rotary table which rotates about the vertical Z-axes (C-rotation, "
+"secondary) mounted on a tilting table which rotates about the X- or Y-axis "
+"(A- or B-rotation, primary). The workpiece is mounted on the rotary table."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:65
+msgid ""
+"A tilting table which rotates about the X- or Y-axis (A- or B-rotation, "
+"secondary) is mounted on a rotary table which rotates about the Z-axis "
+"(C-rotation, primary), with the workpiece on the tilting table."
+msgstr ""
+
+#. type: Block title
+#: src/motion/5-axis-kinematics.adoc:66
+#, no-wrap
+msgid "General configuration and coordinate systems"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:67
+#, no-wrap
+msgid "5-axis-figures/Figure-2.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:70
+msgid ""
+"A multi-axis machine can be considered to consist of a series of links "
+"connected by joints. By embedding a coordinate frame in each link of the "
+"machine and using homogeneous transformations, we can describe the relative "
+"position and orientation between these coordinate frames"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:72
+msgid ""
+"We need to describe a relationship between the workpiece coordinate system "
+"and the tool coordinate system. This can be defined by a transformation "
+"matrix '^w^A~t~', which can be found by subsequent transformations between "
+"the different structural elements or links of the machine, each with its own "
+"defined coordinate system. In general such a transformation may look as "
+"follows:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:73
+#, no-wrap
+msgid "5-axis-figures/equation__4.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:76
+msgid ""
+"where each matrix '^i-1^A~j~' is a translation matrix 'T' or a rotation "
+"matrix 'R' of the form (2,3)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:78
+msgid ""
+"Matrix multiplication is a simple process in which the elements of each row "
+"of the lefthand matrix A is multiplied by the elements of each column of the "
+"righthand matrix B and summed to obtain an element in the result matrix C, "
+"ie."
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:79
+#, no-wrap
+msgid "5-axis-figures/equation__5.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:82
+msgid ""
+"In Fig. 2 a generic configuration with coordinate systems is shown [4]. It "
+"includes table rotary/tilting axes as well as spindle rotary/tilting "
+"axes. Only two of the rotary axes are actually used in a machine tool."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:84
+msgid ""
+"First we will develop the transformations for the first type of "
+"configuration mentioned above, ie. a table tilting/rotary (trt) type with no "
+"rotating axis offsets. We may give it the name xyzac-trt configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:86
+msgid ""
+"We also develop the transformations for the same type (xyzac-trt), but with "
+"rotating axis offsets."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:88
+msgid ""
+"Then we develop the transformations for a xyzbc-trt configuration with "
+"rotating axis offsets."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/5-axis-kinematics.adoc:89
+#, no-wrap
+msgid "Transformations for a xyzac-trt machine tool with work offsets"
+msgstr ""
+
+#. type: Block title
+#: src/motion/5-axis-kinematics.adoc:91
+#, no-wrap
+msgid "vismach model of xyzac-trt with coincident rotation axes"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:92
+#, no-wrap
+msgid "5-axis-figures/Figure-3.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:95
+msgid ""
+"We deal here with a simplified configuration in which the tilting axis and "
+"rotary axis intersects at a point called the pivot point as shown in "
+"Fig. 4. therefore the two coordinate systems 'O~ws~' and 'O~wp~' of Fig. 2 "
+"are coincident."
+msgstr ""
+
+#. type: Block title
+#: src/motion/5-axis-kinematics.adoc:96
+#, no-wrap
+msgid "Table tilting/rotary configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:97
+#, no-wrap
+msgid "5-axis-figures/Figure-4.png"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/5-axis-kinematics.adoc:99 src/motion/kinematics.adoc:183
+#, no-wrap
+msgid "Forward transformation"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:102 src/motion/5-axis-kinematics.adoc:174
+#: src/motion/5-axis-kinematics.adoc:237
+msgid ""
+"The transformation can be defined by the sequential multiplication of the "
+"matrices:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:103
+#, no-wrap
+msgid "5-axis-figures/equation__6.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:106 src/motion/5-axis-kinematics.adoc:178
+#: src/motion/5-axis-kinematics.adoc:241
+msgid "with the matrices built up as follows:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:107
+#, no-wrap
+msgid "5-axis-figures/equation__7.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:110
+msgid ""
+"In these equations L~x~, L~y~, L~z~ defines the offsets of the pivot point "
+"of the two rotary axes A and C relative to the workpiece coordinate system "
+"origin. Furthermore, P~x~, P~y~, P~z~ are the relative distances of the "
+"pivot point to the cutter tip position, which can also be called the \"joint "
+"coordinates\" of the pivot point. The pivot point is at the intersection of "
+"the two rotary axes. The signs of the S~A~ and S~C~ terms are different to "
+"those in [2,3] since there the table rotations are negative relative to the "
+"workpiece coordinate axes (note that sin(-theta) = -sin(theta), cos(-theta) "
+"= cos(theta))."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:112
+msgid "When multiplied in accordance with (5), we obtain:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:113
+#, no-wrap
+msgid "5-axis-figures/equation__8.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:116 src/motion/5-axis-kinematics.adoc:188
+msgid ""
+"We can now equate the third column of this matrix with our given tool "
+"orientation vector K, ie.:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:117
+#, no-wrap
+msgid "5-axis-figures/equation__9.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:120 src/motion/5-axis-kinematics.adoc:192
+msgid ""
+"From these equations we can solve for the rotation angles theta~A~, "
+"theta~C~. From the third row we find:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:121
+#, no-wrap
+msgid "5-axis-figures/equation__10.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:124
+msgid "and by dividing the first row by the second row we find:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:125
+#, no-wrap
+msgid "5-axis-figures/equation__11.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:128 src/motion/5-axis-kinematics.adoc:200
+#: src/motion/5-axis-kinematics.adoc:265
+msgid ""
+"These relationships are typically used in the CAM post-processor to convert "
+"the tool orientation vectors to rotation angles."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:130
+msgid ""
+"Equating the last column of (8) with the tool position vector Q, we can "
+"write:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:131
+#, no-wrap
+msgid "5-axis-figures/equation__12.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:134 src/motion/5-axis-kinematics.adoc:206
+#: src/motion/5-axis-kinematics.adoc:271
+msgid ""
+"The vector on the right hand side can also be written as the product of a "
+"matrix and a vector resulting in:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:135
+#, no-wrap
+msgid "5-axis-figures/equation__13.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:138
+msgid "This can be expanded to give"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:139
+#, no-wrap
+msgid "5-axis-figures/equation__14.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:142 src/motion/5-axis-kinematics.adoc:210
+#: src/motion/5-axis-kinematics.adoc:275
+msgid "which is the 'forward transformation' of the kinematics."
+msgstr ""
+
+#. type: Title ====
+#: src/motion/5-axis-kinematics.adoc:143 src/motion/5-axis-kinematics.adoc:211
+#: src/motion/5-axis-kinematics.adoc:276
+#, no-wrap
+msgid "Inverse Transformation"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:146
+msgid ""
+"We can solve for P from equation (13) as 'P = (^Q^A~P~)^-1^ * Q'. Noting "
+"that the square matrix is a homogeneous 4x4 matrix containing a rotation "
+"matrix R and translation vector q, for which the inverse can be written as:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:147
+#, no-wrap
+msgid "5-axis-figures/equation__15.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:150
+msgid ""
+"where R^T is the transpose of R (rows and columns swappped). We therefore "
+"obtain:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:151
+#, no-wrap
+msgid "5-axis-figures/equation__16.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:154 src/motion/5-axis-kinematics.adoc:219
+#: src/motion/5-axis-kinematics.adoc:285
+msgid ""
+"The desired equations for the 'inverse transformation' of the kinematics "
+"thus can be written as:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:155
+#, no-wrap
+msgid "5-axis-figures/equation__17.png"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/5-axis-kinematics.adoc:157
+#, no-wrap
+msgid "Transformations for a xyzac-trt machine  with rotary axis offsets"
+msgstr ""
+
+#. type: Block title
+#: src/motion/5-axis-kinematics.adoc:159
+#, no-wrap
+msgid "vismach model of xyzac-trt with rotational axis offsets (positive)"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:160
+#, no-wrap
+msgid "5-axis-figures/Figure-5.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:167
+msgid ""
+"We deal here with a extended configuration in which the tilting axis and "
+"rotary axis do not intersect at a point but have an offset D~y~.  "
+"Furthermore, there is also an z-offset between the two coordinate systems "
+"'O~ws~' and 'O~wp~' of Fig. 2, called D~z~.  A vismach model is shown in "
+"Fig. 5 and the offsets are shown in Fig. 6 (positive offsets in this "
+"example).  To simplify the configuration, the offsets L~x~, L~y~, L~z~ of "
+"the previous case are not included.  They are probably not necessary if one "
+"uses the G54 offsets in LinuxCNC by means of the \"touch of\" facility."
+msgstr ""
+
+#. type: Block title
+#: src/motion/5-axis-kinematics.adoc:168
+#, no-wrap
+msgid "Table tilting/rotary xyzac-trt configuration, with axis offsets"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:169
+#, no-wrap
+msgid "5-axis-figures/Figure-6.png"
+msgstr ""
+
+#. type: Title ====
+#: src/motion/5-axis-kinematics.adoc:171 src/motion/5-axis-kinematics.adoc:234
+#, no-wrap
+msgid "Forward Transformation"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:175
+#, no-wrap
+msgid "5-axis-figures/equation__18.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:179
+#, no-wrap
+msgid "5-axis-figures/equation__19.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:182
+msgid ""
+"In these equations D~y~, D~z~ defines the offsets of the pivot point of the "
+"rotary axes A relative to the workpiece coordinate system "
+"origin. Furthermore, P~x~, P~y~, P~z~ are the relative distances of the "
+"pivot point to the cutter tip position, which can also be called the \"joint "
+"coordinates\" of the pivot point. The pivot point is on the A rotary axis."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:184
+msgid "When multiplied in accordance with (18), we obtain:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:185
+#, no-wrap
+msgid "5-axis-figures/equation__20.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:189
+#, no-wrap
+msgid "5-axis-figures/equation__21.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:193
+#, no-wrap
+msgid "5-axis-figures/equation__22.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:196 src/motion/5-axis-kinematics.adoc:261
+msgid "and by dividing the second row by the first row we find:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:197
+#, no-wrap
+msgid "5-axis-figures/equation__23.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:202
+msgid ""
+"Equating the last column of (21) with the tool position vector Q, we can "
+"write:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:203
+#, no-wrap
+msgid "5-axis-figures/equation__24.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:207
+#, no-wrap
+msgid "5-axis-figures/equation__25.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:215
+msgid ""
+"We can solve for P from equation (25) as 'P = (^Q^A~P~)^-1^ * Q' using (15) "
+"as before.  We thereby obtain:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:216
+#, no-wrap
+msgid "5-axis-figures/equation__26.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:220
+#, no-wrap
+msgid "5-axis-figures/equation__27.png"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/5-axis-kinematics.adoc:222
+#, no-wrap
+msgid "Transformations for a xyzbc-trt machine  with rotary axis offsets"
+msgstr ""
+
+#. type: Block title
+#: src/motion/5-axis-kinematics.adoc:224
+#, no-wrap
+msgid "vismach model of xyzbc-trt with rotational axis offsets (negative)"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:225
+#, no-wrap
+msgid "5-axis-figures/Figure-7.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:230
+msgid ""
+"We deal here again with a extended configuration in which the tilting axis "
+"(about the y-axis) and rotary axis do not intersect at a point but have an "
+"offset D~x~.  Furthermore, there is also an z-offset between the two "
+"coordinate systems 'O~ws~' and 'O~wp~' of Fig. 2, called D~z~.  A vismach "
+"model is shown in Fig. 7 (negative offsets in this example) and the positive "
+"offsets are shown in Fig. 8."
+msgstr ""
+
+#. type: Block title
+#: src/motion/5-axis-kinematics.adoc:231
+#, no-wrap
+msgid "Table tilting/rotary xyzbc-trt configuration, with axis offsets"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:232
+#, no-wrap
+msgid "5-axis-figures/Figure-8.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:238
+#, no-wrap
+msgid "5-axis-figures/equation__28.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:242
+#, no-wrap
+msgid "5-axis-figures/equation__29.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:247
+msgid ""
+"In these equations D~x~, D~z~ defines the offsets of the pivot point of the "
+"rotary axes B relative to the workpiece coordinate system origin.  "
+"Furthermore, P~x~, P~y~, P~z~ are the relative distances of the pivot point "
+"to the cutter tip position, which can also be called the \"joint "
+"coordinates\" of the pivot point.  The pivot point is on the B rotary axis."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:249
+msgid "When multiplied in accordance with (29), we obtain:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:250
+#, no-wrap
+msgid "5-axis-figures/equation__30.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:253
+msgid ""
+"We can now equate the third column of this matrix with our given tool "
+"orientation vector K, i.e.:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:254
+#, no-wrap
+msgid "5-axis-figures/equation__31.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:257
+msgid ""
+"From these equations we can solve for the rotation angles theta~B~, "
+"theta~C~. From the third row we find:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:258
+#, no-wrap
+msgid "5-axis-figures/equation__32.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:262
+#, no-wrap
+msgid "5-axis-figures/equation__33.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:267
+msgid ""
+"Equating the last column of (32) with the tool position vector Q, we can "
+"write:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:268
+#, no-wrap
+msgid "5-axis-figures/equation__34.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:272
+#, no-wrap
+msgid "5-axis-figures/equation__35.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:279
+msgid "We can solve for P from equation (37) as 'P = (^Q^A~P~)^-1^ * Q'."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:281
+msgid "With the same approach as before, we obtain:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:282
+#, no-wrap
+msgid "5-axis-figures/equation__36.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:286
+#, no-wrap
+msgid "5-axis-figures/equation__37.png"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/5-axis-kinematics.adoc:288
+#, no-wrap
+msgid "Table Rotary/Tilting Examples"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:293
+msgid ""
+"LinuxCNC includes kinematics modules for the 'xyzac-trt' and 'xyzbc-trt' "
+"topologies described in the mathematics detailed above.  For interested "
+"users, the source code is available in the git tree in the "
+"'src/emc/kinematics/' directory."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:297
+msgid ""
+"Example xyzac-trt and xyzbc-trt simulation configurations are located in the "
+"Sample Configurations "
+"('configs/sim/axis/vismach/5axis/table-rotary-tilting/')  directory."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:301
+msgid ""
+"The example configurations include the required INI files and an examples "
+"subdirectory with G-code (NGC) files. These sim configurations invoke a "
+"realistic 3-dimensional model using the LinuxCNC vismach facility."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/5-axis-kinematics.adoc:302
+#, no-wrap
+msgid "Vismach Simulation Models"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:305
+msgid ""
+"Vismach is a library of python routines to display a dynamic simulation of a "
+"CNC machine on the PC screen. The python script for a particular machine is "
+"loaded in HAL and data passed by HAL pin connections.  The non-realtime "
+"vismach model is loaded by a HAL command like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/5-axis-kinematics.adoc:309
+#, no-wrap
+msgid "loadusr -W xyzac-trt-gui\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:312
+msgid "and connections are made using HAL commands like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/5-axis-kinematics.adoc:317
+#, no-wrap
+msgid ""
+"net  :table-x   joint.0.pos-fb xyzac-trt-gui.table-x\n"
+"net  :saddle-y  joint.1.pos-fb xyzac-trt-gui.saddle-y\n"
+"...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:320
+msgid ""
+"See the simulation INI files for details of the HAL connections used for the "
+"vismach model."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/5-axis-kinematics.adoc:321
+#, no-wrap
+msgid "Tool-Length Compensation"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:324
+msgid ""
+"In order to use tools from a tool table sequentially with tool-length "
+"compensation applied automatically, a further Z-offset is required. For a "
+"tool that is longer than the \"master\" tool, which typically has a tool "
+"length of zero, LinuxCNC has a variable called \"motion.tooloffset.z\". If "
+"this variable is passed on to the kinematic component (and vismach python "
+"script), then the necessary additional Z-offset for a new tool can be "
+"accounted for by adding the component statement, for example:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:325
+#, no-wrap
+msgid "5-axis-figures/equation__38.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:328
+msgid "The required HAL connection (for xyzac-trt) is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/5-axis-kinematics.adoc:332
+#, no-wrap
+msgid "net :tool-offset motion.tooloffset.z xyzac-trt-kins.tool-offset\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:335
+msgid "where:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/5-axis-kinematics.adoc:340
+#, no-wrap
+msgid ""
+":tool-offset ---------------- signal name\n"
+"motion.tooloffset.z --------- output HAL pin from LinuxCNC motion module\n"
+"xyzac-trt-kins.tool-offset -- input  HAL pin to xyzac-trt-kins\n"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/5-axis-kinematics.adoc:342
+#, no-wrap
+msgid "Custom Kinematics Components"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:350
+msgid ""
+"LinuxCNC implements kinematics using a HAL component that is loaded at "
+"startup of LinuxCNC.  The most common kinematics module, 'trivkins', "
+"implements identity (trivial) kinematics where there is a one-to-one "
+"correspondence between an axis coordinate letter and a motor joint.  "
+"Additional kinematics modules for more complex systems (including "
+"'xyzac-trt' and 'xyzbc-trt' described above) are available."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:353
+msgid ""
+"See the kins manpage (*\\$ man kins*) for brief descriptions of the "
+"available kinematics modules."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:358
+msgid ""
+"The kinematics modules provided by LinuxCNC are typically written in the "
+"C-language.  Since a standard structure is used, creation of a custom "
+"kinematics module is facilitated by copying an existing source file to a "
+"user file with a new name, modifying it, and then installing."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:360
+msgid "Installation is done using halcompile:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/5-axis-kinematics.adoc:363
+#, no-wrap
+msgid "sudo halcompile --install kinsname.c\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:368
+msgid ""
+"where \"kinsname\" is the name you give to your component. The sudo prefix "
+"is required to install it and you will be asked for your root password.  See "
+"the halcompile man page for more information (*\\$ man halcompile*)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:372
+msgid ""
+"Once it is compiled and installed you can reference it in your config setup "
+"of your machine. This is done in the INI file of your config directory. For "
+"example, the common INI specificaion:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/5-axis-kinematics.adoc:377
+#, no-wrap
+msgid ""
+"[KINS]\n"
+"KINEMATICS = trivkins\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:380
+msgid "is replaced by"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/5-axis-kinematics.adoc:385
+#, no-wrap
+msgid ""
+"[KINS]\n"
+"KINEMATICS = kinsname\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:391
+msgid ""
+"where \"kinsname\" is the name of your kins program.  Additional HAL pins "
+"may be created by the module for variable configuration items such as the "
+"D~x~, D~y~, D~z~, tool-offset used in the xyzac-trt kinematics module.  "
+"These pins can be connected to a signal for dynamic control or set once with "
+"HAL connections like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/5-axis-kinematics.adoc:398
+#, no-wrap
+msgid ""
+"# set offset parameters\n"
+"net :tool-offset motion.tooloffset.z xyzac-trt-kins.tool-offset\n"
+"setp xyzac-trt-kins.y-offset 0\n"
+"setp xyzac-trt-kins.z-offset 20\n"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/5-axis-kinematics.adoc:400
+#, no-wrap
+msgid "Figures"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/motion/5-axis-kinematics.adoc:402 src/motion/5-axis-kinematics.adoc:403
+#, no-wrap
+msgid "Table tilting/rotating configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:403
+#, no-wrap
+msgid "5-axis-figures/Figure-9.png"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/motion/5-axis-kinematics.adoc:405 src/motion/5-axis-kinematics.adoc:406
+#, no-wrap
+msgid "Spindle/table tilting configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:406
+#, no-wrap
+msgid "5-axis-figures/Figure-10.png"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/motion/5-axis-kinematics.adoc:408 src/motion/5-axis-kinematics.adoc:409
+#, no-wrap
+msgid "Spindle tilting/rotary configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/5-axis-kinematics.adoc:409
+#, no-wrap
+msgid "5-axis-figures/Figure-11.png"
+msgstr ""
+
+#. == References  nope nope nope pdf nope
+#. type: Title ==
+#: src/motion/5-axis-kinematics.adoc:415
+#, no-wrap
+msgid "REFERENCES"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:418
+msgid ""
+"AXIS MACHINE TOOLS: Kinematics and Vismach Implementation in LinuxCNC, RJ du "
+"Preez, SA-CNC-CLUB, April 7, 2016."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:420
+msgid ""
+"A Postprocessor Based on the Kinematics Model for General Five-Axis machine "
+"Tools: C-H She, R-S Lee, J Manufacturing Processes, V2 N2, 2000."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:423
+msgid ""
+"NC Post-processor for 5-axis milling of table-rotating/tilting type: YH "
+"Jung, DW Lee, JS Kim, HS Mok, J Materials Processing Technology,130-131 "
+"(2002)  641-646."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:424
+msgid ""
+"3D 6-DOF Serial Arm Robot Kinematics, RJ du Preez, SA-CNC-CLUB, Dec. 5, "
+"2013."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/5-axis-kinematics.adoc:427
+msgid ""
+"Design of a generic five-axis postprocessor based on generalized kinematics "
+"model of machine tool: C-H She, C-C Chang, Int. J Machine Tools & "
+"Manufacture, 47 (2007) 537-545."
+msgstr ""
+
+#. type: Title =
+#: src/motion/dh-parameters.adoc:5
+#, no-wrap
+msgid ""
+"Setting up \"modified\" Denavit-Hartenberg (DH) parameters for "
+"'genserkins'(((DH parameters Examples)))"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/dh-parameters.adoc:7
+#, no-wrap
+msgid "Prelude"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:12
+msgid ""
+"LinuxCNC supports a number of kinematics modules including one that supports "
+"a generalized set of serial kinematics commonly specified via "
+"Denavit-Hartenberg parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:15
+msgid ""
+"This document illustrates a method to set up the DH-parameters for a "
+"Mitsubishi RV-6SDL in LinuxCNC using 'genserkins' kinematics."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:20
+msgid ""
+"This document does not cover the creation of a 'vismach' model which, while "
+"certainly very useful, requires just as much careful modeling if it is to "
+"match the 'genserkins' model derived in this document."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:23
+msgid "There may be errors and/or shortcomings -- use at your own risk!"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:34
+msgid ""
+"With the proliferation of industrial robots comes an increased interest to "
+"control used robots with LinuxCNC.  A common type of robot used in industry "
+"and manufacturing is the \"serial manipulator\" designed as a series of "
+"motorized joints connected by rigid links.  Serial robots often have six "
+"joints as required for the six degrees of freedom needed to both position "
+"(XYZ) and orient (ABC or pitch, roll, yaw) an object in space.  Often these "
+"robots have an arm structure that extends from a base to an end-effector."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:45
+msgid ""
+"Control of such a serial robot requires the calculation of the "
+"end-effector's position and orientation in relation to a reference "
+"coordinate system when the joint angles are known (*forward kinematics*)  "
+"and also the more complex reverse calculation of the required joint angles "
+"for a given end-effector position and orientation in relation to the "
+"reference coordinate system (*inverse kinematics*).  The standard "
+"mathematical tools used for these calculations are matrices which are "
+"basically tables of parameters and formulas that make it easier to handle "
+"the rotations and translations involved in forward and inverse kinematics "
+"calculations."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:53
+msgid ""
+"Detailed familiarity with the math is not required for a serial robot since "
+"LinuxCNC provides a kinematics module that implements an algorithm called "
+"'genserkins' to calculate the forward and inverse kinematics for a generic "
+"serial robot.  In order to control a specific serial robot, 'genserkins' "
+"must be provided with data so that it can build a mathematical model of the "
+"robot's mechanical structure and thus do the math."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:60
+msgid ""
+"The required data needs to be in a standardized form that has been "
+"introduced by Jacques Denavit and Richard Hartenberg back in the fifties and "
+"are called the DH-Parameters.  Denavit and Hartenberg used four parameters "
+"to describe how one joint is linked to the next.  These parameters describe "
+"basically two rotations ('alpha' and 'theta') and two translations ('a' and "
+"'d')."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/dh-parameters.adoc:61
+#, no-wrap
+msgid "Modified DH-Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:75
+msgid ""
+"As is often the case, this \"standard\" has been modified by other authors "
+"who have introduced \"modified DH-parameters\" and one must be very careful "
+"because 'genserkins' uses \"modified DH-parameters\" as described in the "
+"publication \"Introduction to Robotics, Mechanics and Control\" by John "
+"J. Craig.  Beware there is a lot of information to be found on "
+"'DH-parameters' but rarely does the author define which convention is "
+"actually used.  In addition, some people have found it necessary to change "
+"the parameter named 'a' to 'r' and have thus added to the confusion.  This "
+"document adheres to the convention in the above mentioned publication by "
+"Craig with the difference that joint and parameter enumeration begins with "
+"the number '0' in order to be consistent with 'genserkins' and its HAL pins."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:87
+msgid ""
+"Standard and Modified DH-Parameters consist of four numeric values for each "
+"joint ('a', 'd', 'alpha' and 'theta') that describe how the coordinate "
+"system (CS) sitting in one joint has to be moved and rotated to be aligned "
+"with the next joint.  Aligned means that the Z-axis of our CS coincides with "
+"the axis of rotation of the joint and points in the positive direction such "
+"that, using the right hand rule with the thumb pointing in the positive "
+"direction of the Z-axis, the fingers point in the positive direction of "
+"rotation of the joint.  It becomes clear that in order to do this, one must "
+"decide on the positive directions of all joints before starting to derive "
+"the parameters!"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:91
+msgid ""
+"The difference between \"standard\" and \"modified\" notations is in how the "
+"parameters are allocated to the links.  Using the \"standard\" DH-Parameters "
+"in 'genserkins' will *not* give the correct mathematical model."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/dh-parameters.adoc:92
+#, no-wrap
+msgid "Modified DH-Parameters as used in 'genserkins'"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:99
+msgid ""
+"Note that 'genserkins' does not handle offsets to theta-values -- theta is "
+"the joint variable that is *controlled* by LinuxCNC.  With the CS aligned "
+"with the joint, a rotation around its Z-Axis is identical to the rotation "
+"commanded to that joint by LinuxCNC. This makes it impossible to define the "
+"0° position of our robots joints arbitrarily."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:101
+msgid "The three configurable parameters are:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:104
+#, no-wrap
+msgid ""
+"*alpha* : positive or negative rotation (in radians) around the X-axis\n"
+"of the \"current coordinate system\"\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:106
+#, no-wrap
+msgid ""
+"*a* : positive distance, along X, between two joint axes specified in\n"
+"'machine units' (mm or inch) defined in the system's INI file.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:107
+#, no-wrap
+msgid "*d* : positive or negative length along Z (also in 'machine units')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:114
+msgid ""
+"The parameter sets are always derived in the same order and a set is "
+"completed by setting the d-parameter.  This does not leave the Z-axis of our "
+"CS aligned with the next joint! This may seem confusing but sticking to this "
+"rule will yield a working set of parameters.  Once the *d*-parameter is set, "
+"the X-axis of our-CS needs to point to the axis of the next joint."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/dh-parameters.adoc:115
+#, no-wrap
+msgid "Numbering of joints and parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:122
+msgid ""
+"The first joint in LinuxCNC is joint-0 (because in software counting starts "
+"with 0) while most publications start with the number '1'.  That goes for "
+"all the parameters as well.  That is, numbering starts with a-0, alpha-0, "
+"d-0 and ends with a-5, alpha-5 and d-5.  Keep this in mind when following a "
+"publication to set up 'genserkins' parameters."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/dh-parameters.adoc:123
+#, no-wrap
+msgid "How to start"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:128
+msgid ""
+"Convention is to start by placing the reference-CS in the base of the robot "
+"with it's Z-axis coinciding with the axis of the first joint and its X-axis "
+"pointing toward the next joint's axis."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:137
+msgid ""
+"This will also result in the DRO values in LinuxCNC being referenced to that "
+"point.  Having done so sets a-0 and alpha-0 to 0.  The above mentioned "
+"publication (Craig) also sets d-0 to 0, which is confusing when a "
+"displacement offset is needed in order to have the reference-CS at the "
+"bottom of the base.  Setting d-0 = to the displacement gives correct "
+"results.  In this manner, the first set of parameters are alpha-0 = 0, a-0 = "
+"0, d0 = displacement, and the X-axis of the CS points to the axis of the "
+"next joint (joint-1)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:140
+msgid ""
+"Derivation of the net set (alpha-1, a-1, d-1) follows -- always using the "
+"same sequence all the way to the sixth set (alpha-5, a-5, d-5)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:143
+msgid ""
+"And thus, the TCP-CS of the end-effector is sitting in the center of the "
+"hand flange."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/dh-parameters.adoc:144
+#, no-wrap
+msgid "Special cases"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:149
+msgid ""
+"If the next joint-axis is parallel to the last then one could arbitrarily "
+"choose a value for the d-parameter but there is no point in setting it other "
+"than 0."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/dh-parameters.adoc:150
+#, no-wrap
+msgid "Detailed Example (RV-6SL)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:157
+msgid ""
+"Described below is a method to derive the required \"modified "
+"DH-parameters\" for a Mitsubishi RV-6SDL and how to set the parameters in "
+"the HAL file to be used with the 'genserkins' kinematics in LinuxCNC.  The "
+"necessary dimensions are best taken from a dimensional drawing provided by "
+"the manufacturer of the robot."
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:158
+#, no-wrap
+msgid "rv-6sl/rv-6sl-001.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:160
+#, no-wrap
+msgid "rv-6sl/rv-6sl-002.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:162
+#, no-wrap
+msgid "rv-6sl/rv-6sl-003.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:164
+#, no-wrap
+msgid "rv-6sl/rv-6sl-004.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:166
+#, no-wrap
+msgid "rv-6sl/rv-6sl-005.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:168
+#, no-wrap
+msgid "rv-6sl/rv-6sl-006.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:170
+#, no-wrap
+msgid "rv-6sl/rv-6sl-007.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:172
+#, no-wrap
+msgid "rv-6sl/rv-6sl-008.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:174
+#, no-wrap
+msgid "rv-6sl/rv-6sl-009.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:176
+#, no-wrap
+msgid "rv-6sl/rv-6sl-010.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:178
+#, no-wrap
+msgid "rv-6sl/rv-6sl-011.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:180
+#, no-wrap
+msgid "rv-6sl/rv-6sl-012.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:182
+#, no-wrap
+msgid "rv-6sl/rv-6sl-013.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:184
+#, no-wrap
+msgid "rv-6sl/rv-6sl-014.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:186
+#, no-wrap
+msgid "rv-6sl/rv-6sl-015.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:188
+#, no-wrap
+msgid "rv-6sl/rv-6sl-016.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:190
+#, no-wrap
+msgid "rv-6sl/rv-6sl-017.jpg"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/dh-parameters.adoc:192
+#, no-wrap
+msgid "rv-6sl/rv-6sl-018.jpg"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/dh-parameters.adoc:194
+#, no-wrap
+msgid "Credits"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/dh-parameters.adoc:198
+msgid "Thanks to user Aciera for all text and the graphics for the RV-6SL robot!"
+msgstr ""
+
+#. type: Title =
+#: src/motion/external-offsets.adoc:5
+#, no-wrap
+msgid "External Axis Offsets(((externaloffsets)))"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:20
+msgid ""
+"External axis offsets are supported during teleop (world) jogs and "
+"coordinated (G-code) motion.  External axis offsets are enabled on a "
+"per-axis basis by INI file settings and controlled dynamically by INI input "
+"pins.  The INI interface is similar to that used for wheel jogging.  This "
+"type of interface is typically implemented with a manual-pulse-generator "
+"(mpg)  connected to an encoder INI component that counts pulses."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/external-offsets.adoc:21
+#, no-wrap
+msgid "INI File Settings"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:24
+msgid "For each axis letter (*L* in xyzabcuvw):"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/external-offsets.adoc:28
+#, no-wrap
+msgid "[AXIS_L]OFFSET_AV_RATIO = value (controls accel/vel for external offsets)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:31
+msgid "Allowed values: 0 <= value <= 0.9"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:32
+msgid "Disallowed values are replaced with 0.1 with message to stdout"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:35
+#, no-wrap
+msgid ""
+"Default value:  0 (disables external offset).\n"
+"Consequence: omitted [AXIS_L]OFFSET_AV_RATIO disables external offset for "
+"the axis."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:38
+msgid ""
+"If nonzero, the OFFSET_AV_RATIO (*r*), adjusts the conventional (planning) "
+"max velocity and acceleration to preserve [AXIS_L] constraints:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/external-offsets.adoc:42
+#, no-wrap
+msgid ""
+"planning max velocity        = (1-r) * MAX_VELOCITY\n"
+"external offset velocity     = (  r) * MAX_VELOCITY\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/external-offsets.adoc:45
+#, no-wrap
+msgid ""
+"planning max acceleration    = (1-r) * MAX_ACCELERATION\n"
+"external offset acceleration = (  r) * MAX_ACCELERATION\n"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:49
+#, no-wrap
+msgid "Per-Axis Motion HAL Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:52
+msgid "For each axis letter (*L* in xyzabcuvw)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:54
+#, no-wrap
+msgid "*axis.L.eoffset-enable*  Input(bit): enable\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:55
+#, no-wrap
+msgid "*axis.L.eoffset-scale*   Input(float): scale factor\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:56
+#, no-wrap
+msgid "*axis.L.eoffset-counts*  Input(s32): input to counts register\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:57
+#, no-wrap
+msgid "*axis.L.eoffset-clear*   Input(bit): clear requested offset\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:58
+#, no-wrap
+msgid "*axis.L.eoffset*         Output(float): current external offset\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:59
+#, no-wrap
+msgid "*axis.L.eoffset-request* Output(float): requested external offset\n"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:60
+#, no-wrap
+msgid "Other Motion HAL Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:63
+#, no-wrap
+msgid "*motion.eoffset-active*   Output(bit): non-zero external offsets applied\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:64
+#, no-wrap
+msgid "*motion.eoffset-limited*  Output(bit): motion inhibited due to soft limit\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:69
+msgid ""
+"The axis input HAL pins (enable,scale,counts) are similar to the pins used "
+"for wheel jogging."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:70
+#, no-wrap
+msgid "Offset Computation"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:79
+msgid ""
+"At each servo period, the 'axis.L.eoffset-counts' pin is compared to its "
+"value in the prior period. The increase or decrease (positive or negative "
+"delta) of the 'axis.L.eoffset-counts' pin is multiplied by the current "
+"'axis.L.eoffset-scale' pin value.  This product is accumulated in an "
+"internal register and exported to the 'axis.L.eoffset-request' HAL pin. The "
+"accumulation register is reset to zero at each machine-on."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:86
+msgid ""
+"The requested offset value is used to plan the movement for the offset that "
+"is applied to the 'L' coordinate and represented by the 'axis.L.eoffset' HAL "
+"pin. The planned motion respects the allocated velocity and acceleration "
+"constraints and may be limited if the net motion (offset plus teleop jogging "
+"or coordinated motion)  reaches a soft limit for the 'L' coordinate."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:92
+msgid ""
+"For many applications, the 'axis.L.eoffset-scale' pin is constant and the "
+"net 'axis.L.eoffset-request' response to 'axis.L.eoffset-counts' is "
+"equivalent to the product of the accumulated value of "
+"'axis.L.eoffset-counts' and the (constant)  'axis.L.eoffset-scale' pin "
+"values."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:93
+#, no-wrap
+msgid "Machine-off/Machine-on"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:98
+msgid ""
+"When the machine is turned off, the *current position with external offsets "
+"is maintained* so that there is no unexpected motion at turn off or turn on."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:102
+msgid ""
+"At each startup (machine-on), the internal counts register for each HAL pin "
+"'axis.L.eoffset-counts' is zeroed and the corresponding HAL output pin "
+"'axis.L.eoffset' is reset to zero."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:108
+msgid ""
+"In other words, external offsets are *defined as ZERO at each startup* "
+"(machine-on) regardless of the value of the 'axis.L.eoffset-counts' pins. To "
+"avoid confusion, it is recommended that all 'axis.L.eoffset-counts' pins are "
+"set to zero when the machine is off."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:118
+msgid ""
+"External axis offset movements are independently planned with velocity and "
+"acceleration settings specified by the '[AXIS_L]OFFSET_AV_RATIO'. The "
+"offsetting motion is not coordinated with teleop jogs nor with coordinated "
+"(G-code)  motion. During teleop jogging and coordinated (G-code) motion, "
+"axis soft limits ('[AXIS_L]MIN_LIMIT,MAX_LIMIT') restrict movement of the "
+"axis."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:127
+msgid ""
+"When external offsets are applied and motion reaches a soft limit (by "
+"external offset increases or teleop jogging or coordinated motion), the HAL "
+"pin 'motion.eoffset-limited' is asserted and the axis value is held "
+"nominally to the soft limit.  This HAL pin can be used by associated HAL "
+"logic to truncate additional eoffset counts or to stop the machine (connect "
+"to 'halui.machine.off' for instance). If the axis is moved within the soft "
+"limit, the 'motion.eoffset-limited' pin is reset."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:134
+msgid ""
+"When operating at a soft limit during coordinated motion that continues to "
+"change the planned axis value, the HAL output pin 'axis.L.eoffset' will "
+"indicate the current offset -- the distance needed to reach the limit "
+"instead of the computed offset request. This indicated value will change as "
+"the planned axis value changes."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:144
+msgid ""
+"The HAL pin 'axis.L.eoffset-request' indicates the current requested offset "
+"that is the product of the internal counts register and the "
+"eoffset-scale. In general, the 'axis.L.eoffset' pin value lags the "
+"'axis.L.eoffset-request' value since the external offset is subject to an "
+"acceleration limit.  When operating at a soft limit, additional updates to "
+"the 'axis.L.eoffset-counts' will continue to affect the requested external "
+"offset as reflected in the 'axis.L.eoffset-request' HAL pin."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:152
+msgid ""
+"When teleop jogging with external offsets enabled *and* non-zero values "
+"applied, encountering a soft limit will stop motion in the offending axis "
+"*without a deacceleration interval*.  Similarly, during coordinated motion "
+"with external offsets enabled, reaching a soft limit will stop motion with "
+"no deacceleration phase. For this case, it does not matter if the offsets "
+"are zero."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:159
+msgid ""
+"When motion is stopped with no deacceleration phase, system *acceleration "
+"limits may be violated* and lead to: 1) a following error (and/or a thump) "
+"for a servo motor system, 2) a loss of steps for a stepper motor system.  In "
+"general, it is recommended that external offsets are applied in a manner to "
+"avoid approaching soft limits."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:160 src/tooldatabase/tooldatabase.adoc:215
+#, no-wrap
+msgid "Notes"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:165
+msgid ""
+"External offsets apply to axis coordinate letters (xyzabcuvw).  All joints "
+"must be homed before external axis offsets are honored."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:168
+msgid ""
+"If an 'axis.L.eoffset-enable' HAL pin is reset when its offset is non-zero, "
+"the offset is maintained.  The offset may be cleared by:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:170
+msgid "a 'Machine-off/Machine on' toggle"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:172
+msgid ""
+"reactivating the enable pin and incrementing/decrementing the "
+"'axis.L.eoffset-counts' HAL pin to return the offset to zero."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:173
+msgid "pulsing the 'axis.L.eoffset-clear' HAL pin"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:176
+msgid ""
+"External-offsets are intended for use with 'small' offsets that are applied "
+"within the soft-limit bounds."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:188
+msgid ""
+"Soft limits are respected for both teleop jogging and coordinated motion "
+"when external offsets are applied.  However, when a soft limit is reached "
+"during coordinated motion, reducing the offending external offset *may not "
+"move away* from the soft limit *if planned motion continues in the same "
+"direction*.  This circumstance can occur since the rate of correcting offset "
+"removal (as set by '[AXIS_L]OFFSET_AV_RATIO') may be less than the opposing "
+"planned rate of motion.  In such cases, *pausing* (or stopping) the planned, "
+"coordinated motion will allow movement away from the soft limit when "
+"correcting changes are made in the offending external offset."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:189
+#, no-wrap
+msgid "Warning"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:195
+msgid ""
+"The use of external offsets can alter machine motion in a significant "
+"manner.  The control of external offsets with HAL components and connections "
+"and any associated user interfaces should be carefully designed and tested "
+"before deployment."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/external-offsets.adoc:196
+#, no-wrap
+msgid "Related HAL Components"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:198
+#, no-wrap
+msgid "eoffset_per_angle.comp"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:203
+msgid ""
+"Component to compute an external offset from a function based on a measured "
+"angle (rotary coordinate or spindle).  See the man page for details (*$ man "
+"eoffset_per_angle*)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:208
+msgid ""
+"The external axis offset capability is enabled by adding an '[AXIS_L]' "
+"setting for each candidate axis.  For example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/external-offsets.adoc:213
+#, no-wrap
+msgid ""
+"[AXIS_Z]\n"
+"OFFSET_AV_RATIO = 0.2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:217
+msgid ""
+"For testing, it is convenient to simulate a jog wheel interface using the "
+"*sim_pin* GUI.  For example, in a terminal:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/external-offsets.adoc:220
+#, no-wrap
+msgid "$ sim_pin axis.z.eoffset-enable axis.z.eoffset-scale axis.z.eoffset-counts\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:228
+msgid ""
+"The use of external offsets is aided by displaying information related to "
+"the current offsets: the current eoffset value and the requested eoffset "
+"value, the axis pos-cmd, and (for an identity kinematics machine) the "
+"corresponding joint motor pos-cmd and motor-offset.  The provided sim "
+"configuration (see below)  demonstrates an example PyVCP panel for the AXIS "
+"GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:231
+msgid ""
+"In the absence of a custom display, *halshow* can be started as an auxiliary "
+"application with a custom watch list."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:235
+msgid ""
+"Example INI file settings to simulate the HAL pin eoffset connections and "
+"display eoffset information for the z axis (for identity kinematics with "
+"z==joint2):"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/external-offsets.adoc:244
+#, no-wrap
+msgid ""
+"[APPLICATIONS]\n"
+"APP = sim_pin \\\n"
+"      axis.z.eoffset-enable \\\n"
+"      axis.z.eoffset-scale \\\n"
+"      axis.z.eoffset-counts \\\n"
+"      axis.z.eoffset-clear\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/external-offsets.adoc:246
+#, no-wrap
+msgid "APP = halshow --fformat \"%0.5f\" ./z.halshow\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:249
+msgid "Where the file z.halshow (in the configuration directory) is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/external-offsets.adoc:257
+#, no-wrap
+msgid ""
+"pin+joint.2.motor-pos-cmd\n"
+"pin+joint.2.motor-offset\n"
+"pin+axis.z.pos-cmd\n"
+"pin+axis.z.eoffset\n"
+"pin+axis.z.eoffset-request\n"
+"pin+motion.eoffset-limited\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:264
+msgid ""
+"Provided simulation configurations demonstrate the use of external offsets "
+"in order to provide a starting point for user customization for real "
+"hardware."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:274
+#, no-wrap
+msgid ""
+"The sim configurations utilize the INI setting '[HAL]HALFILE =\n"
+"LIB:basic_sim.tcl' to configure all routine HAL connections for\n"
+"the axes specified in the INI file '[TRAJ]COORDINATES=' setting.\n"
+"The HAL logic needed to demonstrate external offset functionality\n"
+"and the GUI HAL pin connections for a PyVCP panel are made in\n"
+"separate HAL files.   A non-simulation configuration should\n"
+"replace the 'LIB:basic_sim.tcl' item HALFILEs appropriate to the\n"
+"machine.  The provided PyVCP files (.hal and .xml) could be a\n"
+"starting point for application-specific GUI interfaces.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:275
+#, no-wrap
+msgid "eoffsets.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:280
+msgid ""
+"The sim config 'sim/configs/axis/external_offsets/eoffsets.ini' demonstrates "
+"a cartesian XYZ machine with controls to enable external offsets on any "
+"axis."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:283
+msgid "Displays are provided to show all important position and offset values."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:287
+msgid ""
+"A sim_pin GUI provides controls for the axis offset pins: eoffset-scale & "
+"eoffset-counts (via signal e:<L>counts), eoffset-clear (via signal "
+"e:clearall)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:290
+msgid ""
+"A script (eoffsets_monitor.tcl) is used to set 'axis.L.counts' pins to zero "
+"at Machine-off."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:291
+#, no-wrap
+msgid "jwp_z.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:295
+msgid ""
+"The sim config 'sim/configs/axis/external_offsets/jwp_z.ini' demonstrates a "
+"jog-while-pause capability for a single (Z) coordinate:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:297 src/motion/external-offsets.adoc:308
+#: src/motion/external-offsets.adoc:330
+msgid "Panel LEDs are provided to show important status items."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:300
+msgid ""
+"Controls are provided to set the eoffset scale factor and to "
+"increment/decrement/clear the eoffset counts."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:301
+#, no-wrap
+msgid "dynamic_offsets.ini"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:306
+msgid ""
+"This sim config 'sim/configs/axis/external_offsets/dynamic_offsets.ini' "
+"demonstrates dynamically applied offsets by connecting a sinusoidal waveform "
+"to the z coordinate external offset inputs."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:311
+msgid ""
+"Controls are provided to alter INI file settings for the Z axis max velocity "
+"and max acceleration."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:313
+msgid "Controls are provided to set the waveform generator parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:316
+msgid ""
+"A halscope app is started to show the applied waveform, the offset response, "
+"and the motor cmd response."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:319
+msgid ""
+"changes to the z coordinate max-acceleration and max-velocity are not "
+"acknowledged while a program is running."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/external-offsets.adoc:320
+#, no-wrap
+msgid "opa.ini (eoffset_per_angle)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:328
+msgid ""
+"The opa.ini configuration uses the INI component eoffset_per_angle (*$ man "
+"eoffset_per_angle*) to demonstrate an XZC machine with functional offsets "
+"computed from the C coordinate (angle) and applied to the transvers (X) "
+"coordinate.  Offset computations are based on a specified reference radius "
+"typically set by a program (or MDI)  M68 command to control a "
+"*motion.analog-out-NN* pin."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:335
+msgid ""
+"Functions are provided for inside and outside polygons (nsides >= 3), sine "
+"waves and square waves.  The functions can be multiplied in frequency using "
+"the fmul pin and modified in amplitude using the rfrac pin (fraction of "
+"reference radius)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/external-offsets.adoc:338
+msgid ""
+"Controls are provided to start/stop offset waveforms and to set the function "
+"type and its parameters."
+msgstr ""
+
+#. type: Title =
+#: src/motion/kinematics.adoc:5
+#, no-wrap
+msgid "Kinematics(((kinematics)))"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:15
+msgid ""
+"When we talk about CNC machines, we usually think about machines that are "
+"commanded to move to certain locations and perform various tasks.  In order "
+"to have an unified view of the machine space, and to make it fit the human "
+"point of view over 3D space, most of the machines (if not all) use a common "
+"coordinate system called the Cartesian Coordinate System."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:20
+msgid ""
+"The Cartesian Coordinate system is composed of three axes (X, Y, Z) each "
+"perpendicular to the other two footnote:[The word \"axes\" is also commonly "
+"(and wrongly) used when talking about CNC machines, and referring to the "
+"moving directions of the machine.]."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:28
+msgid ""
+"When we talk about a G-code program (RS274/NGC) we talk about a number of "
+"commands (G0, G1, etc.) which have positions as parameters (X- Y- Z-). These "
+"positions refer exactly to Cartesian positions. Part of the LinuxCNC motion "
+"controller is responsible for translating those positions into positions "
+"which correspond to the machine (((kinematics)))kinematics "
+"footnote:[Kinematics: a two way function to transform from Cartesian space "
+"to joint space.]."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/kinematics.adoc:29
+#, no-wrap
+msgid "Joints vs Axes"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:36
+msgid ""
+"A joint of a CNC machine is a one of the physical degrees of freedom of the "
+"machine. This might be linear (leadscrews) or rotary (rotary tables, robot "
+"arm joints). There can be any number of joints on a given machine. For "
+"example, one popular robot has 6 joints, and a typical simple milling "
+"machine has only 3."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:43
+msgid ""
+"There are certain machines where the joints are laid out to match kinematics "
+"axes (joint 0 along axis X, joint 1 along axis Y, joint 2 along axis Z), and "
+"these machines are called (((Cartesian machines)))  Cartesian machines (or "
+"machines with (((Trivial Kinematics)))Trivial Kinematics).  These are the "
+"most common machines used in milling, but are not very common in other "
+"domains of machine control (e.g. welding: puma-typed robots)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:48
+msgid ""
+"LinuxCNC supports axes with names: X Y Z A B C U V W.  The X Y Z axes "
+"typically refer to the usual Cartesian coordinates. The A B C axes refer to "
+"rotational coordinates about the X Y Z axes respectively.  The U V W axes "
+"refer to additional coordinates that are commonly made colinear to the X Y Z "
+"axes respectively."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/kinematics.adoc:49
+#, no-wrap
+msgid "Trivial Kinematics"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:55
+msgid ""
+"The simplest machines are those in which which each joint is placed along "
+"one of the Cartesian axes. On these machines the mapping from Cartesian "
+"space (the G-code program) to the joint space (the actual actuators of the "
+"machine) is trivial. It is a simple 1:1 mapping:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:60
+#, no-wrap
+msgid ""
+"pos->tran.x = joints[0];\n"
+"pos->tran.y = joints[1];\n"
+"pos->tran.z = joints[2];\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:68
+msgid ""
+"In the above code snippet one can see how the mapping is done: the X "
+"position is identical with the joint 0, the Y position with joint 1, "
+"etc. The above refers to the direct kinematics (one direction of the "
+"transformation).  The next code snippet refers to the inverse kinematics (or "
+"the inverse direction of the transformation):"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:73
+#, no-wrap
+msgid ""
+"joints[0] = pos->tran.x;\n"
+"joints[1] = pos->tran.y;\n"
+"joints[2] = pos->tran.z;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:86
+msgid ""
+"In LinuxCNC, the identity kinematics are implemented with the 'trivkins' "
+"kinematics module and extended to 9 axes.  The default relationships between "
+"axis coordinates and joint numbers are: footnote:[If the machine (for "
+"example a lathe) is mounted with only the X, Z and A axes and the INI file "
+"of LinuxCNC contains only the definition of these 3 joints, then the "
+"previous assertion is false.  Because we currently have (joint0=X, joint1=Z, "
+"joint2=A) which assumes that joint1=Y.  To make this work in LinuxCNC just "
+"define all the axes (XYZA), LinuxCNC will then use a simple loop in HAL for "
+"unused Y axis.] footnote:[Another way to make it work is to change the "
+"corresponding code and recompile the software.]"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:97
+#, no-wrap
+msgid ""
+"pos->tran.x = joints[0];\n"
+"pos->tran.y = joints[1];\n"
+"pos->tran.z = joints[2];\n"
+"pos->a      = joints[3];\n"
+"pos->b      = joints[4];\n"
+"pos->c      = joints[5];\n"
+"pos->u      = joints[6];\n"
+"pos->v      = joints[7];\n"
+"pos->w      = joints[8];\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:100
+msgid ""
+"Similarly, the default relationships for inverse kinematics for trivkins "
+"are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:111
+#, no-wrap
+msgid ""
+"joints[0] = pos->tran.x;\n"
+"joints[1] = pos->tran.y;\n"
+"joints[2] = pos->tran.z;\n"
+"joints[3] = pos->a;\n"
+"joints[4] = pos->b;\n"
+"joints[5] = pos->c;\n"
+"joints[6] = pos->u;\n"
+"joints[7] = pos->v;\n"
+"joints[8] = pos->w;\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:116
+msgid ""
+"It is straightforward to do the transformation for a trivial \"kins\" "
+"('trivkins' kinematics) or Cartesian machine provided that there are no "
+"omissions in the axis letters used."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:122
+msgid ""
+"It gets a bit more complicated if the machine is missing one or more of the "
+"axis letters.  The problems of omitted axis letters is addressed by using "
+"the 'coordinates=' module parameter with the trivkins module. Joint numbers "
+"are assigned consecutively to each coordinate specified.  A lathe can be "
+"described with 'coordinates=xz' The joint assignments will then be:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:126
+#, no-wrap
+msgid ""
+"joints[0] = pos->tran.x\n"
+"joints[1] = pos->tran.z\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:135
+msgid ""
+"Use of the 'coordinates=' parameter is recommended for configurations that "
+"omit axis letters. footnote:[ Historically, the trivkins module did not "
+"support the 'coordinates=' parameter so lathe configs were often configured "
+"as XYZ machines.  The unused Y axis was configured to 1) home immediately, "
+"2) use a simple loopback to connect its position command HAL pin to its "
+"position feedback HAL pin, and 3) hidden in gui displays. Numerous sim "
+"configs use these methods in order to share common HAL files.]"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:140
+msgid ""
+"The 'trivkins' kinematics module also allows the same coordinate to be "
+"specified for more than one joint.  This feature can be useful on machines "
+"like a gantry having two independent motors for the y coordinate.  Such a "
+"machine could use 'coordinates=xyyz' resulting in joint assignments:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:146
+#, no-wrap
+msgid ""
+"joints[0] = pos->tran.x\n"
+"joints[1] = pos->tran.y\n"
+"joints[2] = pos->tran.y\n"
+"joints[3] = pos->tran.z\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:149
+msgid "See the trivkins man pages for more information."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/kinematics.adoc:150
+#, no-wrap
+msgid "Non-trivial kinematics"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:158
+msgid ""
+"There can be quite a few types of machine setups (robots: puma, scara; "
+"hexapods etc.). Each of them is set up using linear and rotary joints.  "
+"These joints don't usually match with the Cartesian coordinates, therefore "
+"we need a kinematics function which does the conversion (actually 2 "
+"functions: forward and inverse kinematics function)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:162
+msgid ""
+"To illustrate the above, we will analyze a simple kinematics called bipod (a "
+"simplified version of the tripod, which is a simplified version of the "
+"hexapod)."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/motion/kinematics.adoc:163 src/motion/kinematics.adoc:164
+#, no-wrap
+msgid "Bipod setup"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/kinematics.adoc:164
+#, no-wrap
+msgid "images/bipod.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:170
+msgid ""
+"The Bipod we are talking about is a device that consists of 2 motors placed "
+"on a wall, from which a device is hung using some wire. The joints in this "
+"case are the distances from the motors to the device (named AD and BD in the "
+"figure)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:175
+msgid ""
+"The position of the motors is fixed by convention. Motor A is in (0,0), "
+"which means that its X coordinate is 0, and its Y coordinate is also "
+"0. Motor B is placed in (Bx, 0), which means that its X coordinate is Bx."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:178
+msgid ""
+"Our tooltip will be in point D which gets defined by the distances AD and "
+"BD, and by the Cartesian coordinates Dx, Dy."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:181
+msgid ""
+"The job of the kinematics is to transform from joint lengths (AD, BD)  to "
+"Cartesian coordinates (Dx, Dy) and vice-versa."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:188
+msgid ""
+"To transform from joint space into Cartesian space we will use some "
+"trigonometry rules (the right triangles determined by the points (0,0), "
+"(Dx,0), (Dx,Dy) and the triangle (Dx,0), (Bx,0) and (Dx,Dy))."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:190
+msgid "We can easily see that:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/kinematics.adoc:191
+#, no-wrap
+msgid "images/kinematics-math-01.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:194
+msgid "likewise:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/kinematics.adoc:195
+#, no-wrap
+msgid "images/kinematics-math-02.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:198
+msgid "If we subtract one from the other we will get:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/kinematics.adoc:199
+#, no-wrap
+msgid "images/kinematics-math-03.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:202
+msgid "and therefore:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/kinematics.adoc:203
+#, no-wrap
+msgid "images/kinematics-math-04.png"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:206
+msgid "From there we calculate:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/kinematics.adoc:207
+#, no-wrap
+msgid "images/kinematics-math-05.png"
+msgstr ""
+
+#
+#
+#
+#
+#
+#
+#. we can easily see that latexmath:[$AD^{2}=x^{2}+y^{2}$], likewise
+#. latexmath:[$BD^{2}=(Bx-x)^{2}+y^{2}$].
+#. If we subtract one from the other we will get:
+#. latexmath::[\[AD^{2}-BD^{2}=x^{2}+y^{2}-x^{2}+2*x*Bx-Bx^{2}-y^{2}\]]
+#. and therefore:
+#. latexmath::[\[x=\frac{AD^{2}-BD^{2}+Bx^{2}}{2*Bx}\]]
+#. From there we calculate:
+#. latexmath::[\[y=\sqrt{AD^{2}-x^{2}}\]]
+#. type: Plain text
+#: src/motion/kinematics.adoc:231
+msgid ""
+"Note that the calculation for y involves the square root of a difference, "
+"which may not result in a real number. If there is no single Cartesian "
+"coordinate for this joint position, then the position is said to be a "
+"singularity. In this case, the forward kinematics return -1."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:233
+msgid "Translated to actual code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:243
+#, no-wrap
+msgid ""
+"double AD2 = joints[0] * joints[0];\n"
+"double BD2 = joints[1] * joints[1];\n"
+"double x = (AD2 - BD2 + Bx * Bx) / (2 * Bx);\n"
+"double y2 = AD2 - x * x;\n"
+"if(y2 < 0) return -1;\n"
+"pos->tran.x = x;\n"
+"pos->tran.y = sqrt(y2);\n"
+"return 0;\n"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/kinematics.adoc:245
+#, no-wrap
+msgid "Inverse transformation"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:249
+msgid ""
+"The inverse kinematics is much easier in our example, as we can write it "
+"directly:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/kinematics.adoc:250
+#, no-wrap
+msgid "images/kinematics-math-06.png"
+msgstr ""
+
+#. type: Target for macro image
+#: src/motion/kinematics.adoc:252
+#, no-wrap
+msgid "images/kinematics-math-07.png"
+msgstr ""
+
+#
+#. latexmath::[\[AD=\sqrt{x^{2}+y^{2}}\]]
+#. latexmath::[\[BD=\sqrt{(Bx-x)^{2}+y^{2}}\]]
+#. type: Plain text
+#: src/motion/kinematics.adoc:261
+msgid "or translated to actual code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:268
+#, no-wrap
+msgid ""
+"double x2 = pos->tran.x * pos->tran.x;\n"
+"double y2 = pos->tran.y * pos->tran.y;\n"
+"joints[0] = sqrt(x2 + y2);\n"
+"joints[1] = sqrt((Bx - pos->tran.x)*(Bx - pos->tran.x) + y2);\n"
+"return 0;\n"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/kinematics.adoc:270
+#, no-wrap
+msgid "Implementation details"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:275
+msgid ""
+"A kinematics module is implemented as a HAL component, and is permitted to "
+"export pins and parameters. It consists of several \"C\" functions (as "
+"opposed to HAL functions):"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:280
+#, no-wrap
+msgid ""
+"int kinematicsForward(const double *joint, EmcPose *world,\n"
+"const KINEMATICS_FORWARD_FLAGS *fflags,\n"
+"KINEMATICS_INVERSE_FLAGS *iflags)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:283
+msgid "Implements the <<sec:Forward-transformation,forward kinematics function>>."
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:288
+#, no-wrap
+msgid ""
+"int kinematicsInverse(const EmcPose * world, double *joints,\n"
+"const KINEMATICS_INVERSE_FLAGS *iflags,\n"
+"KINEMATICS_FORWARD_FLAGS *fflags)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:291
+msgid "Implements the inverse kinematics function."
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:294
+#, no-wrap
+msgid "KINEMATICS_TYPE kinematicsType(void)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:297
+msgid "Returns the kinematics type identifier, típicamente 'KINEMATICS_BOTH':"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:299
+msgid "KINEMATICS_IDENTITY (each joint number corresponds to an axis letter)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:300
+#, no-wrap
+msgid ""
+"KINEMATICS_BOTH      (forward and inverse kinematics functions are "
+"provided)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:301
+#, no-wrap
+msgid "KINEMATICS_FORWARD_ONLY\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:302
+#, no-wrap
+msgid "KINEMATICS_INVERSE_ONLY\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:307
+msgid ""
+"GUIs may interpret KINEMATICS_IDENTITY to hide the distinctions between "
+"joint numbers and axis letters when in joint mode (typically prior to "
+"homing)."
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:312
+#, no-wrap
+msgid ""
+"int kinematicsSwitchable(void)\n"
+"int kinematicsSwitch(int switchkins_type)\n"
+"KINS_NOT_SWITCHABLE\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:318
+msgid ""
+"The function kinematicsSwitchable() returns 1 if multiple kinematics types "
+"are supported.  The function kinematicsSwitch()  selects the kinematics "
+"type.  See <<cha:switchable-kinematics,Switchable Kinematitcs>>."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:324
+msgid ""
+"The majority of provided kinematics modules support a single kinematics type "
+"and use the directive \"*KINS_NOT_SWITCHABLE*\" to supply defaults for the "
+"required kinematicsSwitchable() and kinematicsSwitch() functions."
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:329
+#, no-wrap
+msgid ""
+"int kinematicsHome(EmcPose *world, double *joint,\n"
+"KINEMATICS_FORWARD_FLAGS *fflags,\n"
+"KINEMATICS_INVERSE_FLAGS *iflags)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:336
+msgid ""
+"The home kinematics function sets all its arguments to their proper values "
+"at the known home position. When called, these should be set, when known, to "
+"initial values, e.g., from an INI file. If the home kinematics can accept "
+"arbitrary starting points, these initial values should be used."
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/kinematics.adoc:340
+#, no-wrap
+msgid ""
+"int rtapi_app_main(void)\n"
+"void rtapi_app_exit(void)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:343
+msgid "These are the standard setup and tear-down functions of RTAPI modules."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:347
+msgid ""
+"When they are contained in a single source file, kinematics modules may be "
+"compiled and installed by 'halcompile'. See the 'halcompile(1)' manpage or "
+"the HAL manual for more information."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/kinematics.adoc:348
+#, no-wrap
+msgid "Kinematics module using the userkins.comp template"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:353
+msgid ""
+"Another way to create a custom kinematics module is to adapt the HAL "
+"component 'userkins'. This template component can be modified locally by a "
+"user and can be built using halcompile."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:355
+msgid "See the userkins man pages for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:358
+msgid ""
+"Note that to create switchable kinematic modules the required modifications "
+"are somewhat more complicated."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/kinematics.adoc:361
+msgid ""
+"See 'millturn.comp' as an example of a switchable kinematic module that was "
+"created using the 'userkins.comp' template."
+msgstr ""
+
+#. type: Title =
+#: src/motion/pid-theory.adoc:5
+#, no-wrap
+msgid "PID Tuning(((PID Tuning)))"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/pid-theory.adoc:7
+#, no-wrap
+msgid "PID Controller"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:13
+msgid ""
+"A proportional-integral-derivative controller (PID controller) is a common "
+"feedback loop component in industrial control systems. footnote:[This "
+"Subsection is taken from an much more extensive article found at "
+"https://en.wikipedia.org/wiki/PID_controller]"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:19
+msgid ""
+"The Controller compares a measured value from a process (typically an "
+"industrial process) with a reference set point value. The difference (or "
+"'error' signal) is then used to calculate a new value for a manipulable "
+"input to the process that brings the process measured value back to its "
+"desired set point."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:26
+msgid ""
+"Unlike simpler control algorithms, the PID controller can adjust process "
+"outputs based on the history and rate of change of the error signal, which "
+"gives more accurate and stable control. (It can be shown mathematically that "
+"a PID loop will produce accurate, stable control in cases where a simple "
+"proportional control would either have a steady-state error or would cause "
+"the process to oscillate)."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/pid-theory.adoc:27
+#, no-wrap
+msgid "Control loop basics"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:35
+msgid ""
+"Intuitively, the PID loop tries to automate what an intelligent operator "
+"with a gauge and a control knob would do. The operator would read a gauge "
+"showing the output measurement of a process, and use the knob to adjust the "
+"input of the process (the 'action') until the process's output measurement "
+"stabilizes at the desired value on the gauge."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:41
+msgid ""
+"In older control literature this adjustment process is called a 'reset' "
+"action. The position of the needle on the gauge is a 'measurement', 'process "
+"value' or 'process variable'. The desired value on the gauge is called a "
+"'set point' (also called 'set value'). The difference between the gauge's "
+"needle and the set point is the 'error'."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:43
+msgid "A control loop consists of three parts:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:45
+msgid "Measurement by a sensor connected to the process (e.g. encoder),"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:46
+msgid "Decision in a controller element,"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:47
+msgid "Action through an output device such as an motor."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:53
+msgid ""
+"As the controller reads a sensor, it subtracts this measurement from the "
+"'set point' to determine the 'error'. It then uses the error to calculate a "
+"correction to the process's input variable (the 'action')  so that this "
+"correction will remove the error from the process's output measurement."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:59
+msgid ""
+"In a PID loop, correction is calculated from the error in three ways: cancel "
+"out the current error directly (Proportional), the amount of time the error "
+"has continued uncorrected (Integral), and anticipate the future error from "
+"the rate of change of the error over time (Derivative)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:66
+msgid ""
+"A PID controller can be used to control any measurable variable which can be "
+"affected by manipulating some other process variable. For example, it can be "
+"used to control temperature, pressure, flow rate, chemical composition, "
+"speed, or other variables. Automobile cruise control is an example of a "
+"process outside of industry which utilizes crude PID control."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:75
+msgid ""
+"Some control systems arrange PID controllers in cascades or networks.  That "
+"is, a 'master' control produces signals used by 'slave' controllers. One "
+"common situation is motor controls: one often wants the motor to have a "
+"controlled speed, with the 'slave' controller (often built into a variable "
+"frequency drive) directly managing the speed based on a proportional "
+"input. This 'slave' input is fed by the 'master' controller's output, which "
+"is controlling based upon a related variable."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/pid-theory.adoc:76
+#, no-wrap
+msgid "Theory"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:81
+msgid ""
+"'PID' is named after its three correcting calculations, which all add to and "
+"adjust the controlled quantity. These additions are actually 'subtractions' "
+"of error, because the proportions are usually negative:"
+msgstr ""
+
+#. type: Block title
+#: src/motion/pid-theory.adoc:82
+#, no-wrap
+msgid "Proportional"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:89
+msgid ""
+"To handle the present, the error is multiplied by a (negative)  constant P "
+"(for 'proportional'), and added to (subtracting error from)  the controlled "
+"quantity. P is only valid in the band over which a controller's output is "
+"proportional to the error of the system. Note that when the error is zero, a "
+"proportional controller's output is zero."
+msgstr ""
+
+#. type: Block title
+#: src/motion/pid-theory.adoc:90
+#, no-wrap
+msgid "Integral"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:103
+msgid ""
+"To learn from the past, the error is integrated (added up) over a period of "
+"time, and then multiplied by a (negative) constant I (making an average), "
+"and added to (subtracting error from) the controlled quantity. I averages "
+"the measured error to find the process output's average error from the set "
+"point. A simple proportional system either oscillates, moving back and forth "
+"around the set point because there's nothing to remove the error when it "
+"overshoots, or oscillates and/or stabilizes at a too low or too high "
+"value. By adding a negative proportion of (i.e. subtracting part of) the "
+"average error from the process input, the average difference between the "
+"process output and the set point is always being reduced. Therefore, "
+"eventually, a well-tuned PID loop's process output will settle down at the "
+"set point."
+msgstr ""
+
+#. type: Block title
+#: src/motion/pid-theory.adoc:104
+#, no-wrap
+msgid "Derivative"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:111
+msgid ""
+"To handle the future, the first derivative (the slope of the error)  over "
+"time is calculated, and multiplied by another (negative) constant D, and "
+"also added to (subtracting error from) the controlled quantity.  The "
+"derivative term controls the response to a change in the system.  The larger "
+"the derivative term, the more rapidly the controller responds to changes in "
+"the process's output."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:117
+msgid ""
+"More technically, a PID loop can be characterized as a filter applied to a "
+"complex frequency-domain system. This is useful in order to calculate "
+"whether it will actually reach a stable value. If the values are chosen "
+"incorrectly, the controlled process input can oscillate, and the process "
+"output may never stay at the set point."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/pid-theory.adoc:118
+#, no-wrap
+msgid "Loop Tuning"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:129
+msgid ""
+"'Tuning' a control loop is the adjustment of its control parameters "
+"(gain/proportional band, integral gain/reset, derivative gain/rate) to the "
+"optimum values for the desired control response. The optimum behavior on a "
+"process change or set point change varies depending on the application. Some "
+"processes must not allow an overshoot of the process variable from the set "
+"point. Other processes must minimize the energy expended in reaching a new "
+"set point. Generally stability of response is required and the process must "
+"not oscillate for any combination of process conditions and set points."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:136
+msgid ""
+"Tuning of loops is made more complicated by the response time of the "
+"process; it may take minutes or hours for a set point change to produce a "
+"stable effect. Some processes have a degree of non-linearity and so "
+"parameters that work well at full-load conditions don't work when the "
+"process is starting up from no-load. This section describes some traditional "
+"manual methods for loop tuning."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:143
+msgid ""
+"There are several methods for tuning a PID loop. The choice of method will "
+"depend largely on whether or not the loop can be taken 'offline' for tuning, "
+"and the response speed of the system. If the system can be taken offline, "
+"the best tuning method often involves subjecting the system to a step change "
+"in input, measuring the output as a function of time, and using this "
+"response to determine the control parameters."
+msgstr ""
+
+#. type: Block title
+#: src/motion/pid-theory.adoc:144
+#, no-wrap
+msgid "Simple method"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:151
+msgid ""
+"If the system must remain on line, one tuning method is to first set the I "
+"and D values to zero. Increase the P until the output of the loop "
+"oscillates. Then increase I until oscillation stops. Finally, increase D "
+"until the loop is acceptably quick to reach its reference. A fast PID loop "
+"tuning usually overshoots slightly to reach the set point more quickly; "
+"however, some systems cannot accept overshoot."
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:154
+#, no-wrap
+msgid "Rise Time"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:154
+#, no-wrap
+msgid "Overshoot"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:154
+#, no-wrap
+msgid "Settling Time"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:155
+#, no-wrap
+msgid "Steady State Error"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:155 src/motion/pid-theory.adoc:156
+#: src/motion/pid-theory.adoc:157
+#, no-wrap
+msgid "Decrease"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:155 src/motion/pid-theory.adoc:156
+#, no-wrap
+msgid "Increase"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:155 src/motion/pid-theory.adoc:157
+#: src/motion/pid-theory.adoc:158
+#, no-wrap
+msgid "Small Change"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:157
+#, no-wrap
+msgid "Eliminate"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:161
+msgid "Effects of increasing parameters"
+msgstr ""
+
+#. type: Block title
+#: src/motion/pid-theory.adoc:162
+#, no-wrap
+msgid "Ziegler-Nichols method Another tuning method is formally known as the"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:176
+msgid ""
+"'Ziegler-Nichols method', introduced by John G. Ziegler and Nathaniel "
+"B. Nichols in 1942 footnote:[Ziegler, J. G. and Nichols, N. B. (1942), "
+"'Optimum Settings for Automatic Controllers', Transactions of the ASME, "
+"link:https://doi.org/10.1115/1.2899060[DOI 10.1115/1.2899060] and "
+"link:https://web.archive.org/web/20170918055307/http://staff.guilan.ac.ir/staff/users/chaibakhsh/fckeditor_repo/file/documents/Optimum%20Settings%20for%20Automatic%20Controllers%20(Ziegler%20and%20Nichols,%201942).pdf[The "
+"Internet Archive].]. It starts in the same way as the method described "
+"before: first set the I and D gains to zero and then increase the P gain and "
+"expose the loop to external interference for example knocking the motor axis "
+"to cause it to move out of equilibrium in order to determine critical gain "
+"and period of oscillation until the output of the loop starts to oscillate.  "
+"Write down the critical gain (K~c~) and the oscillation period of the output "
+"(P~c~). Then adjust the P, I and D controls as the table shows:"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:179
+#, no-wrap
+msgid "Control type"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:180
+#, no-wrap
+msgid ".5K~c~"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:181
+#, no-wrap
+msgid "PI"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:181
+#, no-wrap
+msgid ".45K~c~"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:181
+#, no-wrap
+msgid "P~c~/1.2"
+msgstr ""
+
+#. type: TH
+#: src/motion/pid-theory.adoc:182 man/man9/pid.9:10
+#, no-wrap
+msgid "PID"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:182
+#, no-wrap
+msgid ".6K~c~"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:182
+#, no-wrap
+msgid "P~c~/2"
+msgstr ""
+
+#. type: Table
+#: src/motion/pid-theory.adoc:183
+#, no-wrap
+msgid "P~c~/8"
+msgstr ""
+
+#. type: Block title
+#: src/motion/pid-theory.adoc:185
+#, no-wrap
+msgid "Final Steps"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:189
+msgid ""
+"After tuning the axis check the following error with Halscope to make sure "
+"it is within your machine requirements. More information on Halscope is in "
+"the HAL User manual."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/pid-theory.adoc:190
+#, no-wrap
+msgid "Automatic PID tuning"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:199
+msgid ""
+"Since LinuxCNC version 2.9, the pid component support automatic tuning using "
+"the Relay method footnote:[Åström, Karl Johan and Hägglund, Tore (1984), "
+"'Automation paper Automatic Tuning of Simple Regulators with Specifications "
+"on Phase and Amplitude Margins', "
+"link:https://doi.org/10.1016/0005-1098(84)90014-1[DOI "
+"10.1016/0005-1098(84)90014-1]].  This is a replacement for the now removed "
+"and obsolete at_pid component."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:205
+msgid ""
+"The pid component uses several constants to calculate the output value based "
+"on current and wanted state, the most important among them being Pgain', "
+"'Igain', 'Dgain', 'bias', 'FF0', 'FF1', 'FF2' and 'FF3'. All of these need "
+"to have a sensible value for the controller to behave properly."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:212
+msgid ""
+"The current implementation of automatic tuning implement two different "
+"algorithms, selected using the tune-type pin.  When tune-type is zero, it "
+"affects 'Pgain', 'Igain' and 'Dgain' while setting 'FF0', 'FF1' and 'FF2' to "
+"zero.  If tune-type is 1, it affects 'Pgain', 'Igain' and 'FF1' while "
+"setting 'Dgain', 'FF0' and 'FF2' to zero.  Note type 1 require scaling be "
+"set so output is in user units per second."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:227
+msgid ""
+"When autotuning a motor with tune-type 0, the algorithm will produce a "
+"square wave pattern centered around the 'bias' value on the output pin of "
+"the PID controller, moving from the positive extreme to the negative extreme "
+"of the output range.  This can be seen using the HAL Scope provided by "
+"LinuxCNC.  For a motor controller taking +-10 V as its control signal, this "
+"might accelerate the motor full speed in one direction for a short period "
+"before telling it to go full speed in the opposite direction.  Make sure to "
+"have a lot of room on either side of the starting position, and start with a "
+"low `tune-effort` value to limit the speed used.  The `tune-effort` value "
+"define the extreme `output` value used, so if `tune-effort` is 1, the "
+"`output` value during tuning will move from 1 to -1. In other words, the "
+"extremes of the wave pattern is controlled by the 'tune-effort' pin.  Using "
+"too high 'tune-effort' might overload the motor driver."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:243
+msgid ""
+"The number of cycles in the tune pattern is controlled by the 'tune-cycles' "
+"pin.  Of course, trying to change the direction of a physical object "
+"instantly (as in going directly from a positive voltage to the equivalent "
+"negative voltage in the motor controller case) do not change velocity "
+"instantly, and it take some time for the object to slow down and move in the "
+"opposite direction.  This result in a more smooth wave form on the position "
+"pin, as the axis in question were vibrating back and forth.  When the axis "
+"reached the target speed in the opposing direction, the auto tuner change "
+"direction again.  After several of these changes, the average time delay "
+"between the \"peaks\" and \"valleys\" of this movement graph is used to "
+"calculate proposed values for `Pgain`, `Igain` and `Dgain`, and insert them "
+"into the HAL model to use by the pid controller.  The auto tuned settings "
+"are not perfect, but might provide a good starting point for further "
+"parameter tuning."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:247
+msgid ""
+"FIXME: The author of these instructions have not tested automatic tuning "
+"with tune-type set to 1, so this approach remain to be documented."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:251
+msgid ""
+"Armed with this knowledge, it is time to look at how to do the tuning.  Lets "
+"say the HAL configuration in question load the PID component for X, Y and Z "
+"like this, using named pin names instead of 'count=3':"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:253
+#, no-wrap
+msgid " loadrt pid names=pid.x,pid.y,pid.z\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:278
+msgid ""
+"If the component had used 'count=3' instead, all use of pid.x, pid,y and "
+"pid.z need to be changed to pid.1, pid.2 and pid.3 respectively.  To start "
+"tuning the X axis, move the axis to the middle of its range, to make sure it "
+"do not hit anything when it start moving back and forth.  You also want to "
+"extend the axis ferror limit (following error) to make LinuxCNC accept the "
+"higher position deviation during tuning.  The sensible ferror limit depends "
+"on the machine and setup, but 1 inch or 20 mm might be useful starting "
+"points.  Next, set the initial 'tune-effort' to a low number in the output "
+"range, for example 1/100 of the maximum output, and slowly increase it to "
+"get more accurate tuning values.  Assign 1 to the 'tune-mode' value.  Note, "
+"this will disable the pid controlling part and feed the 'bias' value to the "
+"output pin, which can cause a lot of drift.  It might be a good idea to tune "
+"the motor driver to ensure zero input voltage do not cause any motor "
+"rotation, or adjust the 'bias' value for the same effect.  Finally, after "
+"setting 'tune-mode', set 'tune-start' to 1 to activate the auto tuning.  If "
+"all go well, your axis will vibrate and move back and forth for a few "
+"seconds and when it is done, new values for Pgain, Igain and Dgain will be "
+"active.  To test them, change 'tune-mode' back to 0.  Note that setting "
+"'tune-mode' back to zero might cause the axis to suddenly jerk as it bring "
+"the axis back to its commanded position, which it might have drifted away "
+"from during tuning.  To summarize, these are the halcmd instructions you "
+"need to issue to do automatic tuning:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:284
+#, no-wrap
+msgid ""
+" setp pid.x.tune-effort 0.1\n"
+" setp pid.x.tune-mode 1\n"
+" setp pid.x.tune-start 1\n"
+" # wait for the tuning to complete\n"
+" setp pid.x.tune-mode 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/pid-theory.adoc:291
+msgid ""
+"A script to help doing the automatic tuning is provided in the LinuxCNC code "
+"repository as 'scripts/run-auto-pid-tuner'.  This will ensure the machine is "
+"powered on and ready to run, home all axes if it is not already done, check "
+"that the extra tuning pins are available, move the axis to its mid point, "
+"run the auto tuning and re-enable the pid controller when it is done.  It "
+"can be run several times."
+msgstr ""
+
+#. type: Title =
+#: src/motion/switchkins.adoc:5
+#, no-wrap
+msgid "Switchable Kinematics (switchkins)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:20
+msgid ""
+"A number of kinematics modules support the switching of kinematics "
+"calculations. These modules support a default kinematics method (type0), a "
+"second built-in method (type1), and (optionally) a user-provided kinematics "
+"method (type2).  Identity kinematics are typically used for the type1 "
+"method."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:27
+msgid ""
+"The switchkins functionality can be used for machines where post-homing "
+"joint control is needed during setup or to avoid movement near singularities "
+"from G-code. Such machines use specific kinematics calculations for most "
+"operations but can be switched to identity kinematics for control of "
+"individual joints after homing."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:33
+msgid ""
+"The kinematics type is selected by a motion module HAL pin that can be "
+"updated from a G-code program or by interactive MDI commands. The halui "
+"provisions for activating MDI commands can be used to allow buttons to "
+"select the kinematics type using hardware controls or a virtual panel "
+"(PyVCP, GladeVCP, etc.)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:39
+msgid ""
+"When a kinematics type is changed, the G-code must also issue commands to "
+"*force synchronization* of the interpreter and motion parts of "
+"LinuxCNC. Typically, a HAL pin 'read' command (M66 E0 L0) is used "
+"immediately after altering the controlling HAL pin to force synchronization."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/switchkins.adoc:40
+#, no-wrap
+msgid "Switchable Kinematic Modules"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:43
+msgid "The following kinematics modules support switchable kinematics:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:45
+#, no-wrap
+msgid "*xyzac-trt-kins* (type0:xyzac-trt-kins type1:identity)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:46
+#, no-wrap
+msgid "*xyzbc-trt-kins* (type0:xyzbc-trt-kins type1:identity)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:47
+#, no-wrap
+msgid "*genhexkins*     (type0:genhexkins     type1:identity)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:48
+#, no-wrap
+msgid "*genserkins*     (type0:genserkins     type1:identity) (puma560 example)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:49
+#, no-wrap
+msgid "*pumakins*       (type0:pumakins       type1:identity)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:50
+#, no-wrap
+msgid "*scarakins*      (type0:scarakins      type1:identity)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:51
+#, no-wrap
+msgid "*5axiskins*      (type0:5axiskins      type1:identity) (bridgemill)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:56
+msgid ""
+"The xyz[ab]c-trt-kins modules by default use type0==xyz[ab]c-trt-kins for "
+"backwards compatibility.  The provided sim configs alter the type0/type1 "
+"convention by forcing type0==identity kinematics using the module string "
+"parameter 'sparm' with an INI file setting like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:62
+#, no-wrap
+msgid ""
+"[KINS]\n"
+"KINEMATICS = xyzac-trt-kins sparm=identityfirst\n"
+"...\n"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/switchkins.adoc:64
+#, no-wrap
+msgid "Identity letter assignments"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:70
+msgid ""
+"When using an *identity* kinematics type, the module parameter 'coordinates' "
+"can be used to assign letters to joints in arbitrary order from the set of "
+"allowed coordinate letters.  Examples:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:75
+#, no-wrap
+msgid ""
+"[KINS]\n"
+"JOINTS = 6\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:78
+#, no-wrap
+msgid ""
+"# conventional identity ordering: joint0==x, joint1==y, ...\n"
+"KINEMATICS = genhexkins coordinates=xyzabc\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:81
+#, no-wrap
+msgid ""
+"# custom identity ordering: joint0==c, joint1==b, ...\n"
+"# KINEMATICS = genhexkins coordinates=cbazyx\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:86
+msgid ""
+"If the coordinates= parameter is omitted, the default joint-letter identity "
+"assignments are joint0==x,joint1=y,..."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:95
+msgid ""
+"The joint assignments provided for *identity* kinematics when using the "
+"coordinates parameter are identical to those provided for the trivkins "
+"module.  However, duplication of axis letters to assign multiple joints for "
+"a coordinate letter is not generally applicable for serial or parallel "
+"kinematics (like genserkins, pumakins, genhexkins, etc.)  where there is no "
+"simple relationship between joints and coordinates."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:101
+msgid ""
+"Duplication of axis coordinate letters is supported in the kinematics "
+"modules xyzac-trt-kins, xyzbc-trt-kins, and 5axiskins (bridgemill).  Typical "
+"applications for duplicate coordinates are gantry machines where two motors "
+"(joints)  are used for the transverse axis."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/switchkins.adoc:102
+#, no-wrap
+msgid "Backwards compatibility"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:108
+msgid ""
+"Switchable kinematics initialize with motion.switchkins-type==0 implementing "
+"their eponymous kinematics method.  If the the motion.switchkins-type pin is "
+"not connected -- as in legacy configurations -- only the default kinematics "
+"type is available."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:116
+msgid ""
+"Kinematics switching is controlled by the motion module input HAL pin "
+"*motion.switchkins-type*.  The floating point pin value is truncated to "
+"integer and used to select one of the provided kinematics types.  The zero "
+"startup value selects the type0 default kinematics type."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:122
+msgid ""
+"The motion.switchkins-type input pin is floating point in order to "
+"facilitate connections to motion module output pins like "
+"motion.analog-out-0n that are controllable by standard M-codes (typically "
+"M68EnL0)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:127
+msgid ""
+"Output HAL pins are provided to inform GUIs of the current kinematics type.  "
+"These pins can also be connected to digital inputs that are read by G-code "
+"programs to enable or disable program behavior in accordance with the active "
+"kinematics type."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/switchkins.adoc:128
+#, no-wrap
+msgid "HAL Pin Summary"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:131
+#, no-wrap
+msgid "*motion.switchkins-type*  Input  (float)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:132
+#, no-wrap
+msgid "*kinstype.is-0*           Output (bit)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:133
+#, no-wrap
+msgid "*kinstype.is-1*           Output (bit)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:134
+#, no-wrap
+msgid "*kinstype.is-2*           Output (bit)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:143
+msgid ""
+"Switchkins functionality is enabled by the pin *motion.switchkins-type*.  "
+"Typically, this pin is sourced by an analog output pin like "
+"motion.analog-out-03 so that it can be set by M68 commands.  Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:148
+#, no-wrap
+msgid ""
+"net :kinstype-select <= motion.analog-out-03\n"
+"net :kinstype-select => motion.switchkins-type\n"
+msgstr ""
+
+#. type: Title ===
+#: src/motion/switchkins.adoc:150
+#, no-wrap
+msgid "G-/M-code commands"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:153
+msgid "Kinstype selection is managed using G-code sequences like:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:165
+#, no-wrap
+msgid ""
+"...\n"
+"M68 E3 Q1 ;update analog-out-03 to select kinstype 1\n"
+"M66 E0 L0 ;sync interp-motion\n"
+"...\n"
+"...       ;user G-code\n"
+"...\n"
+"M68 E3 Q0 ;update analog-out-03 to select kinstype 0\n"
+"M66 E0 L0 ;sync interp-motion\n"
+"...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:172
+msgid ""
+"An M66 'wait-on-input' command updates the #5399 variable.  If the current "
+"value of this variable is needed for subsequent purposes, it should be "
+"copied to an additional variable before invoking M66."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:175
+msgid ""
+"These G-code command sequences are typically implemented in G-code "
+"subroutines as remapped M-codes or with conventional M-code scripts."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:177
+msgid "Suggested codes (as used in sim configs) are:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:179
+msgid "Conventional User M-codes:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:181
+msgid "M128 Select kinstype 0 (startup default kinematics)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:182
+msgid "M129 Select kinstype 1 (typically identity kinematics)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:183
+msgid "M130 Select kinstype 2 (user-provided kinematics)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:185
+msgid "Remapped M-codes:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:187
+msgid "M428 Select kinstype 0 (startup default kinematics)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:188
+msgid "M429 Select kinstype 1 (typically identity kinematics)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:189
+msgid "M430 Select kinstype 2 (user-provided kinematics)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:195
+msgid ""
+"Conventional user M-codes (in the range M100-M199) are in modal group 10.  "
+"Remapped M-codes (in the range M200 to M999) can specify a modalgroup.  See "
+"the remap documentation for additional information."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/switchkins.adoc:196
+#, no-wrap
+msgid "INI file limit settings"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:202
+msgid ""
+"LinuxCNC trajectory planning uses limits for position (min,max), velocity, "
+"and acceleration for each applicable coordinate letter specified in the "
+"configuration INI file.  Example for letter L (in the set 'XYZABCUVW'):"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:210
+#, no-wrap
+msgid ""
+"[AXIS_L]\n"
+"MIN_LIMIT =\n"
+"MAX_LIMIT =\n"
+"MAX_VELOCITY =\n"
+"MIN_ACCELERATION =\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:218
+msgid ""
+"The INI file limits specified apply to the type 0 default kinematics type "
+"that is activated at startup.  These limits may *not* be applicable when "
+"switching to alternative kinematics.  However, since an interpreter-motion "
+"synchronization is required when switching kinematics, INI-HAL pins can be "
+"used to setup limits for a pending kinematics type."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:223
+msgid ""
+"INI-HAL pins are typically not recognized during a G-code program unless a "
+"synchronization (queue-buster) command is issued.  See the milltask manpage "
+"for more information ($ man milltask)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:225
+msgid "The relevant INI-HAL pins for a joint number (_N_) are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:232
+#, no-wrap
+msgid ""
+"ini.N.min_limit\n"
+"ini.N.max_limit\n"
+"ini.N.max_acceleration\n"
+"ini.N.max_velocity\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:235
+msgid "The relevant INI-HAL pins for an axis coordinate (_L_) are:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:242
+#, no-wrap
+msgid ""
+"ini.L.min_limit\n"
+"ini.L.max_limit\n"
+"ini.L.max_velocity\n"
+"ini.L.max_acceleration\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:250
+msgid ""
+"In general, there are no fixed mappings between joint numbers and axis "
+"coordinate letters.  There may be specific mappings for some kinematics "
+"modules especially those that implement identity kinematics (trivkins).  See "
+"the kins man page for more information ($ man kins)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:256
+msgid ""
+"A user-provided M-code can alter any or all of the axis coordinate limits "
+"prior to changing the motion.switchkins-type pin and synchronizing the "
+"interpreter and motionparts of LinuxCNC.  As an example, a bash script "
+"invoking halcmd can be 'hardcoded' to set any number of HAL pins:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:264
+#, no-wrap
+msgid ""
+"#!/bin/bash\n"
+"halcmd -f <<EOF\n"
+"setp ini.x.min_limit -100\n"
+"setp ini.x.max_limit  100\n"
+"# ... repeat for other limit parameters\n"
+"EOF\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:270
+msgid ""
+"Scripts like this can be invoked as a user M-code and used *prior* to the "
+"kins switching M-code that updates the `motion.switchkins-type` HAL pin and "
+"forces an interp-motion sync.  Typically, separate scripts would be used for "
+"each kinstype (0,1,2)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:281
+msgid ""
+"When identity kinematics are provided as a means to control individual "
+"joints, it may be convenient to set or restore limits as specified in the "
+"system INI file.  For example, a robot starts with a complex (non-identity) "
+"kinematics (type0) after homing.  The system is configured so that it can be "
+"switched to identity kinematics (type1) in order to manipulate individual "
+"joints using the conventional letters from the set 'XYZABCUVW'.  The INI "
+"file settings ([AXIS_L]) are *not* applicable when operating with identity "
+"(type1) kinematics.  To address this use case, the user M-code scripts can "
+"be designed as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:283
+#, no-wrap
+msgid "*M129* (Switch to identity type1)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:285 src/motion/switchkins.adoc:294
+msgid "read and parse INI file"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:288
+msgid ""
+"HAL: setp the INI-HAL limit pins for each axis letter ([AXIS_L])  according "
+"to the 'identity-referenced' joint number INI file setting ([JOINT_N])"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:289
+msgid "HAL: `setp motion.switchkins-type 1`"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:290 src/motion/switchkins.adoc:298
+msgid "MDI: execute a syncing G-code (M66E0L0)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:292
+#, no-wrap
+msgid "*M128* (restore robot default kinematics type 0)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:296
+msgid ""
+"HAL: setp the INI-HAL limit pins for each axis letter ([AXIS_L])  according "
+"to the appropriate INI file setting ([AXIS_L])"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:297
+msgid "HAL: `setp motion.switchkins-type 0`"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:302
+msgid ""
+"The vismach simulation configurations for a puma robot demonstrate M-code "
+"scripts (M128,M129,M130) for this example use case."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/switchkins.adoc:303
+#, no-wrap
+msgid "Offset considerations"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:311
+msgid ""
+"Like INI file limit settings, coordinate system offsets (G92, G10L2, G10L20, "
+"G43, etc) are generally applicable only for the type 0 default startup "
+"kinematics type.  When switching kinematics types, it may be *important* to "
+"either reset all offsets prior to switching or update offsets based on "
+"system-specific requirements."
+msgstr ""
+
+#. type: Title ==
+#: src/motion/switchkins.adoc:312 src/tooldatabase/tooldatabase.adoc:187
+#, no-wrap
+msgid "Simulation configs"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:317
+msgid ""
+"Simulation configs (requiring no hardware) are provided with illustrative "
+"vismach displays in subdirectories of configs/sim/axis/vismach/ ."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:319
+msgid "5axis/table-rotary-tilting/xyzac-trt.ini (xyzac-trt-kins)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:320
+msgid "5axis/table-rotary-tilting/xyzbc-trt.ini (xyzac-trt-kins)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:321
+msgid "5axis/bridgemill/5axis.ini (5axiskins)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:322
+msgid "scara/scara.ini (scarakins)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:323
+msgid "puma/puma560.ini (genserkins)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:324
+msgid "puma/puma.ini (pumakins)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:325
+msgid "hexapod-sim/hexapod.ini (genhexkins)"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/switchkins.adoc:326
+#, no-wrap
+msgid "User kinematics provisions"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:333
+msgid ""
+"Custom kinematics can be coded and tested on Run-In-Place ('RIP')  builds.  "
+"A template file src/emc/kinematics/userkfuncs.c is provided in the "
+"distribution.  This file can be copied/renamed to a user directory and "
+"edited to supply custom kinematics with kinstype==2."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:338
+msgid ""
+"The user custom kinematics file can be compiled from out-of-tree source "
+"locations for rt-preempt implementations or by replacing the in-tree "
+"template file (src/emc/kinematics/userkfuncs.c) for rtai systems."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:340
+msgid "Preempt-rt make example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/motion/switchkins.adoc:343
+#, no-wrap
+msgid "$ userkfuncs=/home/myname/kins/mykins.c make && sudo make setuid\n"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/switchkins.adoc:345
+#, no-wrap
+msgid "Warnings"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:350
+msgid ""
+"Unexpected behavior can result if a G-code program is inadvertently started "
+"with an incompatible kinematics type.  Unwanted behavior can be circumvented "
+"in G-code programs by:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:353
+msgid ""
+"Connecting appropriate kinstype.is.N HAL pins to digital input pins (like "
+"motion.digital-in-0m)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:355
+msgid "Reading the digital input pin (M66 E0 Pm) at the start of the G-code program"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:357
+msgid ""
+"Aborting (M2) the G-code program with a message (DEBUG, problem_message)  if "
+"the kinstype is not suitable."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:361
+msgid ""
+"When using jogging facilities or MDI commands interactively, operator "
+"caution is required.  Guis should include indicators to display the current "
+"kinematics type."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:368
+msgid ""
+"Switching kinematics can cause substantial operational changes requiring "
+"careful design, testing, and training for deployment.  The management of "
+"coordinate offsets, tool compensation, and INI file limits may require "
+"complicated and non-standard operating protocols."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:377
+msgid ""
+"Kinematic modules providing switchkins functionality are linked to the "
+"switchkins.o object (switchkins.c) that provides the module 'main' program "
+"(rtapi_app_main()) and related functions.  This 'main' program reads "
+"(optional) module command-line parameters (coordinates, sparm) and passes "
+"them to the module-provided function switchkinsSetup()."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:382
+msgid ""
+"The switchkinsSetup() function identifies kinstype-specific setup routines "
+"and the functions for forward an inverse calculation for each kinstype "
+"(0,1,2) and sets a number of configuration settings."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:386
+msgid ""
+"After calling switchkinsSetup(), rtapi_app_main() checks the supplied "
+"parameters, creates a HAL component, and then invokes the setup routine "
+"identified for each kinstype (0,1,2)."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/switchkins.adoc:391
+msgid ""
+"Each kinstype (0,1,2) setup routine can (optionally) create HAL pins and set "
+"them to default values.  When all setup routines finish, rtapi_app_main() "
+"issues hal_ready() for the component to complete creation of the module."
+msgstr ""
+
+#. type: Title =
+#: src/motion/tweaking-steppers.adoc:5
+#, no-wrap
+msgid "Stepper Tuning"
+msgstr ""
+
+#. type: Title ==
+#: src/motion/tweaking-steppers.adoc:7
+#, no-wrap
+msgid "Getting the most out of Software Stepping"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:13
+msgid ""
+"Generating step pulses in software has one very big advantage - it's "
+"free. Just about every PC has a parallel port that is capable of outputting "
+"step pulses that are generated by the software. However, software step "
+"pulses also have some disadvantages:"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:20
+msgid ""
+"This chapter has some steps that can help you get the best results from "
+"software generated steps."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/tweaking-steppers.adoc:21
+#, no-wrap
+msgid "Run a Latency Test"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:26
+msgid ""
+"The CPU is not the only factor determining latency. Motherboards, graphics "
+"cards, USB ports and many other things can degrade it. The best way to know "
+"what to expect from a PC is to run the RT latency tests."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:29
+msgid ""
+"Run the latency test as described in the <<sec:latency-test,Latency Test>> "
+"chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:35
+msgid ""
+"While the test is running, you should 'abuse' the computer. Move windows "
+"around on the screen. Surf the web. Copy some large files around on the "
+"disk. Play some music. Run an OpenGL program such as glxgears. The idea is "
+"to put the PC through its paces while the latency test checks to see what "
+"the worst case numbers are."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:49
+msgid ""
+"The last number in the column labeled 'Max Jitter' is the most important.  "
+"Write it down - you will need it later. It contains the worst latency "
+"measurement during the entire run of the test. In the example above, that is "
+"6693 nano-seconds, or 6,69 micro-seconds, which is excellent.  However the "
+"example only ran for a few seconds (it prints one line every second). You "
+"should run the test for at least several minutes; sometimes the worst case "
+"latency doesn't happen very often, or only happens when you do some "
+"particular action. I had one Intel motherboard that worked pretty well most "
+"of the time, but every 64 seconds it had a very bad 300 µs latency.  "
+"Fortunately that is fixable, see "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?FixingSMIIssues[Fixing SMI issues "
+"on the LinuxCNC Wiki]"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:60
+msgid ""
+"So, what do the results mean? If your 'Max Jitter' number is less than about "
+"15-20 microseconds (15000-20000 nanoseconds), the computer should give very "
+"nice results with software stepping. If the max latency is more like 30-50 "
+"microseconds, you can still get good results, but your maximum step rate "
+"might be a little disappointing, especially if you use microstepping or have "
+"very fine pitch leadscrews. If the numbers are 100 µs or more (100,000 "
+"nanoseconds), then the PC is not a good candidate for software "
+"stepping. Numbers over 1 millisecond (1,000,000 nanoseconds) mean the PC is "
+"not a good candidate for LinuxCNC, regardless of whether you use software "
+"stepping or not."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:65
+msgid ""
+"Note that if you get high numbers, there may be ways to improve them.  For "
+"example, one PC had very bad latency (several milliseconds) when using the "
+"onboard video. But a $5 used video card solved the problem - LinuxCNC does "
+"not require bleeding edge hardware."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/tweaking-steppers.adoc:66
+#, no-wrap
+msgid "Figure out what your drives expect"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:71
+msgid ""
+"Different brands of stepper drives have different timing requirements on "
+"their step and direction inputs. So you need to dig out (or Google for) the "
+"data sheet that has your drive's specs."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:73
+msgid "From the Gecko G202 manual:"
+msgstr ""
+
+#. type: delimited block .
+#: src/motion/tweaking-steppers.adoc:79
+#, no-wrap
+msgid ""
+"Step Frequency: 0 to 200 kHz\n"
+"Step Pulse \"0\" Time: 0.5 µs min (Step on falling edge)\n"
+"Step Pulse \"1\" Time: 4.5 µs min\n"
+"Direction Setup: 1 µs min (20 µs min hold time after Step edge)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:82
+msgid "From the Gecko G203V manual:"
+msgstr ""
+
+#. type: delimited block .
+#: src/motion/tweaking-steppers.adoc:87
+#, no-wrap
+msgid ""
+"Step Frequency: 0 to 333 kHz\n"
+"Step Pulse \"0\" Time: 2.0 µs min (Step on rising edge)\n"
+"Step Pulse \"1\" Time: 1.0 µs min\n"
+msgstr ""
+
+#. type: delimited block .
+#: src/motion/tweaking-steppers.adoc:91
+#, no-wrap
+msgid ""
+"Direction Setup:\n"
+"    200 ns (0.2 µs) before step pulse rising edge\n"
+"    200 ns (0.2 µs) hold after step pulse rising edge\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:94
+msgid "From the Xylotex datasheet:"
+msgstr ""
+
+#. type: delimited block .
+#: src/motion/tweaking-steppers.adoc:101
+#, no-wrap
+msgid ""
+"Minimum DIR setup time before rising edge of STEP Pulse 200 ns Minimum\n"
+"DIR hold time after rising edge of STEP pulse 200 ns\n"
+"Minimum STEP pulse high time 2.0 µs\n"
+"Minimum STEP pulse low time 1.0 µs\n"
+"Step happens on rising edge\n"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:105
+msgid ""
+"Once you find the numbers, write them down too - you need them in the next "
+"step."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/tweaking-steppers.adoc:106
+#, no-wrap
+msgid "Choose your BASE_PERIOD"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:115
+msgid ""
+"BASE_PERIOD is the 'heartbeat' of your LinuxCNC computer. Every period, the "
+"software step generator decides if it is time for another step pulse. A "
+"shorter period will allow you to generate more pulses per second, within "
+"limits. But if you go too short, your computer will spend so much time "
+"generating step pulses that everything else will slow to a crawl, or maybe "
+"even lock up. Latency and stepper drive requirements affect the shortest "
+"period you can use, as we will see in a minute."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:123
+msgid ""
+"Let's look at the Gecko example first. The G202 can handle step pulses that "
+"go low for 0.5 µs and high for 4.5 µs, it needs the direction pin to be "
+"stable 1 µs before the falling edge, and remain stable for 20 µs after the "
+"falling edge. The longest timing requirement is the 20 µs hold time.  A "
+"simple approach would be to set the period at 20 µs. That means that all "
+"changes on the STEP and DIR lines are separated by 20 µs. All is good, "
+"right?"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:134
+msgid ""
+"Wrong! If there was ZERO latency, then all edges would be separated by 20 "
+"µs, and everything would be fine. But all computers have some "
+"latency. Latency means lateness. If the computer has 11 µs of latency, that "
+"means sometimes the software runs as much as 11 µs later than it was "
+"supposed to. If one run of the software is 11 µs late, and the next one is "
+"on time, the delay from the first to the second is only 9 µs. If the first "
+"one generated a step pulse, and the second one changed the direction bit, "
+"you just violated the 20 µs G202 hold time requirement.  That means your "
+"drive might have taken a step in the wrong direction, and your part will be "
+"the wrong size."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:140
+msgid ""
+"The really nasty part about this problem is that it can be very very "
+"rare. Worst case latencies might only happen a few times a minute, and the "
+"odds of bad latency happening just as the motor is changing direction are "
+"low. So you get very rare errors that ruin a part every once in a while and "
+"are impossible to troubleshoot."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:148
+msgid ""
+"The simplest way to avoid this problem is to choose a BASE_PERIOD that is "
+"the sum of the longest timing requirement of your drive, and the worst case "
+"latency of your computer. If you are running a Gecko with a 20 µs hold time "
+"requirement, and your latency test said you have a maximum latency of 11 µs, "
+"then if you set the BASE_PERIOD to 20+11 = 31 µs (31000 nano-seconds in the "
+"ini file), you are guaranteed to meet the drive's timing requirements."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:155
+msgid ""
+"But there is a tradeoff. Making a step pulse requires at least two "
+"periods. One to start the pulse, and one to end it. Since the period is 31 "
+"µs, it takes 2x31 = 62 µs to create a step pulse. That means the maximum "
+"step rate is only 16,129 steps per second. Not so good. (But don't give up "
+"yet, we still have some tweaking to do in the next section.)"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:162
+msgid ""
+"For the Xylotex, the setup and hold times are very short, 200 ns each (0.2 "
+"µs). The longest time is the 2 µs high time. If you have 11 µs latency, then "
+"you can set the BASE_PERIOD as low as 11+2=13 µs. Getting rid of the long 20 "
+"µs hold time really helps! With a period of 13 µs, a complete step takes "
+"2x13 = 26 µs, and the maximum step rate is 38,461 steps per second!"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:172
+msgid ""
+"But you can't start celebrating yet. Note that 13 µs is a very short "
+"period. If you try to run the step generator every 13 µs, there might not be "
+"enough time left to run anything else, and your computer will lock up. If "
+"you are aiming for periods of less than 25 µs, you should start at 25 µs or "
+"more, run LinuxCNC, and see how things respond. If all is well, you can "
+"gradually decrease the period. If the mouse pointer starts getting sluggish, "
+"and everything else on the PC slows down, your period is a little too "
+"short. Go back to the previous value that let the computer run smoothly."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:179
+msgid ""
+"In this case, suppose you started at 25 µs, trying to get to 13 µs, but you "
+"find that around 16 µs is the limit - any less and the computer doesn't "
+"respond very well. So you use 16 µs. With a 16 µs period and 11 µs latency, "
+"the shortest output time will be 16-11 = 5 µs. The drive only needs 2 µs, so "
+"you have some margin. Margin is good - you don't want to lose steps because "
+"you cut the timing too close."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:183
+msgid ""
+"What is the maximum step rate? Remember, two periods to make a step.  You "
+"settled on 16 µs for the period, so a step takes 32 µs. That works out to a "
+"not bad 31,250 steps per second."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/tweaking-steppers.adoc:184
+#, no-wrap
+msgid "Use steplen, stepspace, dirsetup, and/or dirhold"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:190
+msgid ""
+"In the last section, we got the Xylotex drive to a 16 µs period and a 31,250 "
+"step per second maximum speed. But the Gecko was stuck at 31 µs and a "
+"not-so-nice 16,129 steps per second. The Xylotex example is as good as we "
+"can make it. But the Gecko can be improved."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:199
+msgid ""
+"The problem with the G202 is the 20 µs hold time requirement. That plus the "
+"11 µs latency is what forces us to use a slow 31 µs period. But the LinuxCNC "
+"software step generator has some parameters that let you increase the "
+"various time from one period to several. For example, if steplen is changed "
+"from 1 to 2, then it there will be two periods between the beginning and end "
+"of the step pulse. Likewise, if dirhold is changed from 1 to 3, there will "
+"be at least three periods between the step pulse and a change of the "
+"direction pin."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:211
+msgid ""
+"If we can use dirhold to meet the 20 µs hold time requirement, then the next "
+"longest time is the 4.5 µs high time. Add the 11 µs latency to the 4.5 µs "
+"high time, and you get a minimum period of 15.5 µs. When you try 15.5 µs, "
+"you find that the computer is sluggish, so you settle on 16 µs.  If we leave "
+"dirhold at 1 (the default), then the minimum time between step and direction "
+"is the 16 µs period minus the 11 µs latency = 5 µs, which is not enough. We "
+"need another 15 µs. Since the period is 16 µs, we need one more period. So "
+"we change dirhold from 1 to 2. Now the minimum time from the end of the step "
+"pulse to the changing direction pin is 5+16=21 µs, and we don't have to "
+"worry about the Gecko stepping the wrong direction because of latency."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:218
+msgid ""
+"If the computer has a latency of 11 µs, then a combination of a 16 µs base "
+"period, and a dirhold value of 2 ensures that we will always meet the timing "
+"requirements of the Gecko. For normal stepping (no direction change), the "
+"increased dirhold value has no effect. It takes two periods totalling 32 µs "
+"to make each step, and we have the same 31,250 step per second rate that we "
+"got with the Xylotex."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:224
+msgid ""
+"The 11 µs latency number used in this example is very good. If you work "
+"through these examples with larger latency, like 20 or 25 µs, the top step "
+"rate for both the Xylotex and the Gecko will be lower. But the same formulas "
+"apply for calculating the optimum BASE_PERIOD, and for tweaking dirhold or "
+"other step generator parameters."
+msgstr ""
+
+#. type: Title ===
+#: src/motion/tweaking-steppers.adoc:225
+#, no-wrap
+msgid "No Guessing!"
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:231
+msgid ""
+"For a fast AND reliable software based stepper system, you cannot just guess "
+"at periods and other configuration parameters. You need to make measurements "
+"on your computer, and do the math to ensure that your drives get the signals "
+"they need."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:241
+msgid ""
+"To make the math easier, I've created an Open Office spreadsheet "
+"https://wiki.linuxcnc.org/uploads/StepTimingCalculator.ods[Step Timing "
+"Calculator].  You enter your latency test result and your stepper drive "
+"timing requirements and the spreadsheet calculates the optimum BASE_PERIOD.  "
+"Next, you test the period to make sure it won't slow down or lock up your "
+"PC. Finally, you enter the actual period, and the spreadsheet will tell you "
+"the stepgen parameter settings that are needed to meet your drive's timing "
+"requirements. It also calculates the maximum step rate that you will be able "
+"to generate."
+msgstr ""
+
+#. type: Plain text
+#: src/motion/tweaking-steppers.adoc:244
+msgid ""
+"I've added a few things to the spreadsheet to calculate max speed and "
+"stepper electrical calculations."
+msgstr ""
+
+#. type: Title =
+#: src/plasma/plasma-cnc-primer.adoc:5
+#, no-wrap
+msgid "Plasma Cutting Primer for LinuxCNC Users(((Plasma Cutting Primer)))"
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:13
+#, no-wrap
+msgid "What Is Plasma?"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:19
+msgid ""
+"Plasma is a fourth state of matter, an ionised gas which has been heated to "
+"an extremely high temperature and ionised so that it becomes electrically "
+"conductive.  The plasma arc cutting and gouging processes use this plasma to "
+"transfer an electrical arc to the workpiece.  The metal to be cut or removed "
+"is melted by the heat of the arc and then blown away.  While the goal of "
+"plasma arc cutting is the separation of the material, plasma arc gouging is "
+"used to remove metals to a controlled depth and width."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:24
+msgid ""
+"Plasma torches are similar in design to the automotive spark plug.  They "
+"consist of negative and positive sections separated by a center insulator.  "
+"Inside the torch, the pilot arc starts in the gap between the negatively "
+"charged electrode and the positively charged tip.  Once the pilot arc has "
+"ionised the plasma gas, the superheated column of gas flows through the "
+"small orifice in the torch tip, which is focused on the metal to be cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:32
+msgid ""
+"In a Plasma Cutting Torch a cool gas enters Zone B, where a pilot arc "
+"between the electrode and the torch tip heats and ionises the gas.  The main "
+"cutting arc then transfers to the workpiece through the column of plasma gas "
+"in Zone C.  By forcing the plasma gas and electric arc through a small "
+"orifice, the torch delivers a high concentration of heat to a small area.  "
+"The stiff, constricted plasma arc is shown in Zone C.  Direct current (DC) "
+"straight polarity is used for plasma cutting, as shown in the illustration.  "
+"Zone A channels a secondary gas that cools the torch.  This gas also assists "
+"the high velocity plasma gas in blowing the molten metal out of the cut "
+"allowing for a fast, slag - free cut."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/plasma-cnc-primer.adoc:33
+#, no-wrap
+msgid "images/primer_torch-head.png"
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:35
+#, no-wrap
+msgid "Arc Initialisation"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:39
+msgid ""
+"There are two main methods for arc initialisation for plasma cutters that "
+"are designed for CNC operation.  Whilst other methods are used on some "
+"machines (such as scratch start where physical contact with the material is "
+"required), they are unsuited for CNC applications.."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:40
+#, no-wrap
+msgid "High Frequency Start"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:49
+msgid ""
+"This start type is widely employed, and has been around the longest.  "
+"Although it is older technology, it works well, and starts quickly.  But, "
+"because of the high frequency high voltage power that is required generated "
+"to ionise the air, it has some drawbacks.  It often interferes with "
+"surrounding electronic circuitry, and can even damage components.  Also a "
+"special circuit is needed to create a Pilot arc.  Inexpensive models will "
+"not have a pilot arc, and require touching the consumable to the work to "
+"start.  Employing a HF circuit also can increase maintenance issues, as "
+"there are usually adjustable points that must be cleaned and readjusted from "
+"time to time."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:50
+#, no-wrap
+msgid "Blowback Start"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:56
+msgid ""
+"This start type uses air pressure supplied to the cutter to force a small "
+"piston or cartridge inside the torch head back to create a small spark "
+"between the inside surface of the consumable, ionising the air, and creating "
+"a small plasma flame.  This also creates a \"pilot arc\" that provides a "
+"plasma flame that stays on, whether in contact with the metal or not.  This "
+"is a very good start type that is now used by several manufacturers.  It's "
+"advantage is that it requires somewhat less circuitry, is a fairly reliable "
+"and generates far less electrical noise."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:61
+msgid ""
+"For entry level air plasma CNC systems, the blowback style is much preferred "
+"to minimise electrical interference with electronics and standard PCs, but "
+"the High frequency start still rules supreme in larger machines from 200 A "
+"and up.  These require industrial level PCs and electronics, and even "
+"commercial manufacturers have had issues with faults because they have "
+"failed to account for electrical noise in their designs."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:62
+#, no-wrap
+msgid "CNC Plasma"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:71
+msgid ""
+"Plasma operations on CNC machines is quite unique in comparison to milling "
+"or turning and is a bit of an orphan process.  Uneven heating of the "
+"material from the plasma arc will cause the sheet to bend and buckle.  Most "
+"sheets of metal do not come out of the mill or press in a very even or flat "
+"state.  Thick sheets (30 mm plus) can be out of plane as much as 50 mm to "
+"100 mm.  Most other CNC G-code operations will start from a known reference "
+"or a piece of stock that has a known size and shape and the G-code is "
+"written to rough the excess off and then finally cut the finished part.  "
+"With plasma the unknown state of the sheet makes it impossible to generate "
+"G-code that will cater for these variances in the material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:75
+msgid ""
+"A plasma Arc is oval in shape and the cutting height needs to be controlled "
+"to minimise bevelled edges.  If the torch is too high or too low then the "
+"edges can become excessively bevelled.  It is also critical that the torch "
+"is held perpendicular to the surface."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:77
+#, no-wrap
+msgid "*Torch to work distance can impact edge bevel*\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/plasma-cnc-primer.adoc:78
+#, no-wrap
+msgid "images/primer_cut-angularity.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:81
+#, no-wrap
+msgid "*Negative cut angle:* torch too low, increase torch to work distance.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:82
+#, no-wrap
+msgid "*Positive cut angle:* torch too high, decrease torch to work distance.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:85
+msgid ""
+"A slight variation in cut angles may be normal, as long as it is within "
+"tolerance."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:88
+msgid ""
+"The ability to precisely control the cutting height in such a hostile and "
+"ever changing environment is a very difficult challenge.  Fortunately there "
+"is a very linear relationship between Torch height (Arc length) and arc "
+"voltage as this graph shows."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/plasma-cnc-primer.adoc:89
+#, no-wrap
+msgid "images/primer_volts-height.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:93
+msgid ""
+"This graph was prepared from a sample of about 16,000 readings at varying "
+"cut height and the regression analysis shows 7.53 V/mm with 99.4% "
+"confidence.  In this particular instance this sample was taken from an "
+"Everlast 50 A machine being controlled by LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:101
+msgid ""
+"Torch voltage then becomes an ideal process control variable to use to "
+"adjust the cut height.  Let's assume for simplicity that voltage changes by "
+"10 V/mm.  This can be restated to be 1 Volt per 0.1 mm (0.004\").  Major "
+"plasma machine manufacturers (eg Hypertherm, Thermal Dynamics and ESAB), "
+"produce cut charts that specify the recommended cut height and estimated arc "
+"voltage at this height as well as some additional data.  So if the arc "
+"voltage is 1 V higher than the manufacturers specification, the controller "
+"simply needs to lower the torch by 0.1 mm (0.004\") to move back to the "
+"desired cut height.  A torch height control unit (THC) is traditionally used "
+"to manage this process."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:102
+#, no-wrap
+msgid "Choosing a Plasma Machine for CNC operations"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:107
+msgid ""
+"There are a plethora of plasma machines available on the market today and "
+"not all of them are suited for CNC use.  CNC Plasma cutting is a complex "
+"operation and it is recommended that integrators choose a suitable plasma "
+"machine.  Failure to do this is likely to cause hours and hours of fruitless "
+"trouble shooting trying to work around the lack of what many would consider "
+"to be mandatory features."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:109
+msgid ""
+"Whilst rules are made to be broken if you fully understand the reasons the "
+"rule apply, we consider a new plasma table builder should select a machine "
+"with the following features:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:111
+msgid "Blowback start to minimise electrical noise to simplify construction"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:112
+msgid "A Machine torch is preferred but many have used hand torches."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:113
+msgid "A fully shielded torch tip to allow ohmic sensing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:115
+msgid "If you have the budget, a higher end machines will supply:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:117
+msgid ""
+"Manufacturer provided cut charts which will save many hours and material "
+"waste calibrating cut parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:118
+msgid "Dry Contacts for ArcOK"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:119
+msgid "Terminals for Arc On switch"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:120
+msgid "Raw arc voltage or divided arc voltage output"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:121
+msgid ""
+"Optionally a RS485 interface if using a Hypertherm plasma cutter and want to "
+"control it from the LinuxCNC console."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:122
+msgid "Higher duty cycles"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:126
+msgid ""
+"In recent times, another class of machine which includes some of these "
+"features has become available at around USD $550.  One example is the "
+"Herocut55i available on Amazon but there is yet no feedback from users.  "
+"This Machine features a blowback torch, ArcOK output, torch start contacts "
+"and raw arc voltage."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:127
+#, no-wrap
+msgid "Types Of Torch Height Control"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:135
+msgid ""
+"Most THC units are external devices and many have a fairly crude “bit bang\" "
+"adjustment method.  They provide two signals back to the LinuxCNC "
+"controller.  One turns on if the Z axis should move up and the other turns "
+"on if the Z axis should move down.  Neither signal is true if the torch is "
+"at the correct height.  The popular Proma 150 THC is one example of this "
+"type of THC.  The LinuxCNC THCUD component is designed to work with this "
+"type of THC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:140
+msgid ""
+"With the release of the Mesa THCAD voltage to frequency interface, LinuxCNC "
+"was able to decode the actual torch voltage via an encoder input.  This "
+"allowed LinuxCNC to control the Z axis and eliminate external hardware.  "
+"Early implementations utilising the THCAD replicated the “bit bang\" "
+"approach.  The LinuxCNC THC component is an example of this approach."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:143
+msgid ""
+"Jim Colt of Hypertherm is on record saying that the best THC controllers "
+"were fully integrated into the CNC controller itself.  Of course he was "
+"referring to high end systems manufactured by Hypertherm, Esab, Thermal "
+"Dynamics and others such as Advanced Robotic Technology in Australia, little "
+"dreaming that open source could produce systems using this approach that "
+"rival high end systems."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:154
+msgid ""
+"The inclusion of external offsets in LinuxCNC V2.8 allowed plasma control in "
+"LinuxCNC to rise to a whole new level.  External Offsets refers to the "
+"ability to apply an offset to the axis commanded position external to the "
+"motion controller.  This is perfect for plasma THC control as a method to "
+"adjust the torch height in real time based on our chosen process control "
+"methodology.  Following a number of experimental builds, the Plasmac "
+"configuration was incorporated into LinuxCNC 2.8.  "
+"link:./qtplasmac.html[QtPlasmaC] has superceded Plasmac in LinuxCNC 2.9.  "
+"This has been an extremely ambitious project and many people around the "
+"globe have been involved in testing and improving the feature set.  "
+"QtPlasmaC is unique in that its design goal was to support all THCs "
+"including the simple bit bang ones through to sophisticated torch voltage "
+"control, if the voltage is made available to LinuxCNC via a THCAD or some "
+"other voltage sensor.  What's more, QtPlasmaC is designed to be a stand "
+"alone system that does not need any additional G-code subroutines and allows "
+"the user to define their own cut charts that are stored in the system and "
+"accessible by a drop-down."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:155
+#, no-wrap
+msgid "Arc OK Signal"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:166
+msgid ""
+"Plasma machines that have a CNC interface contain a set of dry contacts (eg "
+"a relay) that close when a valid arc is established and each side of these "
+"contacts are bought out onto pins on the CNC interface.  A plasma table "
+"builder should connect one side of these pins to field power and the other "
+"to an input pin.  This then allows the CNC controller to know when a valid "
+"arc is established and also when an arc is lost unexpectedly.  There is a "
+"potential trap here when the input is a high impedance circuit such as a "
+"Mesa card.  If the dry contacts are a simple relay, there is a high "
+"probability that the current passing through the relay is less than the "
+"minimum current specification.  Under these conditions, the relay contacts "
+"can suffer from a buildup of oxide which over time can result in "
+"intermittent contact operation.  To prevent this from happening, a pull down "
+"resistor should be installed on the controller input pin.  Care should be "
+"taken to ensure that this resistor is selected to ensure the minimum current "
+"passes through the relay and is of sufficient wattage to handle the power in "
+"the circuit.  Finally, the resistor should be mounted in such a way that the "
+"generated heat does not damage anything whilst in operation."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:171
+msgid ""
+"If you have an ArcOK signal, it is recommended it is used over and above any "
+"synthesised signal to eliminate potential build issues.  A synthesised "
+"signal available from an external THC or QtPlasmaC's Mode 0 can't fully "
+"replace the ArcOK circuitry in a plasma inverter.  Some build issues have "
+"been observed where misconfiguration or incompatibility with the plasma "
+"inverter has occurred from a synthesised ArcOK signal.  By and large "
+"however, a correctly configured synthesised ArcOK signal is fine."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:175
+msgid ""
+"A simple and effective ArcOK signal can be achieved with a simple reed "
+"relay.  Wrap 3 turns of one of the plasma cutter's thick cables, e.g. the "
+"material clamp cable, around it.  Place the relay in an old pen tube for "
+"protection and connect one side of the relay to field power and the other "
+"end to your ArcOK input pin."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:176
+#, no-wrap
+msgid "Initial Height Sensing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:180
+msgid ""
+"Because the cutting height is such a critical system parameter and the "
+"material surface is inherently uneven, a Z axis mechanism needs a method to "
+"sense the material surface.  There are three methods this can be achieved:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:182
+msgid "Current sensing to detect increased motor torque,"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:183
+msgid "a “float\" switch and an electrical or"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:184
+msgid ""
+"an “ohmic\" sensing circuit that is closed when the torch shield contacts "
+"the material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:186
+msgid ""
+"Current sensing is not a viable technique for DIY tables but float switches "
+"and ohmic sensing are discussed below:"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:187
+#, no-wrap
+msgid "Float Switches"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:193
+msgid ""
+"The torch is mounted on a sliding stage that can move up when the torch tip "
+"contacts the material surface and trigger a switch or sensor.  Often this is "
+"achieved under G-code control using the G38 commands.  If this is the case, "
+"then after initial probing, it is recommended to probe away from the surface "
+"until the probe signal is lost at a slower speed.  Also, ensure the switch "
+"hysteresis is accounted for."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:195
+msgid ""
+"Regardless of the probing method used, it is strongly recommended that float "
+"switch is implemented so that there is a fallback or secondary signal to "
+"avoid damage to the torch from a crash."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:197
+#, no-wrap
+msgid "Ohmic Sensing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:204
+msgid ""
+"Ohmic sensing relies on contact between the torch and the material acting as "
+"a switch to activate an electrical signal that is sensed by the CNC "
+"controller.  Provided the material is clean, this can be a much more "
+"accurate method of sensing the material than a float switch which can cause "
+"deflection of the material surface.  This ohmic sensing circuit is operating "
+"in an extremely hostile environment so a number of failsafes need to be "
+"implemented to ensure safety of both the CNC electronics and the operator.  "
+"In plasma cutting, the earth clamp attached to the material is positive and "
+"the torch is negative.  It is recommended that:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:206
+msgid ""
+"Ohmic sensing only be implemented where the torch has a shield that is "
+"isolated from the torch tip that conveys the cutting arc."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:207
+msgid ""
+"The ohmic circuit uses a totally separate isolated power supply that "
+"activates an opto-isolated relay to enable the probing signal to be "
+"transmitted to the CNC controller."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:208
+msgid "The positive side of the circuit should be at the torch"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:209
+msgid ""
+"Both sides of the circuit needs to be isolated by opto-isolated relays until "
+"probing is being undertaken"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:210
+msgid ""
+"Blocking diodes be used to prevent arc voltage entering the ohmic sensing "
+"circuit."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:212
+msgid ""
+"The following is an example circuit that has been proven to work and is "
+"compatible with the LinuxCNC QtPlasmaC configuration."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/plasma-cnc-primer.adoc:213
+#, no-wrap
+msgid "images/primer_ohmic-sensing.png"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:215
+#, no-wrap
+msgid "Hypersensing with a MESA THCAD-5"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:219
+msgid ""
+"A more sophisticated method of material sensing that eliminates the relays "
+"and diodes is to use another THCAD-5 to monitor the material sensing circuit "
+"voltage from an isolated power supply.  The advantage this has is the THCAD "
+"is designed for the hostile plasma electrical environment and totally and "
+"safely isolates the logic side from the high voltage side."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:221
+msgid "To implement this method, a second encoder input is required."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:224
+msgid ""
+"If using a mesa card, different firmware is available to provide 2 "
+"additional Encoder A inputs on the Encoder B and Encoder Index pins.  This "
+"firmware is available for download for the 7I76E and 7I96 boards from the "
+"Mesa web site on the product pages."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:232
+msgid ""
+"The THCAD is sensitive enough to see the ramp up in circuit voltage as "
+"contact pressure increases.  The ohmic.comp component included in LinuxCNC "
+"can monitor the sensing voltage and set a voltage threshold above which it "
+"is deemed contact is made and an output is enabled.  By monitoring the "
+"voltage, a lower “break circuit\" threshold can be set to build in strong "
+"switch hysteresis.  This minimises false triggering.  In our testing, we "
+"found the material sensing using this method was more sensitive and robust "
+"as well as being simpler to implement the wiring.  One further advantage is "
+"using software outputs instead of physical I/O pins is that it frees up pins "
+"to use for other purposes.  This advantage is helpful to get the most out of "
+"the Mesa 7I96 which has limited I/O pins."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:234
+msgid "The following circuit diagram shows how to implement a hypersensing circuit."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/plasma-cnc-primer.adoc:235
+#, no-wrap
+msgid "images/primer_hypersensing.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:239
+msgid ""
+"We used a 15 W Mean Well HDR-15 Ultra Slim DIN Rail Supply 24 V DIN rail "
+"based isolated power supply.  This is a double insulated Isolation Class II "
+"device that will withstand any arc voltage that might be applied to the "
+"terminals."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:240
+#, no-wrap
+msgid "Example HAL Code for Hypersensing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:245
+msgid ""
+"The following HAL code can be pasted into your QtPlasmaC's custom.hal to "
+"enable Ohmic sensing on Encoder 2 of a 7I76E.  Install the correct bit file "
+"and connect the THCAD to IDX+ and IDX-.  Be sure to change the calibration "
+"settings to agree with your THCAD-5."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:251
+#, no-wrap
+msgid ""
+"# --- Load the Component ---\n"
+"loadrt ohmic names=ohmicsense\n"
+"addf ohmicsense servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:255
+#, no-wrap
+msgid ""
+"# --- 7I76E ENCODER 2 SETUP FOR OHMIC SENSING---\n"
+"setp hm2_7i76e.0.encoder.02.scale -1\n"
+"setp hm2_7i76e.0.encoder.02.counter-mode 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:265
+#, no-wrap
+msgid ""
+"# --- Configure the component ---\n"
+"setp ohmicsense.thcad-0-volt-freq    140200\n"
+"setp ohmicsense.thcad-max-volt-freq  988300\n"
+"setp ohmicsense.thcad-divide         32\n"
+"setp ohmicsense.thcad-fullscale      5\n"
+"setp ohmicsense.volt-divider         4.9\n"
+"setp ohmicsense.ohmic-threshold      22.0\n"
+"setp ohmicsense.ohmic-low            1.0\n"
+"net ohmic-vel ohmicsense.velocity-in <= hm2_7i76e.0.encoder.02.velocity\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:270
+#, no-wrap
+msgid ""
+"# --- Replace QtPlasmaC's Ohmic sensing signal ---\n"
+"unlinkp db_ohmic.in\n"
+"net ohmic-true ohmicsense.ohmic-on => db_ohmic.in\n"
+"net plasmac:ohmic-enable    =>  ohmicsense.is-probing\n"
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:272
+#, no-wrap
+msgid "THC Delay"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:276
+msgid ""
+"When an arc is established, arc voltage peaks significantly and then settles "
+"back to a stable voltage at cut height.  As shown by the green line in the "
+"image below."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/plasma-cnc-primer.adoc:277
+#, no-wrap
+msgid "images/primer_thc-delay.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:281
+msgid ""
+"It is important for the plasma controller to “wait it out\" before auto "
+"sampling the torch voltage and commencing THC control.  If enabled too "
+"early, the voltage will be above the desired cut Volts and the torch will be "
+"driven down in an attempt to address a perceived over-height condition."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:286
+msgid ""
+"In our testing this varies between machines and material from 0.5 to 1.5 "
+"seconds.  Therefore a delay of 1.5 s after a valid ArcOK signal is received "
+"before enabling THC control is a safe initial setting.  If you want to "
+"shorten this for a given material, LinuxCNC's Halscope will allow you to "
+"plot the torch voltage and make informed decisions about the shortest safe "
+"delay is used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:289
+msgid ""
+"If the cut velocity is not near the desired cut speed at the end of this "
+"delay, the controller should wait until this is achieved before enabling the "
+"THC."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:290
+#, no-wrap
+msgid "Torch Voltage Sampling"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:293
+msgid ""
+"Rather than relying on the manufacturer's cut charts to set the desired "
+"torch voltage, many people (the writer included) prefer to sample the "
+"voltage as the THC is enabled and use that as a set point."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:294
+#, no-wrap
+msgid "Torch Breakaway"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:299
+msgid ""
+"It is recommended that a mechanism is provided to allow the torch to “break "
+"away\" or fall off in the case of impact with the material or a cut part "
+"that has tipped up.  A sensor should be installed to allow the CNC "
+"controller to detect if this has occurred and pause the running program.  "
+"Usually a break away is implemented using magnets to secure the torch to the "
+"Z axis stage."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:300
+#, no-wrap
+msgid "Corner Lock / Velocity Anti-Dive"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:308
+msgid ""
+"The LinuxCNC trajectory planner is responsible for translating velocity and "
+"acceleration commands into motion that obey the laws of physics.  For "
+"example, motion will slow when negotiating a corner.  Whilst this is not a "
+"problem with milling machines or routers, this poses a particular problem "
+"for plasma cutting as the arc voltage increases as motion slows.  This will "
+"cause the THC to drive the torch down.  One of the enormous advantages of a "
+"THC control embedded within the LinuxCNC motion controller is that it knows "
+"what is going on at all times.  So it becomes a trivial matter to monitor "
+"the current velocity (`motion.current-velocity`) and to hold THC operation "
+"if it falls below a set threshold (e.g., 10% below the desired feedrate)."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:309
+#, no-wrap
+msgid "Void / Kerf Crossing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:316
+msgid ""
+"If the plasma torch passes over a void while cutting, arc voltage rapidly "
+"rises and the THC responds by violent downward motion which can smash the "
+"torch into the material possibly damaging it.  This is a situation that is "
+"difficult to detect and handle.  To a certain extent it can be mitigated by "
+"good nesting techniques but can still occur on thicker material when a slug "
+"falls away.  This is the one problem that has yet to be solved within the "
+"LinuxCNC open source movement."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:321
+msgid ""
+"One suggested technique is to monitor the rate of change in torch Volts over "
+"time (dv/dt)  because this parameter is orders of magnitude higher when "
+"crossing a void than what occurs due to normal warpage of the material.  The "
+"following graph shows a low resolution plot of dv/dt (in blue) while "
+"crossing a void.  The red curve is a moving average of torch Volts."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/plasma-cnc-primer.adoc:322
+#, no-wrap
+msgid "images/primer_kerf-cross.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:326
+msgid ""
+"So it should be possible to compare the moving average with the dv/dt and "
+"halt THC operation once the dv/dt exceeds the normal range expected due to "
+"warpage.  More work needs to be done in this area to come up with a working "
+"solution in LinuxCNC."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:327
+#, no-wrap
+msgid "Hole And Small Shape Cutting"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:330
+msgid ""
+"It is recommended that you slow down cutting when cutting holes and small "
+"shapes."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:332
+msgid ""
+"John Moore says: “If you want details on cutting accurate small holes look "
+"up the sales sheets on Hypertherm's 'True Hole Technology' also look on "
+"PlasmaSpider, user seanp has posted extensively on his work using simple air "
+"plasma."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:334
+msgid ""
+"The generally accepted method to get good holes from 37mm dia. and down to "
+"material thickness with minimal taper using an air plasma is:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:336
+msgid "Use recommended cutting current for consumables."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:337
+msgid "Use fixed (no THC) recommended cutting height for consumables."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:338
+msgid ""
+"Cut from 60% to 70% of the recommended feed rate of consumables and "
+"materials."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:339
+msgid "Start lead in at or near center of hole."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:340
+msgid "Use perpendicular lead in."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:341
+msgid ""
+"No lead out, either a slight over burn or early torch off depending on what "
+"works best for you."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:343
+msgid ""
+"You will need to experiment to get exact hole size because the kerf with "
+"this method will be wider than your usual straight cut.\""
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:346
+msgid ""
+"This slow down can be achieved by manipulating the feed rate directly in "
+"your post processor or by using adaptive feed and an analog pin as input.  "
+"This lets you use M67/M68 to set the percentage of desired feed to cut at."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:348
+msgid "Knowing The Feedrate"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:352
+msgid ""
+"From the preceding discussion it is evident that the plasma controller needs "
+"to know the feed rate set by the user.  This poses a problem with LinuxCNC "
+"because the Feedrate is not saved by LinuxCNC after the G-code is buffered "
+"and parsed.  There are two approaches to work around this:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:354
+msgid ""
+"Remap the F command and save the commanded feedrate set in G-code via an "
+"M67/M68 command."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:355
+msgid ""
+"Storing the cut charts in the plasma controller and allow the current "
+"feedrate be queried by the G-code program (as QtPlasmaC does)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:358
+msgid ""
+"A feature newly added to LinuxCNC 2.9 that is useful for plasma cutting are "
+"the state tags.  This adds a “tag\" that is available to motion containing "
+"the current feed and speed rates for all active motion commands."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:359
+#, no-wrap
+msgid "I/O Pins For Plasma Controllers"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:364
+msgid ""
+"Plasma cutters require several additional pins.  In LinuxCNC, there are no "
+"hard and fast rules about which pin does what.  In this discussion we will "
+"assume the plasma inverter has a CNC interface and the controller card has "
+"active high inputs are in use (e.g., Mesa 7I76E)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:372
+msgid ""
+"Plasma tables can be large machines and we recommend that you take the time "
+"to install separate max/min limit switches and homing switches for each "
+"joint.  The exception might be the Z axis lower limit.  When a homing switch "
+"is triggered the joint decelerates fairly slowly for maximum accuracy.  This "
+"means that if you wish to use homing velocities that are commensurate with "
+"table size, you can overshoot the initial trigger point by 50-100 mm.  If "
+"you use a shared home/limit switch, you have to move the sensor off the "
+"trigger point with the final HOME_OFFSET or you will trigger a limit switch "
+"fault as the machine comes out of homing.  This means you could lose 50 mm "
+"or more of axis travel with shared home/limit switches.  This does not "
+"happen if separate home and limit switches are used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:374
+msgid ""
+"The following pins are usually required (note that suggested connections may "
+"not be appropriate for a QtPlasmaC configuration):"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:375
+#, no-wrap
+msgid "Arc OK (input)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:378
+msgid "Inverter closes dry contacts when a valid arc is established"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:379
+msgid "Connect Field power to one Inverter ArcOK terminal."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:380
+msgid "Connect other Inverter Ok Terminal to input pin."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:381
+msgid ""
+"Usually connected to one of the ``motion.digital-``_<nn>_ pins for use from "
+"G-code with M66"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:382
+#, no-wrap
+msgid "Torch On (output)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:385
+msgid "Triggers a relay to close the torch on switch in the inverter."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:386
+msgid ""
+"Connect the torch on terminals on the inverter to the relay output "
+"terminals."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:387
+msgid "Connect one side of the coil to the output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:388
+msgid "Connect the other side of the coil to Field Power ground."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:389
+msgid ""
+"If a mechanical relay is used, connect a flyback diode (e.g., IN400x series) "
+"across the coil terminals with the band on the diode pointing towards the "
+"output pin."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:390
+msgid ""
+"If a Solid State Relay is used, polarity may need to be observed on the "
+"outputs."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:391
+msgid ""
+"In some circumstances, the onboard spindle relay on a Mesa card can be used "
+"instead of an external relay."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:392
+msgid "Usually connected to `spindle.0.on`."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:394
+msgid ""
+"It is strongly recommended that the torch cannot be enabled while this pin "
+"is false otherwise the torch will not be extinguished when estop is pressed."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:395
+#, no-wrap
+msgid "Float switch (input)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:398
+msgid ""
+"Used for surface probing. A sensor or switch that is activated if the torch "
+"slides up when it hits the material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:399
+msgid ""
+"Connect proximity sensor output to chosen input pin. If mechanical switches "
+"are used. Connect one side of the switch to field power and the other side "
+"of the switch to input."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:400
+msgid "Usually connected to `motion.probe-input`."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:401
+#, no-wrap
+msgid "Ohmic Sensor enable (output)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:404
+msgid "See the <<ohmic-sensing,ohmic sensing>> schematic."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:405
+msgid ""
+"Connect output pin to one side of the isolation relays and the other side to "
+"field power ground."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:406
+msgid ""
+"In a non-QtPlasmaC configuration, usually triggered by a "
+"``motion.digital-out-``_<nn>_ so it can be controlled in G-code by "
+"`M62`/`M63`/`M64`/`M65`."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:407
+#, no-wrap
+msgid "Ohmic Sensing (input)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:410
+msgid ""
+"Take care to follow the <<ohmic-sensing,ohmic sensing>> schematic shown "
+"previously."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:411
+msgid ""
+"An isolated power supply triggers a relay when the torch shield contacts the "
+"material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:412
+msgid "Connect field power to one output terminal and the other to the input."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:413
+msgid ""
+"Take care to observe relay polarity if opto-coupled solid State relays are "
+"used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:414
+msgid ""
+"Usually connected to `motion.probe-input` and may be or'd with the float "
+"switch."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:420
+msgid ""
+"As can be seen, plasma tables are pin intensive and we have already consumed "
+"about 15 inputs before the normal estops are added.  Others have other views "
+"but it is the writer's opinion that the Mesa 7I76E is preferred over the "
+"cheaper 7I96 to allow for MPG's, scale and axis selection switch and other "
+"features you may wish to add over time.  If your table uses servos, there "
+"are a number of alternatives.  Whilst there are other suppliers, designing "
+"your machine around the Mesa ecosystem will simplify use of their THCAD "
+"board to read arc voltage."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:421
+#, no-wrap
+msgid "Torch Breakaway Sensor"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:424
+msgid ""
+"As mentioned earlier, a breakaway sensor should be installed that is "
+"triggered if the torch crashes and falls off."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:425
+msgid ""
+"Usually, this would be connected to `halui.program-pause` so the fault can "
+"be rectified and the program resumed."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:426
+#, no-wrap
+msgid "G-code For Plasma Controllers"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:432
+msgid ""
+"Most plasma controllers offer a method to change settings from G-code.  "
+"LinuxCNC support this via `M67`/`M68` for analog commands and `M62`-`M65` "
+"for digital (on/off commands).  How this is implemented is totally "
+"arbitrary.  Lets look at how the LinuxCNC QtPlasmaC configuration does this:"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/plasma-cnc-primer.adoc:433
+#, no-wrap
+msgid ""
+"Select Material Settings in QtPlasmaC and Use the Feedrate for that "
+"Material."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:440
+#, no-wrap
+msgid ""
+"M190 Pn\n"
+"M66 P3 L3 Q1\n"
+"F#<_hal[plasmac.cut-feed-rate]>\n"
+"M3 S1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:443
+msgid ""
+"Users with a very large number of entries in the QtPlasmaC Materials Table "
+"may need to increase the Q parameter (e.g., from Q1 to Q2)."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:444
+#, no-wrap
+msgid "Enable/Disable THC Operation:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:452
+#, no-wrap
+msgid ""
+"M62 P2 will disable THC (synchronised with motion)\n"
+"M63 P2 will enable THC (synchronised with motion)\n"
+"M64 P2 will disable THC (immediately)\n"
+"M65 P2 will enable THC (immediately)\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/plasma-cnc-primer.adoc:454
+#, no-wrap
+msgid "Reduce Cutting Speeds: (e.g., for hole cutting)"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:461
+#, no-wrap
+msgid ""
+"M67 E3 Q0 would set the velocity to 100% of requested~speed\n"
+"M67 E3 Q40 would set the velocity to 40% of requested~speed\n"
+"M67 E3 Q60 would set the velocity to 60% of requested~speed\n"
+"M67 E3 Q100 would set the velocity to 100% of requested~speed\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/plasma-cnc-primer.adoc:463
+#, no-wrap
+msgid "Cutter Compensation:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:469
+#, no-wrap
+msgid ""
+"G41.1 D#<_hal[plasmac_run.kerf-width-f]> ; for left of programmed path\n"
+"G42.1 D#<_hal[plasmac_run.kerf-width-f]> for right of programmed path\n"
+"G40 to turn compensation off\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:472
+msgid ""
+"Integrators should familiarise themselves with the LinuxCNC documentation "
+"for the various LinuxCNC G-code commands mentioned above."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:473
+#, no-wrap
+msgid "External Offsets and Plasma Cutting"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:486
+msgid ""
+"External Offsets were introduced to LinuxCNC with version 2.8.  By external, "
+"it means that we can apply an offset external to the G-code that the "
+"trajectory planner knows nothing about.  It easiest to explain with an "
+"example.  Picture a lathe with an external offset being applied by a "
+"mathematical formula to machine a lobe on a cam.  So the lathe is blindly "
+"spinning around with the cut diameter set to a fixed diameter and the "
+"external offset moves the tool in and out to machine the cam lobe via an "
+"applied external offset.  To configure our lathe to machine this cam, we "
+"need to allocate some portion of the axis velocity and acceleration to "
+"external offsets or the tool can't move.  This is where the INI variable "
+"OFFSET_AV_RATIO comes in.  Say we decide we need to allocate 20% of the "
+"velocity and acceleration to the external offset to the Z axis.  We set this "
+"equal to 0.2.  The consequence of this is that your maximum velocity and "
+"acceleration for the Lathe's Z axis is only 80% of what it could be."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:494
+msgid ""
+"External offsets are a very powerful method to make torch height adjustments "
+"to the Z axis via a THC.  But plasma is all about high velocities and rapid "
+"acceleration so it makes no sense to limit these parameters.  Fortunately in "
+"a plasma machine, the Z axis is either 100% controlled by the THC or it "
+"isn't.  During the development of LinuxCNC's external offsets it was "
+"recognised that Z axis motion by G-code and by THC were mutually exclusive.  "
+"This allows us to trick external offsets into giving 100 % of velocity and "
+"acceleration all of the time.  We can do this by doubling the machine's Z "
+"axis velocity and acceleration settings in the INI file and set "
+"OFFSET_AV_RATIO = 0.5.  That way 100% of the maximum velocity and "
+"acceleration will be available for both probing and THC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:498
+msgid ""
+"Example: On a metric machine with a NEMA23 motor with a direct drive to a "
+"5 mm ball screw, 60 mm/s maximum velocity and 700 mm/s^2^ acceleration were "
+"determined to be safe values without loss of steps.  For this machine, set "
+"the Z axis in the INI file as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:505
+#, no-wrap
+msgid ""
+"[AXIS_Z]\n"
+"OFFSET_AV_RATIO = 0.5\n"
+"MAX_VELOCITY = 120\n"
+"MAX_ACCELERATION = 1400\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:508
+msgid ""
+"The joint associated with this axis would have the velocity and acceleration "
+"variables set as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:514
+#, no-wrap
+msgid ""
+"[JOINT_n]\n"
+"MAX_VELOCITY = 60\n"
+"MAX_ACCELERATION = 700\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:517
+msgid ""
+"For further information about external offsets (for version 2.8 or later) "
+"please read the <<sub:ini:sec:axis-letter,[AXIS_<letter>] Section>> of the "
+"INI file document and <<cha:external-offsets,External Axis Offsets>> in the "
+"LinuxCNC documentation."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:518
+#, no-wrap
+msgid "Reading Arc Voltage With The Mesa THCAD"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:528
+msgid ""
+"The Mesa THCAD board is a remarkably well priced and accurate voltage to "
+"frequency converter that is designed for the hostile noisy electrical "
+"environment associated with plasma cutting.  Internally it has a 0-10 V "
+"range.  This range can be simply extended by the addition of some resistors "
+"as described in the documentation.  This board is available in three "
+"versions, the newer THCAD-5 with a 0-5 V range, the THCAD-10 with a "
+"0-10 Volt range and the THCAD-300 which is pre-calibrated for a 300 Volt "
+"extended range.  Each board is individually calibrated and a sticker is "
+"applied to the board that states the frequency at 0 Volts and full scale.  "
+"For use with LinuxCNC, it is recommended that the 1/32 divisor be selected "
+"by the appropriate link on the board.  In this case, be sure to also divide "
+"the stated frequencies by 32.  This is more appropriate for the 1 kHz servo "
+"thread and also allows more time for the THCAD to average and smooth the "
+"output."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:531
+msgid ""
+"There is a lot of confusion around how to decode the THCAD output.  So let's "
+"consider the Mesa 7I76E and the THCAD-10 for a moment with the following "
+"hypothetical calibration data:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:533
+msgid "Full scale ≙ 928 kHz (928 kHz/32 = 29 kHz)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:534
+msgid "0 V ≙ 121.6 kHz (121.6 kHz/32 = 3.8 kHz)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:536
+msgid "Because the full scale is 10 Volts, then the frequency per Volt is:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:538
+msgid "(29000 Hz - 3800 Hz) / 10 V = 2520 Hz per Volt"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:540
+msgid "So assuming we have a 5 Volt input, the calculated frequency would be:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:542
+msgid "(2520 Hz/V * 5 V) + 3800 Hz = 16400 Hz"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:544
+msgid ""
+"So now it should be fairly clear how to convert the frequency to its voltage "
+"equivalent:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:546
+msgid "Voltage = (frequency [Hz] - 3800 Hz) / (2520 Hz/V)"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:547
+#, no-wrap
+msgid "THCAD Connections"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:550
+msgid "On the high voltage side:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:552
+msgid "Connect the divided or raw arc voltage to I~N~+ and I~N~-"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:553
+msgid "Connect the interconnect cable shield to the Shield connection."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:554
+msgid "Connect the other Shield terminal to frame ground."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:556
+msgid ""
+"Assuming it is connected to a Mesa 7I76E, connect the output to the spindle "
+"encoder input:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:558
+msgid "THCAD +5 V to TB3 Pin 6 (+5 VP)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:559
+msgid "THCAD -5 V to TB3 Pin 1 (GND)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:560
+msgid "THCAD FOUT+ to TB3 Pin 7 (ENC A+)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:561
+msgid "THCAD FOUT- to TB3 Pin 8 (ENC A-)"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:562
+#, no-wrap
+msgid "THCAD Initial Testing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:565
+msgid ""
+"Make sure you have the following lines in your INI file (assuming a Mesa "
+"7I76E):"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/plasma-cnc-primer.adoc:570
+#, no-wrap
+msgid ""
+"setp hm2_7i76e.0.encoder.00.scale -1\n"
+"setp hm2_7i76e.0.encoder.00.counter-mode 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:577
+msgid ""
+"Power up your controller and open Halshow (AXIS: Show Homing Configuration), "
+"drill down to find the `hm2_7i76e.0.encoder.00.velocity pin`.  With 0 Volts "
+"applied, it should be hovering around the 0 Volt frequency (3,800 in our "
+"example).  Grab a 9 Volt battery and connect it to I~N~+ and I~N~-.  For a "
+"THCAD-10 you can now calculate the expected velocity (26,480 in our "
+"hypothetical example).  If you pass this test, then you are ready to "
+"configure your LinuxCNC plasma controller."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/plasma-cnc-primer.adoc:578
+#, no-wrap
+msgid "Which Model THCAD To Use?"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:587
+msgid ""
+"The THCAD-5 is useful if you intend to use it for ohmic sensing.  There is "
+"no doubt the THCAD-10 is the more flexible device and it is easy to alter "
+"the scaling.  However, there is one caveat that can come into play with some "
+"cheaper plasma cutters with an inbuilt voltage divider.  That is, the "
+"internal resistors may be sensed by the THCAD as being part of its own "
+"external resistance and return erroneous results.  For example, the 16:1 "
+"divider on the Everlast plasma cutters needs to be treated as 24:1 (and 50:1 "
+"becomes 75:1).  This is not a problem with more reputable brands (e.g., "
+"Thermal Dynamics, Hypertherm, ESAB etc).  So if you are seeing lower than "
+"expected cutting voltages, it might be preferable to reconfigure the THCAD "
+"to read raw arc voltage."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:589
+msgid ""
+"Remembering that plasma arc voltages are potentially lethal, here are some "
+"suggested criteria."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/plasma-cnc-primer.adoc:590
+#, no-wrap
+msgid "Pilot Arc Start"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:593
+msgid ""
+"Because there is not likely to be any significant EMI, you should be able to "
+"safely install the THCAD in your control panel if you have followed our "
+"construction guidelines."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:595
+msgid ""
+"If you do not have a voltage divider, either install scaling resistors "
+"inside the plasma cutter and install the THCAD in the control panel or "
+"follow the suggestions for HF start machines."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:596
+msgid ""
+"If you have a voltage divider, install a THCAD-10 in your control "
+"panel. We've had no problems with this configuration with a 120 A Thermal "
+"Dynamics plasma cutter."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/plasma-cnc-primer.adoc:597
+#, no-wrap
+msgid "HF Start"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:600
+msgid ""
+"Install the THCAD at the inverter as the frequency signal is far more immune "
+"to EMI noise."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:602
+msgid ""
+"If you do not have a voltage divider and you have room inside the plasma "
+"cutter, install a THCAD-300 inside the plasma cutter."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:603
+msgid ""
+"If you do not have a voltage divider and you do not have room inside the "
+"plasma cutter, install a THCAD-10 in a metal case outside the plasma cutter "
+"and install 50% of the scaling resistance on each of the I~N~+ and I~N~- "
+"inside the plasma cutter case so no lethal voltages come out of the case."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:604
+msgid ""
+"If you have a voltage divider, install a THCAD-10 in a metal case outside "
+"the plasma cutter"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/plasma-cnc-primer.adoc:605
+#, no-wrap
+msgid "Raw Arc voltage presented on a connector"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:608
+msgid ""
+"In this case, regardless of the arc starting method, there are probably "
+"already resistors included in the circuitry to avoid lethal shocks so a "
+"THCAD-10 is advised so this resistance (typically 200 kΩ) can be accounted "
+"for when choosing a scaling resistor as these resistors will distort the "
+"voltage reported by the THCAD-300."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:609
+#, no-wrap
+msgid "Post Processors And Nesting"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:612
+msgid "Plasma is no different to other CNC operations in that it is:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:614
+msgid "Designed in CAD (where it is output as a DXF or sometimes SVG format)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:615
+msgid "Processed in CAM to generate final G-code that is loaded to the machine"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:616
+msgid "Cutting the parts via CNC G-code commands."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:618
+msgid ""
+"Some people achieve good results with Inkscape and G-code tools but SheetCam "
+"is a very well priced solution and there are a number of post processors "
+"available for LinuxCNC. SheetCam has a number of advanced features designed "
+"for plasma cutting and for the price, is a no brainer for anybody doing "
+"regular plasma cutting."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:619
+#, no-wrap
+msgid "Designing For Noisy Electrical Environments"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:625
+msgid ""
+"Plasma cutting is inherently an extremely hostile and noisy electrical "
+"environment.  If you have EMI problems things won't work correctly.  You "
+"might fire the torch and the computer will reboot in a more obvious example, "
+"but you can have any number of other odd symptoms.  They will pretty much "
+"all happen only when the torch is cutting - often when it is first fired."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:628
+msgid ""
+"Therefore, system builders should select components carefully and design "
+"from the ground up to cope with this hostile environment to avoid the impact "
+"of Electro-Magnetic Interference (EMI).  Failure to do this could result in "
+"countless hours of fruitless troubleshooting."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:636
+msgid ""
+"Choosing ethernet boards such as the Mesa 7I76E or the cheaper 7I96 helps by "
+"allowing the PC to be located away from the electronics and the plasma "
+"machine.  This hardware also allows the use of 24 Volt logic systems which "
+"are much more noise tolerant.  Components should be mounted in a metal "
+"enclosure connected to the mains earth.  It is strongly recommended that an "
+"EMI filter is installed on the mains power connection.  The simplest way is "
+"to use a EMI filtered mains power IEC connector commonly used on PC's and "
+"electric appliances which allows this to be achieved with no extra work.  "
+"Plan the layout of components in the enclosure so that mains power, high "
+"voltage motor wires and logic signals are kept as separate as possible from "
+"each other.  If they do have to cross, keep them at 90 degrees."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:642
+msgid ""
+"Peter Wallace from Mesa Electronics suggests: \"If you have a CNC compatible "
+"plasma source with a voltage divider, I would mount the THCAD inside your "
+"electronics enclosure with all the other motion hardware.  If you have a "
+"manual plasma source and you are reading raw plasma voltage, I would mount "
+"the THCAD as close to the plasma source as possible (even inside the plasma "
+"source case if it fits).  In this case, make sure that all low side THCAD "
+"connections are fully isolated from the plasma source.  If you use a "
+"shielded box for the THCAD, the shield should connect to your electronic "
+"enclosure ground, not the plasma source ground.\""
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:645
+msgid ""
+"It is recommended to run a separate earth wire from motor cases and the "
+"torch back to a central star grounding point on the machine.  Connect the "
+"plasma ground lead to this point and optionally an earth rod driven into the "
+"ground as close as possible to the machine (particularly if its a HF start "
+"plasma machine)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:649
+msgid ""
+"External wiring to motors should be shielded and appropriately sized to "
+"handle the current passing through the circuit.  The shield should be left "
+"unconnected at the motor end and earthed at the control box end.  Consider "
+"using an additional pin on any connectors into the control box so the earth "
+"can be extended through into the control box and earthed to the chassis "
+"right at the stepper/servo motor controller itself."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:652
+msgid ""
+"We are aware of at least one commercial system builder who has had problems "
+"with induced electrical noise on the ohmic sensing circuit.  Whilst this can "
+"be mitigated by using ferrite beads and coiling the cable, adding a feed "
+"through power line filter is also recommended where the ohmic sensing signal "
+"enters the electronics enclosure."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:658
+msgid ""
+"Tommy Berisha, the master of building plasma machines on a budget says: “If "
+"on a budget, consider using old laptop power bricks.  They are very good, "
+"filtering is good, completely isolated, current limited (this becomes very "
+"important when something goes wrong), and fitting 2 or 3 of them in series "
+"is easy as they are isolated.  Be aware that some do have the grounding "
+"wired to the negative output terminal, so it has to be disconnected, simply "
+"done by using a power cable with no ground contacts.\""
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:659
+#, no-wrap
+msgid "Water Tables"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:667
+msgid ""
+"The minimum water level under the cut level of the torch should be around "
+"40 mm, having space under slats is nice so the water can level and escape "
+"during cutting, having a bit of water above the metal plate being cut is "
+"really nice as it gets rid of the little bit of dust, running it submerged "
+"is the best way but not preferable for systems with part time use as it will "
+"corrode the torch.  Adding baking soda to the water will keep the table in a "
+"nice condition for many years as it does not allow corrosion while the slats "
+"are under water and it also reduces the smell of water vapour.  Some people "
+"use a water reservoir with a compressed air inlet so they can push the water "
+"from the reservoir up to the water table on demand and thus allow changes in "
+"water levels."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:668
+#, no-wrap
+msgid "Downdraft Tables"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:673
+msgid ""
+"Many commercial tables utilise a down draft design so fans are used to suck "
+"air down through the slats to capture fumes and sparks.  Often tables are "
+"zoned so only a section below the torch is opened to the outgoing vent, "
+"often using air rams and air solenoids to open shutters.  Triggering these "
+"zones is relatively straightforward if you use the axis or joint position "
+"from one of the motion pins and the lincurve component to map downdraft "
+"zones to the correct output pin."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:674
+#, no-wrap
+msgid "Designing For Speed And Acceleration"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:681
+msgid ""
+"In plasma cutting, speed and acceleration are king.  The higher the "
+"acceleration, the less the machine needs to slow down when negotiating "
+"corners.  This implies that the gantry should be as light as possible "
+"without sacrificing torsional stiffness.  A 100 mm x 100 mm x 2 mm aluminium "
+"box section has equivalent torsional stiffness to an 80 mm x 80 mm T slot "
+"extrusion yet is 62% lighter.  So does the convenience of T slots outweigh "
+"the additional construction?"
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:682
+#, no-wrap
+msgid "Distance Travelled Per Motor Revolution"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:687
+msgid ""
+"Stepper motors suffer from resonance and a direct drive pinion is likely to "
+"mean that the motor is operating under unfavourable conditions.  Ideally, "
+"for plasma machines a distance of around 15-25 mm per motor revolution is "
+"considered ideal but even around 30 mm per revolutions is still acceptable.  "
+"A 5 mm pitch ball screw with a 3:1 or 5:1 reduction drive is ideal for the Z "
+"axis."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:688
+#, no-wrap
+msgid "QtPlasmaC LinuxCNC Plasma Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:694
+msgid ""
+"The link:./qtplasmac.html[QtPlasmaC] which is comprised of a HAL component "
+"(plasmac.hal) plus a complete configurations for the QtPlasmaC GUI has "
+"received considerable input from many in the LinuxCNC Open Source movement "
+"that have advanced the understanding of plasma controllers since about "
+"2015.  There has been much testing and development work in getting QtPlasmaC "
+"to its current working state.  Everything from circuit design to G-code "
+"control and configuration has been included.  Additionally, QtPlasmaC "
+"supports external THC's such as the Proma 150 but really comes into its own "
+"when paired with a Mesa controller as this allows the integrator to include "
+"the Mesa THCAD voltage to frequency converter which is purpose built to deal "
+"with the hostile plasma environment."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:696
+msgid ""
+"QtPlasmaC is designed to stand alone and includes the ability to include "
+"your cutting charts yet also includes features to be used with a post "
+"processor like SheetCam."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:700
+msgid ""
+"The QtPlasmaC system is now included in Version 2.9 and above of LinuxCNC.  "
+"It is now quite mature and has been significantly enhanced since the first "
+"version of this guide was written.  QtPlasmaC will define LinuxCNC's plasma "
+"support for many years to come as it includes all of the features a "
+"proprietary high end plasma control system at an open source price."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:701
+#, no-wrap
+msgid "Hypertherm RS485 Control"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:707
+msgid ""
+"Some Hypertherm plasma cutters have a RS485 interface to allow the "
+"controller (e.g., LinuxCNC) to set amps.pressure and mode.  A number of "
+"people have used a non-realtime component written in Python to achieve "
+"this.  More recently, QtPlasmaC now supports this interface natively.  Refer "
+"to the QtPlasmaC documentation for how to use it."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:710
+msgid ""
+"The combination of a slow baud rate used by Hypertherm and the non-realtime "
+"component, make this fairly slow to alter machine states so it generally not "
+"viable to change settings on the fly while cutting."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:714
+msgid ""
+"When selecting a RS485 interface to use at the PC end, users have reported "
+"that USB to RS485 interfaces are not reliable.  Good reliable results have "
+"been achieved using a hardware based RS232 interface (e.g., PCI/PCIe or "
+"motherboard port) and an appropriate RS485 converter.  Some users have "
+"reported success with a Sunix P/N: SER5037A PCI RS2322 card a generic XC4136 "
+"RS232 to RS485 converter (which may sometimes include a USB cable as well)."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/plasma-cnc-primer.adoc:715
+#, no-wrap
+msgid "Post Processors For Plasma Cutting"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:719
+msgid ""
+"CAM programs (Computer Aided Manufacture) are the bridge between CAD "
+"(Computer Aided Design) and the final CNC (Computer Numerical Control) "
+"operation.  They often include a user configurable post processor to define "
+"the code that is generated for a specific machine or dialect of G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:722
+msgid ""
+"Many LinuxCNC users are perfectly happy with using Inkscape to convert SVG "
+"vector based files to G-code.  If you are using a plasma cutter for hobby or "
+"home use, consider this option."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:728
+msgid ""
+"However, if your needs are more complex, probably the best and most "
+"reasonably priced solution is SheetCam.  SheetCam supports both Windows and "
+"Linux and post processors are available for it including the QtPlasmaC "
+"configuration.  SheetCam allows you to nest parts over a full sheet of "
+"material and allows you to configure toolsets and code snippets to suit your "
+"needs.  SheetCam post processors are text files written in the Lua "
+"programming language and are generally easy to modify to suit your exact "
+"requirements.  For further information, consult the "
+"https://sheetcam.com[SheetCam web site] and their support forum."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:730
+msgid ""
+"Another popular post-processor is included with the popular Fusion360 "
+"package but the included post-processors will need some customisation."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/plasma-cnc-primer.adoc:732
+msgid ""
+"LinuxCNC is a CNC application and discussions of CAM techniques other than "
+"this introductory discussion are out of scope of LinuxCNC."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:13
+#, no-wrap
+msgid "Preamble"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:19
+msgid ""
+"Except where noted, this guide assumes the user is using the latest version "
+"of QtPlasmaC.  Version history can be seen by visiting this "
+"https://htmlpreview.github.io/?https://github.com/LinuxCNC/linuxcnc/blob/master/share/qtvcp/screens/qtplasmac/versions.html[link] "
+"which will show the latest available version.  The installed QtPlasmaC "
+"version is displayed in the title bar.  See <<plasma:update,Update "
+"QtPlasmaC>> for information on updating QtPlasmaC."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:20
+#, no-wrap
+msgid "License"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:23
+msgid "QtPlasmaC and all of its related software are released under GPLv2."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:27
+msgid ""
+"The development branch version of QtPlasmaC is a GUI for plasma cutting "
+"which utilises the "
+"https://linuxcnc.org/docs/devel/html/man/man9/plasmac.9.html[plasmac "
+"component] for controlling a plasma table using the master branch "
+"(development) version of LinuxCNC (v2.10) using the Debian Bullseye or later "
+"distribution."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:29
+msgid ""
+"The QtPlasmaC GUI supports up to five axes and uses the QtVCP infrastructure "
+"provided with LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:31
+msgid ""
+"The standard theme is based on a design by user \"pinder\" on the LinuxCNC "
+"Forum and the colors are able to be changed by the user."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:33
+msgid ""
+"The development branch version of the QtPlasmaC GUI will run on any hardware "
+"that is supported by the master branch version of LinuxCNC (v2.10) provided "
+"there are enough hardware I/O pins to fulfill the requirements of a plasma "
+"configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:35
+msgid "There are three available formats:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:38
+msgid "16:9 with a minimum resolution of 1366 x 768"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:39
+msgid "9:16 with a minimum resolution of 768 x 1366"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:40
+msgid "4:3 with a minimum resolution of 1024 x 768"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:42
+msgid "Screenshot examples of QtPlasmaC are below:"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:43
+#, no-wrap
+msgid "*16:9*"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:44 src/plasma/qtplasmac.adoc:670
+#, no-wrap
+msgid "images/qtplasmac_16x9.png"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:46
+#, no-wrap
+msgid "*9:16*"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:47
+#, no-wrap
+msgid "images/qtplasmac_9x16.png"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:49
+#, no-wrap
+msgid "*4:3*"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:50
+#, no-wrap
+msgid "images/qtplasmac_4x3.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:55
+msgid ""
+"The preferred method for installing LinuxCNC is via an ISO image as "
+"described below."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:58
+msgid ""
+"It is possible to install and run LinuxCNC on a variety of Linux "
+"distributions however that is beyond the scope of this User Guide. If the "
+"user wishes to install a Linux distribution other than those recommended, "
+"they will first need to install their preferred Linux distribution and then "
+"install the master branch version of LinuxCNC (v2.10) along with any "
+"required dependencies. It should also be noted that Bullseye is the earliest "
+"Debian distribution that is supported by the master branch of LinuxCNC "
+"(v2.10). Buster is no longer supported."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:59
+#, no-wrap
+msgid "If The User Does Not Have Linux Installed"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:62
+msgid ""
+"Installation instructions are available from "
+"link:../getting-started/getting-linuxcnc.html[here]."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:64
+msgid ""
+"Following these instructions will yield a machine with the current stable "
+"branch of LinuxCNC (v2.9) on Debian 12 (Bookworm). The user will then have "
+"to follow the appropriate instructions to upgrade to the master branch "
+"version of LinuxCNC (v2.10)."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:65
+#, no-wrap
+msgid ""
+"Package Installation (Buildbot) If The User Has Linux on Debian 12 "
+"(Bookworm)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:68
+msgid ""
+"Follow the instructions from the Updating LinuxCNC on Debian Bookworm "
+"section from link:../getting-started/getting-linuxcnc.html[here]."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:69
+#, no-wrap
+msgid ""
+"Package Installation (Buildbot) If The User Has Linux on Debian 12 "
+"(Bookworm) or Debian 11 (Bullseye)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:72
+msgid ""
+"A package installation (Buildbot) uses prebuilt packages from the "
+"http://buildbot2.highlab.com[LinuxCNC Buildbot]."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:74
+msgid ""
+"Add the GPG keys and add the repository to the sources list to suit the "
+"Debian version."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:76
+msgid "The below stanza would add the master branch (v2.10) Bookworm repository."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:79
+#, no-wrap
+msgid "deb     http://buildbot2.highlab.com/ bookworm master-uspace\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:81
+#, no-wrap
+msgid "Run In Place Installation If The User Has Linux Installed"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:84
+msgid ""
+"A run in place installation runs LinuxCNC from a locally compiled version "
+"usually located at ~/linuxcnc-dev, instructions for building a run in place "
+"installation are available from link:../code/building-linuxcnc.html[here]."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:85
+#, no-wrap
+msgid "Creating A QtPlasmaC Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:88
+msgid ""
+"Prior to creating a QtPlasmaC configuration, it is important that the user "
+"has a firm understanding of the operating modes available, as well as the "
+"I/O's that are required for successful plasma operation."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:90 src/plasma/qtplasmac.adoc:123
+#: src/plasma/qtplasmac.adoc:758 src/plasma/qtplasmac.adoc:772
+#: src/plasma/qtplasmac.adoc:956 src/plasma/qtplasmac.adoc:1046
+#, no-wrap
+msgid "Modes"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:93
+msgid "QtPlasmaC requires the selection of one of following three operating modes:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:99
+#, no-wrap
+msgid ""
+"Uses an external arc voltage input to calculate both Arc Voltage (for Torch "
+"Height Control) and Arc OK."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:101
+#, no-wrap
+msgid ""
+"Uses an external arc voltage input to calculate Arc Voltage (for Torch "
+"Height Control). +\n"
+"Uses an external Arc OK input for Arc OK."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:103
+#, no-wrap
+msgid ""
+"Uses an external Arc OK input for Arc OK. +\n"
+"Use external up/down signals for Torch Height Control."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:110
+msgid ""
+"If the plasma power source has an Arc OK (Transfer) output then it is "
+"recommended to use that for Arc OK rather than the soft (calculated) Arc OK "
+"provided by mode 0.  It may also be possible to use a "
+"<<plasma:reed-arc-ok,reed relay>> as an alternative method to establish an "
+"Arc OK signal when the power source does not provide one."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:114
+msgid ""
+"For fine tuning of Mode 0 Ark OK see <<mode0-arcok,Tuning Mode 0 Arc OK>> in "
+"the Advanced Topics section of the manual."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:115
+#, no-wrap
+msgid "Available I/Os"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:120
+msgid ""
+"This section only touches on the hardware I/O's required for QtPlasmaC.  "
+"Base machine requirements such as limit switches, home switches, etc. are in "
+"addition to these."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:124 src/plasma/qtplasmac.adoc:759
+#, no-wrap
+msgid "Arc Voltage"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:124 src/plasma/qtplasmac.adoc:759
+#: src/plasma/qtplasmac.adoc:761 src/plasma/qtplasmac.adoc:762
+#: src/plasma/qtplasmac.adoc:763 src/plasma/qtplasmac.adoc:780
+#: src/plasma/qtplasmac.adoc:781 src/plasma/qtplasmac.adoc:789
+#: src/plasma/qtplasmac.adoc:960 src/plasma/qtplasmac.adoc:962
+#: src/plasma/qtplasmac.adoc:1049 src/plasma/qtplasmac.adoc:1051
+#: src/plasma/qtplasmac.adoc:1053 src/plasma/qtplasmac.adoc:1056
+#: src/plasma/qtplasmac.adoc:1057 src/plasma/qtplasmac.adoc:1058
+#, no-wrap
+msgid "0, 1"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:128
+#, no-wrap
+msgid ""
+"Analog input; *optional.* +\n"
+"HAL pin name `plasmac.arc-voltage-in` +\n"
+"Connected to the velocity output of an encoder equipped breakout board.\n"
+"This signal is used to read the arc voltage to determine the necessary "
+"corrections to maintain the torch distance from the work piece during "
+"cutting."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:128
+#, no-wrap
+msgid "Arc OK"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:128
+#, no-wrap
+msgid "1, 2"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:132
+#, no-wrap
+msgid ""
+"Digital input; *optional.* +\n"
+"HAL pin name `plasmac.arc-ok-in` +\n"
+"Connected from the Arc OK output of the plasma power source to an input on "
+"the breakout board.\n"
+"This signal is used to determine if the cutting arc has been established and "
+"it is ok for the machine to move (sometimes called arc transfer)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:132 src/plasma/qtplasmac.adoc:382
+#, no-wrap
+msgid "Float Switch"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:132 src/plasma/qtplasmac.adoc:138
+#: src/plasma/qtplasmac.adoc:144 src/plasma/qtplasmac.adoc:147
+#: src/plasma/qtplasmac.adoc:151 src/plasma/qtplasmac.adoc:163
+#: src/plasma/qtplasmac.adoc:167 src/plasma/qtplasmac.adoc:171
+#: src/plasma/qtplasmac.adoc:760 src/plasma/qtplasmac.adoc:773
+#: src/plasma/qtplasmac.adoc:774 src/plasma/qtplasmac.adoc:778
+#: src/plasma/qtplasmac.adoc:779 src/plasma/qtplasmac.adoc:782
+#: src/plasma/qtplasmac.adoc:790 src/plasma/qtplasmac.adoc:798
+#: src/plasma/qtplasmac.adoc:800 src/plasma/qtplasmac.adoc:802
+#: src/plasma/qtplasmac.adoc:957 src/plasma/qtplasmac.adoc:958
+#: src/plasma/qtplasmac.adoc:959 src/plasma/qtplasmac.adoc:964
+#: src/plasma/qtplasmac.adoc:1047 src/plasma/qtplasmac.adoc:1054
+#: src/plasma/qtplasmac.adoc:1055
+#, no-wrap
+msgid "0, 1, 2"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:138
+#, no-wrap
+msgid ""
+"Digital input; *optional, see info below table:* +\n"
+"HAL pin name `plasmac.float-switch` +\n"
+"Connected from a breakout board input to a switch on the floating head.\n"
+"This signal is used to mechanically probe the work piece with the torch and "
+"set Z zero at the top of the work piece. +\n"
+"If used and no ohmic probe is configured, this is the probing method. +\n"
+"If used and an ohmic probe is configured, this is the fallback probing "
+"method."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:138 src/plasma/qtplasmac.adoc:383
+#, no-wrap
+msgid "Ohmic Probe"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:144
+#, no-wrap
+msgid ""
+"Digital input; *optional, see info below table:* +\n"
+"HAL pin name `plasmac.ohmic-probe` +\n"
+"Connected from to the ohmic probe's output to a breakout board input.\n"
+"This signal is used to probe electronically by completing a circuit using "
+"the work piece and the torch consumables and set Z zero at the top of the "
+"work piece. +\n"
+"If used, this is the primary probing method.\n"
+"If an ohmic probe fails to locate the work piece, and there is no float "
+"switch is present, probing will continue until the torch breaks away or the "
+"minimum Z limit is reached."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:144
+#, no-wrap
+msgid "Ohmic Probe Enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:147
+#, no-wrap
+msgid ""
+"Digital output; *optional, see info below table:* +\n"
+"HAL pin name `plasmac.ohmic-enable` +\n"
+"Connected from a breakout board output to an input to control the ohmic "
+"probe's power."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:147 src/plasma/qtplasmac.adoc:384
+#, no-wrap
+msgid "Breakaway Switch"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:151
+#, no-wrap
+msgid ""
+"Digital input; *optional, see info below table:* +\n"
+"HAL pin name `plasmac.breakaway` +\n"
+"Connected from a breakout board input to a torch breakaway detection "
+"switch. +\n"
+"This signal senses if the torch has broken away from its cradle."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:151
+#, no-wrap
+msgid "Torch On"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:155
+#, no-wrap
+msgid ""
+"Digital output; *required.* +\n"
+"HAL pin name  `plasmac.torch-on` +\n"
+"Connected from a breakout board output to the torch-on input of the plasma "
+"power supply.\n"
+"This signal is used to control the plasma power supply and start the arc."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:155
+#, no-wrap
+msgid "Move Up"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:159
+#, no-wrap
+msgid ""
+"Digital input; *optional.* +\n"
+"HAL pin name `plasmac.move-up` +\n"
+"Connected from the up output of the external THC control to a break out "
+"board input.\n"
+"This signal is used to control the Z axis in an upward motion and make "
+"necessary corrections to maintain the torch distance from the work piece "
+"during cutting."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:159
+#, no-wrap
+msgid "Move Down"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:163
+#, no-wrap
+msgid ""
+"Digital input; *optional.* +\n"
+"HAL pin name `plasmac.move-down` +\n"
+"Connected from the down output of the external THC control to a break out "
+"board input.\n"
+"This signal is used to control the Z axis in a downward motion and make "
+"necessary corrections to maintain the torch distance from the work piece "
+"during cutting."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:163
+#, no-wrap
+msgid "Scribe Arming"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:167
+#, no-wrap
+msgid ""
+"Digital output; *optional.* +\n"
+"HAL pin name `plasmac.scribe-arm` +\n"
+"Connected from a breakout board output to the scribe arming circuit.\n"
+"This signal is used to place the scribe into position on the work piece ."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:167
+#, no-wrap
+msgid "Scribe On"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:171
+#, no-wrap
+msgid ""
+"Digital output; *optional.* +\n"
+"HAL pin name `plasmac.scribe-on` +\n"
+"Connected from a breakout board output to the scribe-on circuit.\n"
+"This signal is used to turn the scribing device on."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:171
+#, no-wrap
+msgid "Laser On"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:174
+#, no-wrap
+msgid ""
+"Digital output; *optional.* +\n"
+"HAL pin name `qtplasmac.laser_on` +\n"
+"This signal is used to turn the alignment laser on."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:177
+msgid ""
+"Only one of either *Float Switch* or *Ohmic Probe* is required. If both are "
+"used, then *Float Switch* will be a fallback if *Ohmic Probe* is not sensed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:179
+msgid ""
+"If *Ohmic Probe* is used, then *Ohmic Probe Enable* is required to be "
+"checked on the QtPlasmaC GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:182
+#, no-wrap
+msgid ""
+"*Breakaway Switch* is not mandatory because the *Float Switch* is treated "
+"the same as a breakaway when not probing.\n"
+"If they are two separate switches, and there are not enough inputs on the "
+"breakout board, they could be combined and connected as a *Float Switch*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:187
+msgid ""
+"The minimum I/O requirement for a QtPlasmaC configuration to function are: "
+"*Arc Voltage* input OR *Arc OK* input, *Float Switch* input, and *Torch On* "
+"output.  To reiterate, in this case QtPlasmaC will treat the float switch as "
+"a breakaway switch when it is not probing."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:189
+#, no-wrap
+msgid "Recommended Settings:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:192
+msgid ""
+"Refer to the <<plasma:initial-setup,Heights Diagram>> diagram for a visual "
+"representation of the terms below."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:196
+#, no-wrap
+msgid ""
+"*[AXIS_Z] MIN_LIMIT* should be just below top of the slats with allowances "
+"for float_switch_travel and over travel tolerance.\n"
+"For example, if the user's float switch takes 4 mm (0.157\") to activate "
+"then set the Z minimum to 5 mm (0.2\")\n"
+"plus an allowance for overrun (either calculated using the equation below or "
+"allow 5 mm (0.2\") below the lowest slat).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:197
+#, no-wrap
+msgid ""
+"*[AXIS_Z] MAX_LIMIT* should be the highest the user wants the Z axis to "
+"travel (it must not be lower than Z HOME_OFFSET).\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:198
+#, no-wrap
+msgid ""
+"*[AXIS_Z] HOME* should be set to be approximately 5 mm-10 mm (0.2\"-0.4\") "
+"below the maximum limit.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:200
+#, no-wrap
+msgid ""
+"*Floating Head* - it is recommended that a floating head be used and that it "
+"has enough movement to allow for overrun during probing.\n"
+"Overrun can be calculated using the following formula:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:203
+#, no-wrap
+msgid "o = 0.5 * a * (v / a)^2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:206
+msgid ""
+"where: o = overrun, a = acceleration in units/s^2^ and v = velocity in "
+"units/s."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:208
+msgid ""
+"Metric example: given a Z axis MAX_ACCELERATION of 600 mm/s^2^ and "
+"MAX_VELOCITY of 60 mm/s, the overrun would be 3 mm."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:210
+msgid ""
+"Imperial example: given a Z axis MAX_ACCELERATION of 24 in/s^2^ and "
+"MAX_VELOCITY of 2.4 in/s, the overrun would be 0.12 in."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:213
+msgid ""
+"On machines that will utilize an ohmic probe as the primary method of "
+"probing, it is highly recommended to install a switch on the floating head "
+"as a backup means of stopping Z motion in the event of ohmic probe failure "
+"due to dirty surfaces."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:215
+#, no-wrap
+msgid "Configuring"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:219
+msgid ""
+"LinuxCNC provides two configuration wizards which can be used to build a "
+"machine configuration.  The choice of these wizards is dependent on the "
+"hardware used to control the machine."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:221
+msgid ""
+"If the user wishes to use a Run In Place installation then prior to running "
+"one of the following commands they will need to run the following command "
+"from a terminal:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:223
+#, no-wrap
+msgid "source ~/linuxcnc-dev/scripts/rip-environment\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:226
+msgid "If using a Package installation, then no additional action is required."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:228
+msgid ""
+"If using a parallel port, use the <<cha:stepconf-wizard,StepConf wizard>> by "
+"running the `stepconf` command in a terminal window or launching it using "
+"the *Application -> CNC -> StepConf Wizard* desktop menu entry."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:230
+msgid ""
+"If using a Mesa Electronics board, use the <<cha:pncconf-wizard,PnCconf "
+"wizard>> by running the `pncconf` command in a terminal window or launching "
+"it using the *Application -> CNC -> PnCConf Wizard* desktop menu entry."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:233
+msgid ""
+"If using a Pico Systems board, "
+"https://forum.linuxcnc.org/27-driver-boards/14977-pico-systems-faq[this "
+"LinuxCNC forum thread] may be helpful."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:235
+msgid ""
+"The machine specific settings are not described here, refer to the "
+"documentation for the particular configuration wizard that is being used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:237
+msgid "There are LinuxCNC forum sections available for these wizards:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:239
+msgid "https://forum.linuxcnc.org/16-stepconf-wizard()[StepConf Wizard]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:241
+msgid "https://forum.linuxcnc.org/39-pncconf[PnCconf Wizard]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:243
+msgid ""
+"Fill in the required entries to suit the machine wiring/breakout board "
+"configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:247
+msgid ""
+"QtPlasmaC adds two pages to the LinuxCNC configuration wizards for QtPlasmaC "
+"specific parameters, the two pages are QtPlasmaC options and "
+"<<plasma:custom-user-buttons,User Buttons>>.  Complete each of the wizards "
+"QtPlasmaC page to suit the machine that is being configured and the user "
+"button requirements."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:250
+msgid ""
+"Note that PnCconf options allow user selection of Feed Override, Linear "
+"Velocity, and Jog Increments, whereas in StepConf these are automatically "
+"calculated and set."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:251
+#, no-wrap
+msgid "PnCConf QtPlasmaC Options"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:252
+#, no-wrap
+msgid "images/qtplasmac_pncconf_screen.png"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:254
+#, no-wrap
+msgid "StepConf QtPlasmaC Options"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:255
+#, no-wrap
+msgid "images/qtplasmac_stepconf_options.png"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:257
+#, no-wrap
+msgid "QtPlasmaC User Buttons"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:258
+#, no-wrap
+msgid "images/qtplasmac_pncconf_buttons.png"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:260
+#, no-wrap
+msgid "QtPlasmaC THCAD"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:261
+#, no-wrap
+msgid "images/qtplasmac_pncconf_thcad.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:265
+msgid ""
+"The THCAD screen will only appear if a Plasma Encoder is selected in the "
+"card screen.  The the <<plasma:mesa-thcad,dedicated section on Mesa THCAD>> "
+"for more information."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:267
+msgid ""
+"When the configuration is complete, the wizard will save a copy of the "
+"configuration that may be loaded and edited at a later time, a working "
+"QtPlasmaC configuration will be created in the following directory: "
+"~/linuxcnc/configs/_<machine_name>_."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:269
+msgid ""
+"The way the newly created QtPlasmaC configuration can be run from the "
+"terminal command line slightly differs depending on the way LinuxCNC was "
+"installed:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:271
+msgid "For a package installation (Buildbot):"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:273
+#, no-wrap
+msgid "linuxcnc ~/linuxcnc/configs/_<machine_name>_/_<machine_name>_.ini\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:276
+msgid "For a run in place installation: +"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:278
+#, no-wrap
+msgid ""
+"~/linuxcnc-dev/scripts/linuxcnc "
+"~/linuxcnc/configs/_<machine_name>_/_<machine_name>_.ini\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:281
+msgid ""
+"After running the above command LinuxCNC should be running with the "
+"QtPlasmaC GUI visible."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:283
+msgid ""
+"BEFORE PROCEEDING, THE USER SHOULD BE ABLE TO HOME THE MACHINE, ZERO EACH "
+"AXIS, JOG ALL AXES TO SOFT LIMITS WITHOUT CRASHING, AND RUN TEST G-CODE "
+"PROGRAMS WITHOUT ANY ERRORS."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:285
+msgid ""
+"ONLY WHEN this criteria is met should the user proceed with the QtPlasmaC "
+"initial setup."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:288
+msgid ""
+"It is possible to create a sim configuration using StepConf but it is not "
+"possible to have tandem joints in the sim configuration."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:290
+#, no-wrap
+msgid "Qt Dependency Errors"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:294
+msgid ""
+"If any Qt dependency errors are encountered while attempting to run the "
+"QtPlasmaC configuration, the user may need to run the QtVCP installation "
+"script to resolve these issues."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:296 src/plasma/qtplasmac.adoc:1556
+#: src/plasma/qtplasmac.adoc:4003
+msgid ""
+"For a package installation (Buildbot) enter the following command in a "
+"terminal window:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:298
+#, no-wrap
+msgid "/usr/lib/python3/dist-packages/qtvcp/designer/install_script\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:301
+msgid ""
+"For a run in place installation enter the following command in a terminal "
+"window:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:303
+#, no-wrap
+msgid "~/linuxcnc-dev/lib/python/qtvcp/designer/install_script\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:306
+#, no-wrap
+msgid "Initial Setup"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:309
+msgid ""
+"The following heights diagram will help the user visualize the different "
+"heights involved in plasma cutting and how they are measured:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:310
+#, no-wrap
+msgid "images/qtplasmac_heights_diagram.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:314
+msgid ""
+"Click on the <<plasma:parameters-tab,Parameters Tab>> to view the "
+"*CONFIGURATION* section which shows the user settable parameters.  It is "
+"necessary to ensure every one of these settings is tailored to the machine."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:318
+msgid ""
+"To set the Z axis DRO relative to the Z axis MINIMUM_LIMIT, the user should "
+"perform the following steps.  It is important to understand that in "
+"QtPlasmaC, touching off the Z axis DRO has no effect on the Z axis position "
+"while running a G-code program.  These steps simply allow the user to more "
+"easily set the probe height as after performing the steps, the displayed Z "
+"axis DRO value will be relative to Z axis MINIMUM_LIMIT."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:321
+msgid ""
+"The user should be familiar with the recommended <<plasma:z-settings,Z Axis "
+"Settings>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:323
+msgid "Home the Z axis."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:324
+msgid ""
+"Ensure there is nothing below the torch then jog the Z axis down until it "
+"stops at the Z axis MINIMUM_LIMIT then click the 0 next to the Z axis DRO to "
+"*Touch Off* with the Z axis selected to set the Z axis at zero offset. This "
+"step only serves to allow the user to more easily visualize and adjust "
+"*Probe Height* this value is measured from the Z axis MINIMUM_LIMIT up."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:325
+msgid "Home the Z axis again."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:327 src/plasma/qtplasmac.adoc:3419
+#: src/plasma/qtplasmac.adoc:3771
+#, no-wrap
+msgid "Probe Test"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:329
+msgid ""
+"If the machine is equipped with a float switch, then the user will need to "
+"set the offset in the *CONFIGURATION* section of the *PARAMETERS* tab. This "
+"will be done by running a \"Probe Test\" cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:331
+msgid ""
+"Check that the Probe Speed and the Probe Height in the *CONFIGURATION* "
+"section of the *PARAMETERS* tab are correct. QtPlasmaC can probe at the full "
+"Z axis velocity so long as the machine has enough movement in the float "
+"switch to absorb any overrun. If the machine is suitable, the user could set "
+"the Probe Height to a value near the Z axis minimum and do all probing at "
+"full speed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:332
+msgid ""
+"If the machine is not already homed and in the home position, home the "
+"machine."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:333
+msgid "Place some material on the slats under the torch."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:334
+msgid "Press the *PROBE TEST* button."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:335
+msgid ""
+"The Z axis will probe down, find the material then move up to the specified "
+"*Pierce Height* as set by the currently selected material. The torch will "
+"wait in this position for the time set in the _<machine_name>_.prefs "
+"file. The default probe test hold time is 10 seconds, this value may be "
+"edited in the _<machine_name>_.prefs file. After this the torch will return "
+"to the starting height."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:336
+msgid ""
+"Measure the distance between the material and the tip of the torch while the "
+"torch is waiting at *Pierce Height*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:337
+msgid ""
+"If the measurement is greater than the *Pierce Height* of the currently "
+"selected material, then reduce the \"Float Travel\" in the *CONFIGURATION* "
+"section of the *PARAMETERS* tab by the difference between the measured value "
+"and the specified value. If the measurement is less than *Pierce Height* of "
+"the currently selected material, then increase the \"Float Travel\" in the "
+"*CONFIGURATION* section of the *PARAMETERS* tab by the difference between "
+"the specified value and the measured value."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:338
+msgid ""
+"After the adjustments to the \"Float Travel\" have been made, repeat the "
+"process from #4 above until the measured distance between the material and "
+"the torch tip matches the *Pierce Height* of the currently selected "
+"material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:339
+msgid ""
+"If the table has a laser or camera for sheet alignment, a scribe, or uses "
+"offset probing then the required offsets need to be applied by following the "
+"procedure described in <<peripheral-offsets,Peripheral Offsets>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:340
+msgid "CONGRATULATIONS! The user should now have a working QtPlasmaC Configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:343 src/plasma/qtplasmac.adoc:990
+msgid ""
+"If the amount of time between the torch contacting the material and when the "
+"torch moves up and comes to rest at the Pierce Height seems excessive, see "
+"<<plasma:probing,the probing section>> for a possible solution."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:347
+msgid ""
+"IF USING A *Mesa Electronics THCAD* THEN THE *Voltage Scale* VALUE WAS "
+"OBTAINED MATHEMATICALLY.  IF THE USER INTENDS TO USE CUT VOLTAGES FROM A "
+"MANUFACTURE'S CUT CHART THEN IT WOULD BE ADVISABLE TO DO MEASUREMENTS OF "
+"ACTUAL VOLTAGES AND FINE TUNE THE *Voltage Scale* AND *Voltage Offset*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:350
+msgid ""
+"PLASMA CUTTING VOLTAGES CAN BE LETHAL, IF THE USER IS NOT EXPERIENCED IN "
+"DOING THESE MEASUREMENTS GET SOME QUALIFIED HELP."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:352
+#, no-wrap
+msgid "Migrating to QtPlasmaC From PlasmaC (AXIS or GMOCCAPY)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:355
+msgid ""
+"Automated migration to QtPlasmaC from PlasmaC is no longer supported. The "
+"user will either need to convert the PlasmaC configuration manually, or "
+"create a new configuration using the <<configuring,configuration wizard>>."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:356
+#, no-wrap
+msgid "Other QtPlasmaC Setup Considerations"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:359
+#, no-wrap
+msgid "Lowpass Filter"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:364
+msgid ""
+"The plasmac HAL component has a built in lowpass filter that if used is "
+"applied to the *plasmac.arc-voltage-in* input pin to filter any noise that "
+"could cause erroneous voltage readings.  The lowpass filter should only be "
+"used after using Halscope to determine the required frequency and whether "
+"the amplitude of the noise is large enough to cause any issues.  For most "
+"plasma machines lowpass is not required and should not be used unless it is "
+"required."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:367
+msgid ""
+"The HAL pin assigned to this filter is *plasmac.lowpass-frequency* and is "
+"set to 0 (disabled) by default.  To apply a lowpass filter to the "
+"arc-voltage, the user would edit the following entry in the custom.hal file "
+"in the machine's configuration directory to add the appropriate cutoff "
+"frequency as measured in Hertz (Hz)."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:373
+#, no-wrap
+msgid "setp plasmac.lowpass-frequency 100\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:376
+msgid "The above example would give a cutoff frequency of 100Hz."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:377
+#, no-wrap
+msgid "Contact Bounce"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:380
+msgid ""
+"Contact bounce from mechanical relays, switches, or external interference "
+"may cause some inconsistent behavior of the following switches:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:385
+msgid "Arc OK (for modes 1 & 2)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:391
+msgid ""
+"Due to the fact that the software is capable of sampling rates faster than "
+"the contact bounce period, it is possible that the software may see contact "
+"bounce as several changes in input states occurring in a very small time "
+"period, and incorrectly interpret this as a very quick on-off of the input.  "
+"One method of mitigating contact bounce is to \"debounce\" the input.  To "
+"summarize debounce, it requires the input state to be stable at the opposite "
+"state of the output state for consecutive delay periods before changing the "
+"state of the output."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:393
+msgid ""
+"Debounce delay periods can be changed by editing the appropriate debounce "
+"value in the custom.hal file in the _<machine_name>_ config directory."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:396
+msgid ""
+"Each increment of delay adds one servo thread cycle to the debounce time.  "
+"For example: given a servo thread period of 1000000 (measured in nano "
+"seconds), a debounce delay of 5 would equate to 5000000&#8239;ns, or "
+"5&#8239;ms."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:398
+msgid ""
+"For the Float and Ohmic switches this equates to a 0.001&#8239;mm "
+"(0.00004\") increase in the probed height result."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:401
+msgid ""
+"It is recommended to keep the debounce values as low as possible while still "
+"achieving consistent results.  Using "
+"link:../hal/tutorial.html#sec:tutorial-halscope[Halscope] to plot the inputs "
+"is a good way to establish the correct value."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:404
+msgid ""
+"For QtPlasmaC installations, debounce is achieved by using the HAL "
+"link:../man/man9/dbounce.9.html[dbounce component] which is a later "
+"alternative to the original debounce component.  This new version allows for "
+"the loading and naming of individual debounce instances and is compatible "
+"with Twopass HAL file processing."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:407
+msgid ""
+"All four signals above have an individual debounce component so the debounce "
+"periods can be catered individually to each input.  Any changes made to "
+"these values in the custom.hal file will not be overwritten by later updates "
+"of QtPlasmaC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:411
+msgid ""
+"The default delay for all four inputs is five servo thread periods.  In most "
+"cases this value will work quite well. If any of the inputs do not use "
+"mechanical switches, it may be possible to either reduce or remove the delay "
+"for those inputs."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:413
+msgid ""
+"If debounce is required for other equipment like home or limit switches "
+"etc. then more dbounce components may added in any of the HAL files without "
+"any regard to the signals listed here."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:415
+#, no-wrap
+msgid "Contact Load"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:419
+msgid ""
+"Mechanical relays and switches usually require a minimum current passing "
+"through the contacts for reliable operation.  This current varies with the "
+"material that the contacts in the device are made from."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:421
+msgid ""
+"Depending on the specified minimum contact current and the current drawn by "
+"the input device there may be a need to provide a method to increase the "
+"current through the contacts."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:423
+msgid ""
+"Most relays using gold contacts will not require any additional current for "
+"reliable operation."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:425
+msgid ""
+"There are two different methods available to provide this minimum current if "
+"it is required:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:427
+msgid "A 0.1 μF film capacitor placed across the contacts."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:428
+msgid ""
+"A 1200 Ω 1 W resistor across the load (see "
+"<<plasma:calculations,calculations>> below)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:430
+msgid ""
+"Schematics are shown at <<plasma:contact-load-schematics,contact load "
+"schematics>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:432
+msgid ""
+"More information on contact switching load can be seen on page VI of the "
+"finder https://cdn.findernet.com/app/uploads/TecEN.pdf[General Technical "
+"Information] document."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:434
+#, no-wrap
+msgid "*Calculations:*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:436
+msgid ""
+"If using a Mesa card, the input resistance of a 7I96 is 4700 Ω (symbol "
+"R)(always consult the product manual associated with the revision being used "
+"as these values sometimes vary between revisions), giving a contact current "
+"of 5.1 mA (symbol I) assuming a supply voltage (symbol U) of 24 V (I = "
+"U/R)footnote:[In the US, the letter V is commonly used as a symbol (Voltage) "
+"and as a unit (Volt).]."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:440
+msgid ""
+"As an example, the typical relay used in a Hypertherm Powermax 65 plasma "
+"cutter "
+"(link:https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Data+Sheet%7F1308242_T77%7F1011%7Fpdf%7FEnglish%7FENG_DS_1308242_T77_1011.pdf%7F1-1393194-0[TE "
+"T77S1D10-24]) requires a minimum contact load of 100&#8239;mA @ 5&#8239;VDC "
+"which will dissipate 0.5&#8239;W (P = I * V).  If using a 24&#8239;VDC power "
+"supply this would then equate to a minimum current of 20.8&#8239;mA.  "
+"Because there is less current drawn by the Mesa input than is required by "
+"the relay there needs to be an increase in the current."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:442
+msgid "The resistance can be calculated using R = U~s~ / (I~m~ - I~i~) where:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:444
+msgid "R = calculated resistance"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:445 src/plasma/qtplasmac.adoc:455
+msgid "U~s~ = supply voltage"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:446
+msgid "I~m~ = minimum current required"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:447
+msgid "I~i~ = input current"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:450
+msgid ""
+"Using a 7I96 with an input current of 5.1&#8239;mA gives a calculated value "
+"of 1529&#8239;Ω ( = 24&#8239;V / (.0208 - .0051)&#8239;A).  This could then "
+"be rounded down to a commonly available 1500&#8239;Ω resistor, giving a "
+"small safety margin."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:452
+msgid "The power dissipation can by calculated using P = U~s~^2^ / R~s~ where:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:454
+msgid "P = power"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:456
+msgid "R~s~ = selected resistance"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:460
+msgid ""
+"This gives a value of 0.38&#8239;W.  This could then be rounded up to "
+"1&#8239;W, giving a good safety margin.  The final selection would be a "
+"1500&#8239;Ω 1&#8239;W resistor."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:461
+#, no-wrap
+msgid "Desktop Launcher"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:466
+msgid ""
+"If a link to the launch the configuration was not created when creating the "
+"config, the user could create a desktop launcher to the config by right "
+"clicking on the desktop and selecting Create Launcher or similar.  This will "
+"bring up a dialog box to create a launcher. Give the icon a nice short name, "
+"enter anything for the command and click OK."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:469
+msgid ""
+"After the launcher appears on the desktop, right click on it and then edit "
+"it with the user's editor of choice.  Edit the file so it looks similar to:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:478
+#, no-wrap
+msgid ""
+"[Desktop Entry]\n"
+"Comment=\n"
+"Terminal=false\n"
+"Name=LinuxCNC\n"
+"Exec=sh -c \"linuxcnc "
+"$HOME/linuxcnc/configs/<machine_name>/<machine_name>.ini\"\n"
+"Type=Application\n"
+"Icon=/usr/share/pixmaps/linuxcncicon.png\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:481
+msgid ""
+"If the user would like a terminal window to open behind the GUI window, then "
+"change the Terminal line to:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:484
+#, no-wrap
+msgid "Terminal=true\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:487
+msgid "Displaying a terminal can be handy for error and information messages."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:488
+#, no-wrap
+msgid "QtPlasmaC Files"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:491
+msgid ""
+"After a successful QtPlasmaC installation, the following files are created "
+"in the configuration directory:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:495 src/plasma/qtplasmac.adoc:517
+#, no-wrap
+msgid "Filename"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:496
+#, no-wrap
+msgid "_<machine_name>_.ini"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:497
+#, no-wrap
+msgid "Configuration file for the machine."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:497
+#, no-wrap
+msgid "_<machine_name>_.hal"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:498
+#, no-wrap
+msgid "HAL for the machine."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:498
+#, no-wrap
+msgid "_<machine_name>_.prefs"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:499
+#, no-wrap
+msgid "Configuration file for QtPlasmaC specific parameters and preferences."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:499
+#, no-wrap
+msgid "custom.hal"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:500
+#, no-wrap
+msgid "HAL file for user customization."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:500
+#, no-wrap
+msgid "custom_postgui.hal"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:501
+#, no-wrap
+msgid "HAL file for user customization which is run after the GUI has initialized."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:501
+#, no-wrap
+msgid "shutdown.hal"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:502
+#, no-wrap
+msgid "HAL file which is run during the shutdown sequence."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:502
+#, no-wrap
+msgid "tool.tbl"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:503
+#, no-wrap
+msgid ""
+"Tool table used to store offset information for additional tools (scribe, "
+"etc.) used by the QtPlasmaC configuration."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:503
+#, no-wrap
+msgid "qtplasmac"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:504
+#, no-wrap
+msgid "Link to the directory containing common QtPlasmaC support files."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:504
+#, no-wrap
+msgid "backup"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:505
+#, no-wrap
+msgid "Directory for backups of config files."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:509
+msgid ""
+"_<machine_name>_ is whatever name the user entered into the \"Machine Name\" "
+"field of the configuration wizard program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:512
+msgid ""
+"Custom commands are allowed in custom.hal and the custom_postgui.hal files "
+"as they are not overwritten during updates."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:514
+msgid ""
+"After running a new configuration for the first time the following files "
+"will be created in the configuration directory:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:518
+#, no-wrap
+msgid "<machine_name>_material.cfg"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:519
+#, no-wrap
+msgid ""
+"File for storing the material settings from the MATERIAL section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:519
+#, no-wrap
+msgid "update_log.txt"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:521
+#, no-wrap
+msgid ""
+"File for storing log of major updates. +\n"
+"                              Major updates are those that make any "
+"modification to a user's configuration."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:521
+#, no-wrap
+msgid "qtvcp.prefs"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:522
+#, no-wrap
+msgid "File containing the QtVCP preferences."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:522
+#, no-wrap
+msgid "qtplasmac.qss"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:523
+#, no-wrap
+msgid "File storing the stylesheet for the currently loaded session of QtPlasmaC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:527
+msgid ""
+"The configuration files (_<machine_name>_.ini and _<machine_name>_.hal) that "
+"are created by configuration wizard are notated to explain the requirements "
+"to aid in manual manipulation of these configurations. They may be edited "
+"with any text editor."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:530
+msgid ""
+"The _<machine_name>_.prefs file is plain text and may be edited with any "
+"text editor."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:531
+#, no-wrap
+msgid "INI File"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:534
+msgid "QtPlasmaC has some specific _<machine_name>_.ini file variables as follows:"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:535
+#, no-wrap
+msgid "*[FILTER]* Section"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:538 src/plasma/qtplasmac.adoc:551
+#: src/plasma/qtplasmac.adoc:569 src/plasma/qtplasmac.adoc:617
+#: src/plasma/qtplasmac.adoc:628 src/plasma/qtplasmac.adoc:639
+msgid "These variables are mandatory."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:545
+#, no-wrap
+msgid ""
+"PROGRAM_EXTENSION = .ngc,.nc,.tap G-code File (*.ngc, *.nc, *.tap)\n"
+"ngc               = qtplasmac_gcode\n"
+"nc                = qtplasmac_gcode\n"
+"tap               = qtplasmac_gcode\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:549
+#, no-wrap
+msgid "*[RS274NGC]* Section\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:557
+#, no-wrap
+msgid ""
+"RS274NGC_STARTUP_CODE = G21 G40 G49 G80 G90 G92.1 G94 G97 M52P1\n"
+"SUBROUTINE_PATH       = ./:../../nc_files\n"
+"USER_M_PATH           = ./:../../nc_files\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:560
+msgid "for a imperial config replace G21 above with G20."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:562
+msgid "both the above paths show the minimum requirements."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:565
+msgid ""
+"SEE <<plasma:path-tolerance,PATH TOLERANCE>> FOR RS274NGC_STARTUP_CODE "
+"INFORMATION RELATED TO G64."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:567
+#, no-wrap
+msgid "*[HAL]* Section\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:578
+#, no-wrap
+msgid ""
+"HALUI           = halui (required)\n"
+"HALFILE         = _<machine_name>_.hal (the machine HAL file)\n"
+"HALFILE         = plasmac.tcl (the standard QtPlasmaC HAL file)\n"
+"HALFILE         = custom.hal (Users custom HAL commands)\n"
+"POSTGUI_HALFILE = postgui_call_list.hal (required)\n"
+"SHUTDOWN        = shutdown.hal (shutdown HAL commands)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:582
+msgid ""
+"The user could place custom HAL commands in the custom.hal file as this file "
+"is not overwritten by QtPlasmaC updates."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:585
+#, no-wrap
+msgid "*[DISPLAY]* Section\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:587 src/plasma/qtplasmac.adoc:608
+msgid "This variable is mandatory."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:593
+#, no-wrap
+msgid ""
+"DISPLAY = qtvcp qtplasmac      (use 16:9 resolution)\n"
+"        = qtvcp qtplasmac_9x16 (use 9:16 resolution)\n"
+"        = qtvcp qtplasmac_4x3  (use 4:3 resolution)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:597
+msgid ""
+"There are multiple QtVCP options that are described here: "
+"link:../gui/qtvcp.html#_ini_settings[QtVCP INI Settings]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:599
+msgid ""
+"For example, the following would start a 16:9 resolution QtPlasmaC screen in "
+"full screen mode:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:603
+#, no-wrap
+msgid "DISPLAY = qtvcp -f qtplasmac\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:606
+#, no-wrap
+msgid "*[TRAJ]* Section\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:612
+#, no-wrap
+msgid "SPINDLES = 3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:615
+#, no-wrap
+msgid "*[AXIS_X]* Section\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:623 src/plasma/qtplasmac.adoc:634
+#, no-wrap
+msgid ""
+"MAX_VELOCITY     = double the value in the corresponding joint\n"
+"MAX_ACCELERATION = double the value in the corresponding joint\n"
+"OFFSET_AV_RATIO  = 0.5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:626
+#, no-wrap
+msgid "*[AXIS_Y]* Section\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:637
+#, no-wrap
+msgid "*[AXIS_Z]* Section\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:646
+#, no-wrap
+msgid ""
+"MIN_LIMIT        = just below the top of the table's slats\n"
+"MAX_VELOCITY     = double the value in the corresponding joint\n"
+"MAX_ACCELERATION = double the value in the corresponding joint\n"
+"OFFSET_AV_RATIO  = 0.5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:651
+msgid ""
+"With the exception of <<plasma:tube_cutting,tube cutting>> with an angular "
+"A, B, or C axis, QtPlasmaC uses the LinuxCNC External Offsets feature for "
+"all Z axis motion, and for moving the X and/or Y axis for a consumable "
+"change or a cut recovery while paused.  For more information on this "
+"feature, please read <<cha:external-offsets,External Axis Offsets>> in the "
+"LinuxCNC documentation."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:652
+#, no-wrap
+msgid "QtPlasmaC GUI Overview"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:655
+msgid "The following sections will give a general overview of the QtPlasmaC layout."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:656
+#, no-wrap
+msgid "Exiting QtPlasmaC"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:659
+msgid "Exiting or shutting down QtPlasmaC is done by either:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:661
+msgid "Click the window shutdown button on the window title bar"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:662
+msgid "Long press the *POWER* button on the MAIN Tab."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:664
+msgid ""
+"A shutdown warning can be displayed on every shutdown by checking the *Exit "
+"Warning* checkbox on the <<plasma:settings-tab,SETTINGS Tab>>."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:666
+#, no-wrap
+msgid "MAIN Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:669
+msgid ""
+"Screenshot example of the QtPlasmaC <<plasma:main-tab,MAIN Tab>> in *16:9* "
+"aspect ratio:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:673 src/plasma/qtplasmac.adoc:942
+msgid ""
+"Some functions/features are only used for particular modes and are not "
+"displayed if they are not required by the chosen QtPlasmaC mode."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:674
+#, no-wrap
+msgid "Features of the *PREVIEW WINDOW*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:679 src/plasma/qtplasmac.adoc:1084
+#, no-wrap
+msgid "Material"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:680
+#, no-wrap
+msgid ""
+"The top header is clickable in this area to reveal a drop-down menu. It is "
+"used to manually select the current material cut parameters. If there are no "
+"materials in the material file, then only the default material will be "
+"displayed."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:680
+#, no-wrap
+msgid "VEL:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:681
+#, no-wrap
+msgid "This displays the actual cut feed rate the table is moving at."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:681
+#, no-wrap
+msgid "FR:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:682
+#, no-wrap
+msgid ""
+"If \"View Material\" is selected on the <<plasma:settings-tab,SETTINGS "
+"Tab>>, this displays the currently selected material's Feed Rate."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:682
+#, no-wrap
+msgid "PH:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:683
+#, no-wrap
+msgid ""
+"If \"View Material\" is selected on the <<plasma:settings-tab,SETTINGS "
+"Tab>>, this displays the currently selected material's Pierce Height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:683
+#, no-wrap
+msgid "PD:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:684
+#, no-wrap
+msgid ""
+"If \"View Material\" is selected on the <<plasma:settings-tab,SETTINGS "
+"Tab>>, this displays the currently selected material's Pierce Delay."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:684
+#, no-wrap
+msgid "CH:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:685
+#, no-wrap
+msgid ""
+"If \"View Material\" is selected on the <<plasma:settings-tab,SETTINGS "
+"Tab>>, this displays the currently selected material's Cut Height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:685
+#, no-wrap
+msgid "CA:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:686
+#, no-wrap
+msgid ""
+"If \"View Material\" is selected on the <<plasma:settings-tab,SETTINGS "
+"Tab>>, and RS485 communications are enabled, this displays the currently "
+"selected material's Cut Amperage."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:687
+#, no-wrap
+msgid ""
+"This button changes the <<sub:qt-preview-views,preview>> to a top down full "
+"table view."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:688
+#, no-wrap
+msgid ""
+"This button changes the <<sub:qt-preview-views,preview>> to an isometric "
+"view."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:689
+#, no-wrap
+msgid "This button changes the <<sub:qt-preview-views,preview>> to a top down view."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:689 src/plasma/qtplasmac.adoc:2538
+#, no-wrap
+msgid "→"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:690
+#, no-wrap
+msgid "This button pans the <<sub:qt-preview-views,preview>> right."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:690 src/plasma/qtplasmac.adoc:2539
+#, no-wrap
+msgid "←"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:691
+#, no-wrap
+msgid "This button pans the <<sub:qt-preview-views,preview>> left."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:691 src/plasma/qtplasmac.adoc:2540
+#, no-wrap
+msgid "↑"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:692
+#, no-wrap
+msgid "This button pans the <<sub:qt-preview-views,preview>> up."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:692 src/plasma/qtplasmac.adoc:2541
+#, no-wrap
+msgid "↓"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:693
+#, no-wrap
+msgid "This button pans the <<sub:qt-preview-views,preview>> down."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:694 src/plasma/qtplasmac.adoc:695
+#, no-wrap
+msgid "This button zooms the <<sub:qt-preview-views,preview>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:694 src/plasma/qtplasmac.adoc:762
+#, no-wrap
+msgid "-"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:696
+#, no-wrap
+msgid "This button clears the live plot."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:699
+#, no-wrap
+msgid "*MACHINE* representation"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:704 src/plasma/qtplasmac.adoc:4267
+#, no-wrap
+msgid "ESTOP"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:707
+#, no-wrap
+msgid ""
+"Setting Estop type = 0 in the *[GUI_OPTIONS]* section of the "
+"_<machine_name>_.prefs file, will change this button to an indicator of the "
+"hardware E-stop's status only. This is the default behavior. +\n"
+"Setting the option Estop type = 1 in the *[GUI_OPTIONS]* section of the "
+"_<machine_name>_.prefs file, will hide this button. +\n"
+"Setting the option Estop type = 2 in the *[GUI_OPTIONS]* section of the "
+"_<machine_name>_.prefs file, will enable this button to act as a GUI "
+"E-stop. +"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:707 src/plasma/qtplasmac.adoc:3721
+#, no-wrap
+msgid "POWER"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:709
+#, no-wrap
+msgid ""
+"This button turns the GUI on and allows QtPlasmaC/LinuxCNC to control the "
+"hardware. +\n"
+"Pressing and holding the *POWER* button for longer than two seconds will "
+"bring up a dialog to exit the QtPlasmaC application."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:709 src/plasma/qtplasmac.adoc:3722
+#, no-wrap
+msgid "CYCLE START"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:710
+#, no-wrap
+msgid "This button starts the cycle for any loaded G-code file."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:710 src/plasma/qtplasmac.adoc:3723
+#, no-wrap
+msgid "CYCLE PAUSE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:713
+#, no-wrap
+msgid ""
+"This button pauses the cycle for any loaded G-code file. +\n"
+"If a cycle is paused, this button will display *CYCLE RESUME* and flash. +\n"
+"Pressing *CYCLE RESUME* will resume the cycle."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:713 src/plasma/qtplasmac.adoc:3724
+#, no-wrap
+msgid "CYCLE STOP"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:720
+#, no-wrap
+msgid ""
+"This button stops any actively running or paused cycle. +\n"
+"This includes: +\n"
+"- G-code Programs +\n"
+"- Torch pulse if the pulse was started during *CYCLE PAUSE* (this will "
+"cancel the paused G-code program execution as well) +\n"
+"- Probe Test +\n"
+"- Framing +\n"
+"- Manual Cut"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:723
+#, no-wrap
+msgid ""
+"This slider overrides the feed rate for all feed moves. +\n"
+"Any value other than 100% will cause the label to flash. +\n"
+"Clicking the label will return the slider to 100%."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:723
+#, no-wrap
+msgid "RAPID"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:726
+#, no-wrap
+msgid ""
+"This slider overrides the rapid rate for all rapid moves. +\n"
+"Any value other than 100% will cause the label to flash. +\n"
+"Clicking the label will return the slider to 100%."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:728
+#, no-wrap
+msgid ""
+"This slider sets the jog rate. +\n"
+"Clicking the label will return the slider to the default linear velocity as "
+"set in the _<machine_name>_.ini file."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:730
+#, no-wrap
+msgid "*BUTTONS*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:733
+msgid "The Button Panel contains buttons useful for the operation of the machine."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:735
+msgid ""
+"The *EDIT* and *MDI* buttons are permanent, all other buttons are user "
+"programmable in the _<machine_name>_.prefs file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:737
+msgid ""
+"See <<plasma:custom-user-buttons,custom user buttons>> for detailed "
+"information on custom user buttons."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:741
+#, no-wrap
+msgid "EDIT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:742
+#, no-wrap
+msgid "This button opens a G-code editor for the currently loaded program."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:746
+#, no-wrap
+msgid ""
+"This button places QtPlasmaC into Manual Data Input (MDI) mode which will "
+"display the MDI HISTORY and an entry box over top of the G-code window. +\n"
+"Once pressed, this button will display \"MDI CLOSE\". +\n"
+"Pressing *MDI CLOSE* will close the MDI. +\n"
+"Please see the <<plasma:mdi,MDI>> section for additional MDI information."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:746
+#, no-wrap
+msgid "OHMIC TEST"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:748
+#, no-wrap
+msgid ""
+"This button will enable the Ohmic Probe Enable output signal and if the "
+"Ohmic Probe input is sensed, the LED indicator in the SENSOR Panel will "
+"light. +\n"
+"The main purpose of this is to allow a quick test for a shorted torch tip."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:748
+#, no-wrap
+msgid "PROBE TEST"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:749
+#, no-wrap
+msgid "This button will initiate a <<plasma:probe-test,Probe Test>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:749
+#, no-wrap
+msgid "SINGLE CUT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:750
+#, no-wrap
+msgid ""
+"This button will show the dialog box to start an automatic "
+"<<plasma:single-cut,Single Cut>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:750
+#, no-wrap
+msgid "NORMAL CUT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:751
+#, no-wrap
+msgid ""
+"This button will toggle between <<plasma:cut-types,Cut Types>> (NORMAL CUT "
+"and PIERCE ONLY)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:751
+#, no-wrap
+msgid "TORCH PULSE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:752
+#, no-wrap
+msgid "This button will initiate a <<plasma:button-torch,Torch Pulse>>."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:754
+#, no-wrap
+msgid "*ARC*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:760
+#, no-wrap
+msgid "Displays the actual arc voltage."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:760
+#, no-wrap
+msgid "OK"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:761
+#, no-wrap
+msgid "Indicates the status of the Arc OK signal."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:762
+#, no-wrap
+msgid ""
+"Each press of this button will raise the target voltage by the THC Threshold "
+"voltage (The distance changed will be Height Per Volt * THC Threshold "
+"voltage)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:763
+#, no-wrap
+msgid ""
+"Each press of this button will lower the target voltage by the THC Threshold "
+"voltage (The distance changed will be Height Per Volt * THC Threshold "
+"voltage)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:763
+#, no-wrap
+msgid "OVERRIDE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:764
+#, no-wrap
+msgid "Clicking this label will return any voltage override to 0.00."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:767
+#, no-wrap
+msgid "*CONTROL*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:773
+#, no-wrap
+msgid "TORCH ON"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:774
+#, no-wrap
+msgid "Indicates the status of the Torch On output signal."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:774
+#, no-wrap
+msgid "TORCH ON ENABLE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:778
+#, no-wrap
+msgid ""
+"This box toggles between Enabling and Disabling the torch. +\n"
+"This box defaults to unfilled (disabled) when QtPlasmaC is first run. +\n"
+"This box must be filled to change it to \"Torch Enabled\" before material "
+"cutting can commence. +\n"
+"If this box is not filled, then running a loaded program will cause the "
+"machine to run the cycle without firing the torch. This is sometimes "
+"referred to as a \"dry run\". If the user has a laser installed, then it is "
+"also possible to dry run with the laser. See the <<plasma:laser,LASER "
+"section>> for detailed instructions."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:778
+#, no-wrap
+msgid "VELOCITY ANTI DIVE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:779
+#, no-wrap
+msgid ""
+"Indicates that the THC is locked at the current height due to the cut "
+"velocity falling below the Velocity Anti Dive (VAD) Threshold percentage set "
+"on the <<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:779 src/plasma/qtplasmac.adoc:3736
+#, no-wrap
+msgid "VELOCITY ANTI DIVE ENABLE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:780
+#, no-wrap
+msgid "This box toggles between Enabling and Disabling VELOCITY ANTI DIVE."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:780
+#, no-wrap
+msgid "VOID ANTI DIVE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:781
+#, no-wrap
+msgid "Indicates that the THC is locked due to a void being sensed."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:781 src/plasma/qtplasmac.adoc:3737
+#, no-wrap
+msgid "VOID ANTI DIVE ENABLE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:782
+#, no-wrap
+msgid "This box toggles between Enabling and Disabling VOID ANTI DIVE."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:782 src/plasma/qtplasmac.adoc:3740
+#, no-wrap
+msgid "MESH MODE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:789
+#, no-wrap
+msgid ""
+"This box will enable or disable <<plasma:mesh-mode,Mesh Mode>> for the "
+"cutting of expanded metal. This check box may be enabled or disabled at any "
+"time during normal cutting. +\n"
+"Mesh mode: +\n"
+"- Will require an Arc OK signal to start machine motion. +\n"
+"- Will disable the THC. +\n"
+"- Will not stop machine motion if the Arc OK signal is lost. +\n"
+"- Will automatically select CPA mode if PowerMax communications are being "
+"used. +\n"
+"For more information see <<plasma:mesh-mode,Mesh Mode (expanded metal)>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:789 src/plasma/qtplasmac.adoc:3738
+#, no-wrap
+msgid "AUTO VOLTS"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:790
+#, no-wrap
+msgid "This box will enable or disable <<plasma:thc,Auto Volts>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:790 src/plasma/qtplasmac.adoc:3741
+#, no-wrap
+msgid "IGNORE OK"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:798
+#, no-wrap
+msgid ""
+"This box will determine if QtPlasmaC ignores the Arc OK signal.\n"
+"This check box may be enabled or disabled at any time during normal "
+"cutting.\n"
+"Additionally, this mode may be enabled or disabled via proper M codes in a "
+"running program. +\n"
+"Ignore Arc OK mode: +\n"
+"- Will not require an Arc OK signal be received before starting machine "
+"motion after the \"Torch On\" signal is given. +\n"
+"- Will disable the THC. +\n"
+"- Will not stop machine motion if the Arc OK signal is lost. +\n"
+"For more information see <<plasma:ignore-ok,Ignore Arc Ok>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:798
+#, no-wrap
+msgid "OHMIC PROBE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:800
+#, no-wrap
+msgid ""
+"This box enables or disables the ohmic probe input. +\n"
+"If the Ohmic Probe input is disabled, the Ohmic Probe LED will still show "
+"the status of the probe input, but the Ohmic Probe results will be ignored."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:802
+#, no-wrap
+msgid ""
+"This box will enable or disable the communications to a PowerMax.\n"
+"This button is only visible if a PM_PORT option is configured in the "
+"`[POWERMAX]` section of the _<machine_name>_.prefs file."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:802 src/remap/remap.adoc:2225
+#, no-wrap
+msgid "Status"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:805
+#, no-wrap
+msgid ""
+"When PowerMax communications are enabled, this will display one of the "
+"following: +\n"
+"*CONNECTING*, *CONNECTED*, *COMMS ERROR*, or a *Fault Code*. +\n"
+"For more information, see the <<plasma:pm_comms,PowerMax Communications>> "
+"section."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:807
+#, no-wrap
+msgid "SENSOR"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:812
+#, no-wrap
+msgid "FLOAT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:813
+#, no-wrap
+msgid "Indicates that the float switch is activated."
+msgstr ""
+
+#. type: TH
+#: src/plasma/qtplasmac.adoc:813 man/man9/ohmic.9:9
+#, no-wrap
+msgid "OHMIC"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:814
+#, no-wrap
+msgid "Indicates that the probe has sensed the material."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:814
+#, no-wrap
+msgid "BREAK"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:815
+#, no-wrap
+msgid "Indicates that the torch breakaway sensor is activated."
+msgstr ""
+
+#. type: TH
+#: src/plasma/qtplasmac.adoc:817 src/plasma/qtplasmac.adoc:1373
+#: man/man9/thc.9:9
+#, no-wrap
+msgid "THC"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:823
+#, no-wrap
+msgid ""
+"This box determines whether the THC will be enabled or disabled during a "
+"cut."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:823
+#, no-wrap
+msgid "ENABLED"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:824
+#, no-wrap
+msgid "This LED indicates whether the THC is enabled or disabled."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:824
+#, no-wrap
+msgid "ACTIVE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:825
+#, no-wrap
+msgid "This LED indicates that the THC is actively controlling the Z axis."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:825
+#, no-wrap
+msgid "UP"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:826
+#, no-wrap
+msgid "This LED indicates that the THC is commanding the Z axis to raise."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:826
+#, no-wrap
+msgid "DOWN"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:827
+#, no-wrap
+msgid "This LED indicates that the THC is commanding the Z axis to lower."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:829
+#, no-wrap
+msgid "*JOGGING*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:833
+msgid ""
+"During Paused Motion, this section will become <<plasma:cut-recovery,CUT "
+"RECOVERY>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:837
+#, no-wrap
+msgid "CONTINUOUS"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:838
+#, no-wrap
+msgid ""
+"This drop-down button will change the jog increment. Options are determined "
+"by the values in the *[DISPLAY]* section of the _<machine_name>_.ini file "
+"and begin with the label \"INCREMENTS =\"."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:838
+#, no-wrap
+msgid "FAST"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:839
+#, no-wrap
+msgid ""
+"This button will toggle between FAST which is the default linear velocity in "
+"the _<machine_name>_.ini file or SLOW which is 10% of the default value."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:839
+#, no-wrap
+msgid "Y+"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:840
+#, no-wrap
+msgid "This button moves the Y axis in the positive direction."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:840
+#, no-wrap
+msgid "Y-"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:841
+#, no-wrap
+msgid "This button moves the Y axis in the negative direction."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:841
+#, no-wrap
+msgid "X+"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:842
+#, no-wrap
+msgid "This button moves the X axis in the positive direction."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:842
+#, no-wrap
+msgid "X-"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:843
+#, no-wrap
+msgid "This button moves the X axis in the negative direction."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:843
+#, no-wrap
+msgid "Z+"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:844
+#, no-wrap
+msgid "This button moves the Z axis in the positive direction."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:844
+#, no-wrap
+msgid "Z-"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:845
+#, no-wrap
+msgid "This button moves the Z axis in the negative direction."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:847
+#, no-wrap
+msgid "CUT RECOVERY"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:853
+msgid ""
+"During Paused Motion, this section will be shown on top of the JOGGING "
+"panel.  The following section will cover each button encountered in this "
+"panel.  Please see <<plasma:cut-recovery,CUT RECOVERY>> for a detailed "
+"description of the cut recovery functionality."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:857
+#, no-wrap
+msgid "PAUSED MOTION FEED SLIDER"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:859
+#, no-wrap
+msgid ""
+"In the event of a paused program, this interface allows X/Y motion to follow "
+"the programmed path in the reverse or forward direction. +\n"
+"This slider's range is from 1%-100% of the Cut Feed Rate for the currently "
+"selected material."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:860
+#, no-wrap
+msgid "This displays the paused motion feed rate."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:860
+#, no-wrap
+msgid "REV"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:861
+#, no-wrap
+msgid ""
+"In the event of a paused program, this button will move the machine in "
+"reverse along the programmed path until it reaches the last M3 command that "
+"was either executed or that QtPlasmaC was attempting to execute before the "
+"program became paused."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:861
+#, no-wrap
+msgid "FWD"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:862
+#, no-wrap
+msgid ""
+"In the event of a paused program, this button will move the machine forward "
+"along the programmed path indefinitely until the program's end, skipping "
+"over M3 commands."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:862
+#, no-wrap
+msgid "CANCEL MOVE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:864
+#, no-wrap
+msgid ""
+"This button will cancel any Cut Recovery movement that was made and return "
+"the torch to the position the Cut Recovery movement was initiated. +\n"
+"Note that if FWD or REV were used to move the torch, CANCEL will not return "
+"to the position of the torch when the pause occurred."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:864
+#, no-wrap
+msgid "MOVE x.xxx"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:866
+#, no-wrap
+msgid ""
+"This displays the amount of travel that will be incurred with each press of "
+"an arrow key, in the direction the arrow key was pressed. +\n"
+"This value displayed below MOVE represents the Kerf Width of the currently "
+"selected material."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:866
+#, no-wrap
+msgid "DIRECTIONAL ARROWS"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:867
+#, no-wrap
+msgid ""
+"These buttons will move the torch in the direction indicated by a distance "
+"of one Kerf Width (of the currently selected material) per press."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:869
+#, no-wrap
+msgid "*G-CODE WINDOW*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:874
+#, no-wrap
+msgid "CLEAR"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:880
+#, no-wrap
+msgid ""
+"This button will clear the currently opened program. +\n"
+"If a file is open, the default material will be selected. +\n"
+"If no file is open, the <<sub:qt-preview-views,preview>> will be reset to a "
+"top down full table view. +\n"
+"The torch (T0) will be selected if it was not the active tool. +\n"
+"Previous error messages, and the error status will be cleared. +\n"
+"Cut type will be set to NORMAL CUT."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:880
+#, no-wrap
+msgid "OPEN"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:881
+#, no-wrap
+msgid "This button will open a FILE OPEN panel over the PREVIEW WINDOW."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:881 src/plasma/qtplasmac.adoc:2617
+#, no-wrap
+msgid "RELOAD"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:882
+#, no-wrap
+msgid "This button will reload the currently loaded G-code File."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:884
+#, no-wrap
+msgid "*DRO*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:890
+#, no-wrap
+msgid "HOME ALL"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:891
+#, no-wrap
+msgid ""
+"This button will home all of the axes in the order set by HOME_SEQUENCE in "
+"the _<machine_name>_.ini file."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:891
+#, no-wrap
+msgid "WCS G54"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:892
+#, no-wrap
+msgid "This drop-down button will change the current work offset."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:892 src/plasma/qtplasmac.adoc:1661
+#, no-wrap
+msgid "CAMERA"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:893
+#, no-wrap
+msgid ""
+"This button will display a CAMVIEW panel on top of the PREVIEW WINDOW and "
+"will allow the user to set an origin with or without rotation. See the "
+"<<plasma:camera,CAMERA section>> for detailed instructions."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:893 src/plasma/qtplasmac.adoc:1603
+#: src/plasma/qtplasmac.adoc:3726
+#, no-wrap
+msgid "LASER"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:894
+#, no-wrap
+msgid ""
+"This button will allow the user to use a laser to set an origin with or "
+"without rotation. See the <<plasma:laser,LASER section>> for detailed "
+"instructions."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:894
+#, no-wrap
+msgid "X0 Y0"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:895
+#, no-wrap
+msgid "This button will set the current position to X0 Y0."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:895
+#, no-wrap
+msgid "HOME [AXIS]"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:896
+#, no-wrap
+msgid "This button will home the corresponding axis."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:896
+#, no-wrap
+msgid "0 [AXIS]"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:901
+#, no-wrap
+msgid ""
+"This drop-down button will display the following options: +\n"
+"*Zero* - zeros the axis. +\n"
+"*Set* - launches a dialog box to manually input the axis' coordinate. +\n"
+"*Divide By 2* - divides the currently displayed coordinate in the DRO by "
+"two. +\n"
+"*Set To Last* - sets the axis to the previously set coordinate."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:904
+#, no-wrap
+msgid "Preview Views"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:907
+msgid ""
+"The QtPlasmaC preview screen has the ability to be switched between "
+"different views and displays, as well as zooming in and out, and panning "
+"horizontally and vertically."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:909
+msgid ""
+"When QtPlasmaC is first started, the Z (top down) view will be selected as "
+"the default view for a loaded G-code file, but the full table view will be "
+"displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:911
+msgid "When a G-code file is loaded, the display will change to the selected view."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:913
+msgid ""
+"Whenever there is no G-code file loaded, the full table will automatically "
+"be displayed irrespective of which view is currently selected (the "
+"highlighted button representing the currently selected view will not "
+"change)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:915
+msgid ""
+"If a full table is displayed due to no G-code file being loaded and the user "
+"wishes to change the view orientation, then pressing either Z or P will "
+"change the display to the newly selected view. If the user then wishes to "
+"display the full table while maintaining the currently selected view as the "
+"default view for a loaded G-code file, then pressing CLEAR will achieve this "
+"and allow the selected view orientation to prevail the next time a G-code "
+"file is loaded."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:917
+#, no-wrap
+msgid "CONVERSATIONAL Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:920
+msgid ""
+"Screenshot example of the QtPlasmaC "
+"<<plasma:conversational-tab,CONVERSATIONAL Tab>> in *16:9* aspect ratio:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:921 src/plasma/qtplasmac.adoc:2568
+#, no-wrap
+msgid "images/qtplasmac_conversational.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:924
+msgid ""
+"The <<plasma:conversational-tab,CONVERSATIONAL Tab>> enables the user to "
+"quickly program various simple shapes for quick cutting without the need for "
+"CAM software."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:926
+msgid ""
+"See <<plasma:shape-library,Conversational Shape Library>> for detailed "
+"information on the Conversational feature."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:928
+msgid ""
+"It is possible to hide this tab so the conversational feature cannot be used "
+"by an operator. This may be achieved either by wiring the pin to a physical "
+"key-switch or similar or it may also be set in a HAL file using the "
+"following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:932
+#, no-wrap
+msgid "setp qtplasmac.conv_disable 1\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:935
+#, no-wrap
+msgid "PARAMETERS Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:938
+msgid ""
+"Screenshot example of the QtPlasmaC <<plasma:parameters-tab,PARAMETERS Tab>> "
+"in *16:9* aspect ratio:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:939
+#, no-wrap
+msgid "images/qtplasmac_parameters.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:944
+msgid ""
+"This tab is used to display configuration parameters that are modified "
+"infrequently."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:946 src/plasma/qtplasmac.adoc:1132
+msgid ""
+"It is possible to hide this tab so machine settings cannot be modified by "
+"unauthorized personnel. This may be achieved either by wiring the pin to a "
+"physical key-switch or similar or it may also be set in a HAL file using the "
+"following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:950
+#, no-wrap
+msgid "setp qtplasmac.param_disable 1\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:952
+#, no-wrap
+msgid "*CONFIGURATION - ARC*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:957
+#, no-wrap
+msgid "Start Fail Timer"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:958
+#, no-wrap
+msgid ""
+"This sets the amount of time (in seconds) QtPlasmaC will wait between "
+"commanding a \"Torch On\" and receiving an Arc OK signal before timing out "
+"and displaying an error message."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:958
+#, no-wrap
+msgid "Max Starts"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:959
+#, no-wrap
+msgid "This sets the number of times QtPlasmaC will attempt to start the arc."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:959
+#, no-wrap
+msgid "Retry Delay"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:960
+#, no-wrap
+msgid ""
+"This sets the time (in seconds) between an arc failure and another arc start "
+"attempt."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:960 src/plasma/qtplasmac.adoc:4499
+#, no-wrap
+msgid "Voltage Scale"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:962
+#, no-wrap
+msgid ""
+"This sets the arc voltage input scale and is used to display the correct arc "
+"voltage. +\n"
+"For initial setup, see <<plasma:calibration-values,Calibration Values>>."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:962 src/plasma/qtplasmac.adoc:4505
+#, no-wrap
+msgid "Voltage Offset"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:964
+#, no-wrap
+msgid ""
+"This sets the arc voltage offset and is used to display zero volts when "
+"there is zero arc voltage input. +\n"
+"For initial setup, see <<plasma:calibration-values,Calibration Values>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:964
+#, no-wrap
+msgid "Height Per Volt"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:966
+#, no-wrap
+msgid ""
+"This sets the distance the torch would need to move to change the arc "
+"voltage by one volt. +\n"
+"Used for manual height manipulation only."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:966
+#, no-wrap
+msgid "OK High Volts"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:967
+#, no-wrap
+msgid "This sets the voltage threshold below which Arc OK signal is valid."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:967
+#, no-wrap
+msgid "OK Low Volts"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:968
+#, no-wrap
+msgid "This sets the voltage threshold above which the Arc OK signal is valid."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:973
+msgid ""
+"When setting the OK Low Volts and OK High Volts in Mode 0, the cut voltage "
+"of a stable arc must be greater than the OK Low Volts value but lower than "
+"the OK High Volts value for QtPlasmaC to receive a valid Arc OK signal.  To "
+"further clarify, to have a valid Arc OK, the arc voltage must fall between "
+"the two limits."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:974
+#, no-wrap
+msgid "*CONFIGURATION - PROBING*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:979
+#, no-wrap
+msgid "Float Travel"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:980
+#, no-wrap
+msgid ""
+"This sets the amount of travel the float switch moves before completing the "
+"float switch circuit. This distance can be measured by using the Probe Test "
+"button, and the method described in <<plasma:initial-setup,Initial Setup>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:980
+#, no-wrap
+msgid "Probe Speed"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:981
+#, no-wrap
+msgid ""
+"This sets the speed at which the torch will probe to find the material after "
+"it moves to the Probe Height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:981
+#, no-wrap
+msgid "Probe Height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:982
+#, no-wrap
+msgid ""
+"This sets the height above the Z axis minimum limit that Probe Speed "
+"begins. Refer to the <<plasma:initial-setup,Heights Diagram>> diagram for a "
+"visual representation."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:982
+#, no-wrap
+msgid "Ohmic Offset"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:983
+#, no-wrap
+msgid ""
+"This sets the distance above the material the torch will should go after a "
+"successful ohmic probe. It is mainly used to compensate for high probing "
+"speeds."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:983
+#, no-wrap
+msgid "Ohmic Retries"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:984
+#, no-wrap
+msgid ""
+"This sets the number of times QtPlasmaC will retry a failed ohmic probe "
+"before falling back to the float switch for material detection."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:984
+#, no-wrap
+msgid "Skip IHS"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:985
+#, no-wrap
+msgid ""
+"This sets the distance threshold used to determine if an Initial Height "
+"Sense (probe) can be skipped for the current cut, see <<plasma:ihs-skip,IHS "
+"Skip>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:985
+#, no-wrap
+msgid "Offset Speed"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:986
+#, no-wrap
+msgid ""
+"This sets the speed at which the probe will move to the offset position in "
+"the X axis and Y axis."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:991
+#, no-wrap
+msgid "*CONFIGURATION - SAFETY*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:996
+#, no-wrap
+msgid "Safe Height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:999
+#, no-wrap
+msgid ""
+"This sets the height above the material that the torch will retract to "
+"before executing rapid moves. +\n"
+"If set to zero, then Z axis maximum height will be used for the safe "
+"height.\n"
+"Refer to the <<plasma:initial-setup,Heights Diagram>> diagram for a visual "
+"representation."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1002
+#, no-wrap
+msgid "*CONFIGURATION - SCRIBING*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1007
+#, no-wrap
+msgid "Arm Delay"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1009
+#, no-wrap
+msgid ""
+"This sets the delay (in seconds) from the time the scribe command is "
+"received to the activation of the scribe.\n"
+"This allows the scribe to reach surface of the material before activating "
+"the scribe."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1009
+#, no-wrap
+msgid "On Delay"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1010
+#, no-wrap
+msgid ""
+"This sets the delay (in seconds) to allow the scribe mechanism to start "
+"before beginning motion."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1012
+#, no-wrap
+msgid "*CONFIGURATION - SPOTTING*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1017 src/plasma/qtplasmac.adoc:1053
+#, no-wrap
+msgid "Threshold"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1019
+#, no-wrap
+msgid ""
+"This sets the arc voltage at which the delay timer will begin. +\n"
+"0 V starts the delay when the torch on signal is activated."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1019
+#, no-wrap
+msgid "Time On"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1020
+#, no-wrap
+msgid ""
+"This sets the length of time (in milliseconds) the torch is on after "
+"threshold voltage is reached."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1022
+#, no-wrap
+msgid "*CONFIGURATION - PIERCE ONLY*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1027
+#, no-wrap
+msgid "X Offset"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1028
+#, no-wrap
+msgid ""
+"Moves the pierce point this distance along the X axis when piercing in "
+"Pierce Only mode."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1028
+#, no-wrap
+msgid "Y Offset"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1029
+#, no-wrap
+msgid ""
+"Moves the pierce point this distance along the Y axis when piercing in "
+"Pierce Only mode."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1031
+#, no-wrap
+msgid "*CONFIGURATION - MOTION*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1036
+#, no-wrap
+msgid "Setup Speed"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1037
+#, no-wrap
+msgid ""
+"The Z axis velocity for setup moves (movements to Probe Height, Pierce "
+"Height, Cut Height, etc.)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1041
+msgid ""
+"Setup Speed has no effect on THC speed which is capable of the velocity "
+"displayed in the Max. Speed field."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1042
+#, no-wrap
+msgid "*CONFIGURATION - THC*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1047
+#, no-wrap
+msgid "Delay"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1049
+#, no-wrap
+msgid ""
+"This sets the delay (in seconds) measured from the time the Arc OK signal is "
+"received until Torch Height Controller (THC) activates.\n"
+"This is only available when Auto THC is not enabled."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1049
+#, no-wrap
+msgid "Sample Counts"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1051
+#, no-wrap
+msgid ""
+"This sets the number of consecutive arc voltage readings within THC Sample "
+"Threshold required to activate the Torch Height Controller (THC).\n"
+"This is only available when Auto THC is enabled."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1051
+#, no-wrap
+msgid "Sample Threshold"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1053
+#, no-wrap
+msgid ""
+"This sets the maximum voltage deviation allowed for THC Sample Counts.\n"
+"This is only available when Auto THC is enabled."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1054
+#, no-wrap
+msgid ""
+"This sets the voltage variation allowed from the target voltage before for "
+"THC makes movements to correct the torch height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1054
+#, no-wrap
+msgid "Speed (PID-P)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1055
+#, no-wrap
+msgid ""
+"This sets the Proportional gain for the THC PID loop. This roughly equates "
+"to how quickly the THC attempts to correct changes in height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1055
+#, no-wrap
+msgid "VAD Threshold"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1056
+#, no-wrap
+msgid ""
+"(Velocity Anti Dive) This sets the percentage of the current cut feed rate "
+"the machine can slow to before locking the THC to prevent torch dive."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1056
+#, no-wrap
+msgid "Void Slope"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1057
+#, no-wrap
+msgid ""
+"(Void Anti Dive) This sets the size of the change in cut voltage per seconds "
+"necessary to lock the THC to prevent torch dive (higher values need greater "
+"voltage change to lock THC)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1057
+#, no-wrap
+msgid "PID-I"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1058
+#, no-wrap
+msgid ""
+"This sets the Integral gain for the THC PID loop. Integral gain is "
+"associated with the sum of errors in the system over time and is not always "
+"needed."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1058
+#, no-wrap
+msgid "PID-D"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1059
+#, no-wrap
+msgid ""
+"This sets the Derivative gain for the THC PID loop. Derivative gain works to "
+"dampen the system and reduce over correction oscillations and is not always "
+"needed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1063
+msgid ""
+"Two methods of THC activation are available and are selected with the *Auto "
+"Activation* checkbutton.  Both methods begin their calculations when the "
+"current velocity of the torch matches the cut feed rate specified for the "
+"selected material:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1065
+msgid ""
+"Delay Activation (the default) is selected when *Auto Activation* is "
+"unchecked. This method uses a time delay set with the *Delay* parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1066
+msgid ""
+"Auto Activation is selected when *Auto Activation* is checked. This method "
+"determines that the arc voltage is stable by using the *Sample Counts* and "
+"*Sample Threshold* parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1072
+msgid ""
+"PID loop tuning is a complicated process and is outside the scope of this "
+"User Guide.  There are many sources of information available to assist with "
+"understanding and tuning PID loops.  If the THC is not making corrections "
+"fast enough, it is recommended to increase the P gain in small increments "
+"until the system operates favorably.  Large P gain adjustments can result in "
+"over correction and oscillations."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1073
+#, no-wrap
+msgid "*SAVE & RELOAD Buttons*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1075
+msgid ""
+"The **SAVE** button will save the currently displayed parameters to the "
+"_<machine_name>_.prefs file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1077
+msgid ""
+"The **RELOAD** button will reload all the parameters from the "
+"_<machine_name>_.prefs file."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1079
+#, no-wrap
+msgid "*MATERIAL* - The parameters which are active for the current cut."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1085
+#, no-wrap
+msgid ""
+"The top drop-down menu is used to manually select the current material cut "
+"parameters. If there are no materials in the material file, then only the "
+"default material will be displayed."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1085
+#, no-wrap
+msgid "Kerf Width"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1087
+#, no-wrap
+msgid ""
+"This sets the kerf width for the currently selected material.\n"
+"Refer to the <<plasma:initial-setup,Heights Diagram>> diagram for a visual "
+"representation."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1087
+#, no-wrap
+msgid "Pierce Height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1089
+#, no-wrap
+msgid ""
+"This sets the pierce height for the currently selected material.\n"
+"Refer to the <<plasma:initial-setup,Heights Diagram>> diagram for a visual "
+"representation."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1089
+#, no-wrap
+msgid "Pierce Delay"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1090
+#, no-wrap
+msgid "This sets the pierce delay (in seconds) for the currently selected material."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1090
+#, no-wrap
+msgid "Cut Height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1092
+#, no-wrap
+msgid ""
+"This sets the cut height for the currently selected material.\n"
+"Refer to the <<plasma:initial-setup,Heights Diagram>> diagram for a visual "
+"representation."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1092 src/plasma/qtplasmac.adoc:1323
+#, no-wrap
+msgid "Cut Feed Rate"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1093
+#, no-wrap
+msgid "This sets the cut feed rate for the currently selected material."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1093
+#, no-wrap
+msgid "Cut Amps"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1095
+#, no-wrap
+msgid ""
+"This sets the cut amperage for the currently selected material. +\n"
+"This is a visual indicator to the operator only, unless PowerMax "
+"communications are being used."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1095
+#, no-wrap
+msgid "Cut Volts"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1096
+#, no-wrap
+msgid "This sets the cut voltage for the currently selected material."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1096
+#, no-wrap
+msgid "Puddle Height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1099
+#, no-wrap
+msgid ""
+"Expressed as a percentage of Pierce Height, this sets the Puddle Jump height "
+"for the currently selected material. +\n"
+"Typically used for thicker materials, Puddle Jump allows the torch to have "
+"an intermediate step between Pierce Height and Cut Height. +\n"
+"If set, the torch will proceed from Pierce Height to P-Jump Height for a "
+"period of time (P-Jump Delay) before proceeding to Cut Height to effectively "
+"\"jump\" over the molten puddle. Refer to the <<plasma:initial-setup,Heights "
+"Diagram>> diagram for a visual representation."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1099
+#, no-wrap
+msgid "Puddle Delay"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1100
+#, no-wrap
+msgid ""
+"This sets the amount of time (in seconds) the torch will stay at the P-Jump "
+"Height before proceeding to Cut Height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1100
+#, no-wrap
+msgid "Pause At End"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1101
+#, no-wrap
+msgid ""
+"This sets the amount of time (in seconds) the torch will stay on at the end "
+"of the cut before proceeding with the M5 command to turn off and raise the "
+"torch. For more information see <<plasma:pause-at-end,Pause At End Of Cut>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1101
+#, no-wrap
+msgid "Gas Pressure"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1104
+#, no-wrap
+msgid ""
+"This sets the gas pressure for the currently selected material. +\n"
+"This setting is only valid if PowerMax communications are being used. +\n"
+"0 = Use the PowerMax's automatic pressure mode."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1104
+#, no-wrap
+msgid "Cut Mode"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1109
+#, no-wrap
+msgid ""
+"This sets the cut mode for the currently selected material. +\n"
+"This setting is only valid if PowerMax communications are being used. +\n"
+"1 = Normal +\n"
+"2 = CPA (Constant Pilot Arc) +\n"
+"3 = Gouge/Mark"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1112
+msgid ""
+"See the <<plasma:thick-materials,thick materials>> section for more "
+"information on puddle jump."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1113
+#, no-wrap
+msgid "*SAVE, RELOAD, NEW, & DELETE Buttons*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1115
+msgid ""
+"The **SAVE** button will save the current material set to the "
+"__<machine_name>___material.cfg file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1117
+msgid ""
+"The **RELOAD** button will reload the material set from the "
+"__<machine_name>___material.cfg file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1119
+msgid ""
+"The **NEW** button will allow a new material to be added to the material "
+"file. The user will be prompted for a material number and a material name, "
+"all other parameters will be read from the currently selected material. Once "
+"entered, QtPlasmaC will reload the material file and display the new "
+"material. The Cut Parameters for the new material will then need to be "
+"adjusted and saved."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1121
+msgid ""
+"The **DELETE** this button is used to delete a material. After pressing it, "
+"the user will be prompted for a material number to be deleted, and prompted "
+"again to ensure the user is sure. After deletion, the material file will be "
+"reloaded and the drop-down list will display the default material."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1123
+#, no-wrap
+msgid "SETTINGS Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1126
+msgid ""
+"Screenshot example of the QtPlasmaC <<plasma:settings-tab,SETTINGS Tab>> in "
+"*16:9* aspect ratio:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:1127
+#, no-wrap
+msgid "images/qtplasmac_settings.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1130
+msgid ""
+"This tab is used to display GUI configuration parameters, button text, and "
+"shutdown text that are modified infrequently as well as some utility "
+"buttons."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1136
+#, no-wrap
+msgid "setp qtplasmac.settings_disable 1\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1138
+#, no-wrap
+msgid "*GUI SETTINGS*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1141
+msgid ""
+"This section shows parameters that effect the GUI appearance and GUI "
+"behaviors."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1143
+msgid ""
+"To return any of the color changes to their default values, see the "
+"<<plasma:default_styling,Returning To The Default Styling>> section."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1144
+#, no-wrap
+msgid "*GUI SETTINGS* Parameters that effect the GUI appearance and GUI behaviors."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1148 src/plasma/qtplasmac.adoc:3043
+#, no-wrap
+msgid "Foreground"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1149
+#, no-wrap
+msgid "This button allows the user to change the color of the GUI Foreground."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1149 src/plasma/qtplasmac.adoc:3052
+#, no-wrap
+msgid "Highlight"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1150
+#, no-wrap
+msgid "This button allows the user to change the color of the GUI Highlight."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1151
+#, no-wrap
+msgid "This button allows the user to change the color of the GUI LED."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1151 src/plasma/qtplasmac.adoc:3048
+#, no-wrap
+msgid "Background"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1152
+#, no-wrap
+msgid "This button allows the user to change the color of the GUI Background."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1152 src/plasma/qtplasmac.adoc:3055
+#, no-wrap
+msgid "Alt Background"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1153
+#, no-wrap
+msgid ""
+"This button allows the user to change the color of the GUI Alternate "
+"Background."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1153
+#, no-wrap
+msgid "Frames"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1154
+#, no-wrap
+msgid "This button allows the user to change the color of the GUI Frames."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1154
+#, no-wrap
+msgid "Estop"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1155
+#, no-wrap
+msgid "This button allows the user to change the color of the GUI Estop."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1155
+#, no-wrap
+msgid "Disabled"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1156
+#, no-wrap
+msgid ""
+"This button allows the user to change the color of the GUI's Disabled "
+"features."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1157
+#, no-wrap
+msgid ""
+"This button allows the user to change the color of the GUI Preview Window "
+"Background."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1157
+#, no-wrap
+msgid "Soft Keyboard"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1159
+#, no-wrap
+msgid ""
+"This radio button allows the user to enable or disable the soft touchscreen "
+"keyboard. +\n"
+"If the \"onboard\" virtual keyboard is installed then the "
+"<<custom_kb_layouts,custom layouts>> will be enabled."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1159
+#, no-wrap
+msgid "KB Shortcuts"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1161
+#, no-wrap
+msgid ""
+"This radio button allows the user to enable or disable "
+"<<plasma:keyboard-shortcuts,Keyboard Shortcuts>> within the GUI (such as "
+"keyboard jogging). +\n"
+"In addition to the standard jog keys, a list of the additional shortcuts is "
+"available in the <<plasma:keyboard-shortcuts,keyboard shortcuts>> section."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1161
+#, no-wrap
+msgid "View Material"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1163
+#, no-wrap
+msgid ""
+"This radio button allows the user to enable or disable the addition of a "
+"visual reference showing key material cut settings to the Preview Windows of "
+"the <<plasma:main-tab,MAIN>> and "
+"<<plasma:conversational-tab,CONVERSATIONAL>> tabs. +\n"
+"Examples are:  Feed Rate, Pierce Height, Pierce Delay, and Cut Height. Cut "
+"Amps will be shown if PowerMax communications are enabled."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1163
+#, no-wrap
+msgid "Exit Warning"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1166
+#, no-wrap
+msgid ""
+"This radio button allows the user to enable or disable whether a warning "
+"will always be displayed during shutdown. +\n"
+"It is possible to add a custom message to the warning by editing the "
+"<<plasma:exit-warning,EXIT WARNING MESSAGE>> option in the *[GUI_OPTIONS]* "
+"section of the _<machine_name>_.prefs file. +\n"
+"The custom message can be made multi-line by adding a \"\\\" between lines."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1166
+#, no-wrap
+msgid "Optional Stop"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1167
+#, no-wrap
+msgid ""
+"This radio button allows the user to enable or disable whether or not a "
+"running program will pause at an *M1* command."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1167 src/plasma/qtplasmac.adoc:2309
+#, no-wrap
+msgid "Run From Line"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1168
+#, no-wrap
+msgid ""
+"This radio button allows the user to enable or disable "
+"<<plasma:run-from-line,Run From Line>>. If enabled, the user can click on a "
+"line of G-code and have the program start from that line."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1169
+#, no-wrap
+msgid ""
+"This radio button allows the user to temporarily Override the input from a "
+"Limit Switch in the event the limit switch becomes tripped during "
+"operation. This button can only be clicked when a limit switch is tripped."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1169
+#, no-wrap
+msgid "Override Jog"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1170
+#, no-wrap
+msgid ""
+"This radio button will also allow jogging while jogging is inhibited due to "
+"a float switch, breakaway switch, or ohmic probe activation. This button can "
+"only be clicked when a jog is inhibited."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1170
+#, no-wrap
+msgid "Optional Block"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1171
+#, no-wrap
+msgid ""
+"This radio button allows the user to enable or disable whether or not lines "
+"starting with \"/\" will be skipped if present in a running program."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1171
+#, no-wrap
+msgid "Grid Size"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1172
+#, no-wrap
+msgid ""
+"This allows a user to change the size of the grid in the Preview Window on "
+"the <<plasma:main-tab,MAIN Tab>>. Grid size of 0.0 will disable the grid."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1172
+#, no-wrap
+msgid "Cone Size"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1173
+#, no-wrap
+msgid ""
+"This allows a user to change the size of the cone (which represents the "
+"current tool) in the Preview Window on the <<plasma:main-tab,MAIN Tab>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1173
+#, no-wrap
+msgid "Table Zoom"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1174
+#, no-wrap
+msgid ""
+"This allows a user to change the default zoom level for the top down full "
+"table view in the Preview Window on the <<plasma:main-tab,MAIN Tab>>."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1177
+#, no-wrap
+msgid "*USER BUTTON ENTRIES* USERBUTTON"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1181
+msgid ""
+"This section shows the text that appears on the "
+"<<plasma:custom-user-buttons,Custom User Buttons>> as well as the code "
+"associated with the user button.  User buttons may be changed, and the new "
+"settings used without restarting LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1183
+msgid ""
+"The text and/or code may be edited at any time and will be loaded ready for "
+"use if the *SAVE* button is clicked."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1185
+msgid ""
+"Deleting the *Name* and *Code* text will cause that user button to be hidden "
+"if the *SAVE* button is clicked."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1187
+msgid ""
+"To return all the *Name* and *Code* text to their last saved values press "
+"the *RELOAD* button."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1191
+#, no-wrap
+msgid "The text that is displayed on the button"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1192
+#, no-wrap
+msgid "The code that is run when the button is pressed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1196
+msgid ""
+"There are 20 user buttons available but not all may be displayed depending "
+"on the window size."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1198
+#, no-wrap
+msgid "*EXIT WARNING MESSAGE*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1201
+msgid ""
+"This section shows the text that appears on the shutdown dialog if the *Exit "
+"Warning* is enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1203
+msgid ""
+"The text may be edited at any time and will be loaded ready for use if the "
+"*SAVE* button is clicked."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1205
+msgid ""
+"To return the *EXIT WARNING MESSAGE* text to the last saved value press the "
+"*RELOAD* button."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1207
+#, no-wrap
+msgid "*UTILITIES*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1210
+msgid ""
+"Some standard LinuxCNC utilities are provided as an aid in the diagnosis of "
+"issues that may arise:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1212
+msgid "link:../hal/halshow.html#cha:halshow[Halshow]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1213
+msgid "link:../hal/tutorial.html#sec:tutorial-halscope[Halscope]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1214
+msgid "link:../hal/tutorial.html#sec:tutorial-halmeter[Halmeter]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1215
+msgid "link:../man/man1/emccalib.1.html[Calibration]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1216
+msgid "link:../man/man1/linuxcnctop.1.html[Status]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1218
+msgid "In addition the following two QtPlasmaC specific utilities are provided:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1220
+msgid ""
+"The **SET OFFSETS** button is used if the table has a laser or camera for "
+"sheet alignment, a scribe, or uses offset probing. The required offsets for "
+"these peripherals need to be applied by following the procedure described in "
+"<<peripheral-offsets,Peripheral Offsets>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1225
+msgid ""
+"The **BACKUP CONFIG** button will create a complete machine configuration "
+"backup for archiving or to aid in fault diagnosis.  A compressed backup of "
+"the machine configuration will be saved in the user's Linux home directory.  "
+"The file name will be __<machine_name>___<version>_<date>_<time>.tar.gz, "
+"where _<machine_name>_ is the machine name entered in the configuration "
+"wizard, _<version>_ is the current QtPlasmaC version the user is on, "
+"_<date>_ is the current date (YY-MM-DD), and _<time>_ is the current time "
+"(HH-MM-SS)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1227
+msgid ""
+"Prior to the backup being made, the machine log will be saved to a file in "
+"the configuration directory named machine_log_<date>_<time>.txt where "
+"_<date>_ and _<time>_ are formatted as described above. This file along with "
+"up to five previous machine logs will also be included in the backup."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1229
+msgid ""
+"These files are not required by QtPlasmaC and are safe to delete at any "
+"time."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1231
+#, no-wrap
+msgid "STATISTICS Tab"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1237
+msgid ""
+"The <<plasma:statistics-tab,STATISTICS Tab>> provides statistics to allow "
+"for the tracking of consumable wear and job run times.  These statistics are "
+"shown for the current job as well as the running total.  Previous job "
+"statistics are reset once the next program is run.  The total values may be "
+"reset either individually by clicking the corresponding \"RESET\" button, or "
+"they may all be reset together by clicking \"RESET ALL\"."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1240
+msgid ""
+"The *RS485 PMX STATISTICS* panel will only be displayed if the user has "
+"Hypertherm PowerMax communications and a valid RS485 connection to the "
+"PowerMax is established.  This panel will show the *ARC ON TIME* for the "
+"PowerMax in hh:mm:ss format."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1244
+msgid ""
+"The *MACHINE LOG* is also displayed on the "
+"<<plasma:statistics-tab,STATISTICS Tab>>, this log will display any errors "
+"and/or important information that occurs during the current LinuxCNC "
+"session.  If the user makes a backup of the configuration from the "
+"<<plasma:settings-tab,SETTINGS Tab>> then the machine log is also included "
+"in the backup."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:1245
+#, no-wrap
+msgid "images/qtplasmac_stats.png"
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:1247
+#, no-wrap
+msgid "Using QtPlasmaC"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1251
+msgid ""
+"Once QtPlasmaC is successfully installed, no Z axis motion is required to be "
+"part of the G-code cut program.  In fact, if any Z axis references are "
+"present in the cut program, the standard QtPlasmaC configuration will remove "
+"them during the program loading process."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1254
+msgid ""
+"For reliable use of QtPlasmaC the user should *NOT* use any Z axis offsets "
+"other than the coordinate system offsets (G54-G59.3).  For this reason, G92 "
+"offsets have been disabled across the GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1256
+msgid ""
+"QtPlasmaC will automatically add a line of G-code to move the Z axis to the "
+"correct height at the beginning of every G-code program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1260
+msgid ""
+"It is possible to keep Z motion for use with different tools by adding the "
+"magic comment <<plasma:keep_z,#<keep-z-motion>=1>>.  If using an angular A, "
+"B, or C axis for <<plasma:tube_cutting,tube cutting>> then Z axis motion is "
+"required in the G-code file. +"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1263
+#, no-wrap
+msgid ""
+"*Version Information* - QtPlasmaC will display versioning information in the "
+"title of the main window.\n"
+"The information will be displayed as followed \"QtPlasmaC "
+"v__N__.__XXX__.__YYY__ - powered by QtVCP on LinuxCNC vZ.Z.Z\" where _N_ is "
+"the version of QtPlasmaC, _XXX_ is the version of the HAL component "
+"(PlasmaC.comp), _YYY_ is the GUI version, and __Z__.__Z__.__Z__ is the "
+"version of LinuxCNC.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1264
+#, no-wrap
+msgid "Units Systems"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1267
+msgid ""
+"All settings and parameters in QtPlasmaC are required to be in the same "
+"units as specified in the INI file, being either metric or imperial."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1270
+msgid ""
+"If the user is attempting to run a G-code file that is in the \"other\" "
+"unit's system then all parameters including the material file parameters are "
+"still required to be in the native machines units.  Any further conversions "
+"necessary to run the G-code file will be handled automatically by the G-code "
+"filter program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1274
+msgid ""
+"For example: If a user had a metric machine and wished to run a G-code file "
+"that was set up to cut 1/4\" thick material using imperial units (inch - "
+"G20) then the user with the metric machine would need to ensure that either "
+"the material number in the G-code file was set to the corresponding metric "
+"material to be cut, or that a new material is created with the correct "
+"metric parameters for the metric material to be cut.  If the metric user "
+"wanted to cut the G-code file using imperial material, then the new material "
+"parameters would need to be converted from imperial units to metric when "
+"they are entered."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1275
+#, no-wrap
+msgid "Preamble and Postamble Codes"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1278
+msgid ""
+"The following stanzas are the minimum recommended codes to include in the "
+"preamble and postamble of any G-code file to be run by QtPlasmaC:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1280
+msgid "Metric:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1283 src/plasma/qtplasmac.adoc:2656
+#, no-wrap
+msgid "G21 G40 G49 G64p0.1 G80 G90 G92.1 G94 G97\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1286
+msgid "Imperial:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1289
+#, no-wrap
+msgid "G20 G40 G49 G64p0.004 G80 G90 G92.1 G94 G97\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1292
+msgid ""
+"A detailed explanation of each G-code can be found in the docs "
+"link:../gcode/g-code.html[here]."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1294
+msgid ""
+"Note that throughout this user guide there are several additional "
+"recommendations for codes that are prudent to add to both the preamble and "
+"postamble depending on the features the user wishes to utilize."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1295
+#, no-wrap
+msgid "Mandatory Codes"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1298
+msgid ""
+"Aside from the preamble code, postamble code, and X/Y motion code, the only "
+"mandatory G-code syntax for QtPlasmaC to run a G-code program using a torch "
+"for cutting is `M3 $0 S1` to begin a cut and `M5 $0` to end a cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1301
+msgid ""
+"For backwards compatibility it is permissible to use `M3 S1` in lieu of `M3 "
+"$0 S1` to begin a cutting job and `M5` in lieu of `M5 $0` to end a cutting "
+"job.  Note, that this applies to cutting jobs only, for scribe and spotting "
+"jobs the `$n` tool identifier is mandatory."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1302
+#, no-wrap
+msgid "Coordinates"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1305
+msgid "See <<plasma:z-settings,recommended Z axis>> settings."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1308
+msgid ""
+"Each time LinuxCNC (QtPlasmaC) is started Joint homing is required.  This "
+"allows LinuxCNC (QtPlasmaC) to establish the known coordinates of each axis "
+"and set the soft limits to the values specified in the _<machine_name>_.ini "
+"file in order to prevent the machine from crashing into a hard stop during "
+"normal use."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1310
+msgid ""
+"If the machine does not have home switches, then the user needs to ensure "
+"that all axes are at the home coordinates specified in the "
+"_<machine_name>_.ini file before homing."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1312
+msgid ""
+"If the machine has home switches, then it will move to the specified home "
+"coordinates when the Joints are homed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1315
+msgid ""
+"Depending on the machine's configuration there will either be a *Home All* "
+"button or each axis will need to be homed individually.  Use the appropriate "
+"button/buttons to home the machine."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1318
+msgid ""
+"As mentioned in the <<plasma:initial-setup,Initial Setup>> section, it is "
+"recommended that the first time QtPlasmaC is used that the user ensure there "
+"is nothing below the torch then jog the Z axis down until it stops at the Z "
+"axis MINIMUM_LIMIT then click the 0 next to the Z axis DRO to *Touch Off* "
+"with the Z axis selected to set the Z axis at zero offset.  This should not "
+"need to be done again."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1320
+msgid ""
+"If the user intends to place the material in the exact same place on the "
+"table every time, the user could jog the X and Y axes to the machine to the "
+"corresponding X0 Y0 position as established by the CAM software and then "
+"*Touch Off* both axes with a zero offset."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1322
+msgid ""
+"If the user intends to place the material randomly on the table, then the "
+"user must *Touch Off* the X and Y axes at the appropriate position before "
+"starting the program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1327
+msgid ""
+"QtPlasmaC is able to read a material file to load all the required cut "
+"parameters.  To enable to G-code file to use the cut feed rate setting from "
+"the cut parameters use the following code in the G-code file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1332
+#, no-wrap
+msgid "F#<_hal[plasmac.cut-feed-rate]>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1335
+msgid ""
+"It is possible to use the standard G-code *F* word to set the cut feed rate "
+"as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1339
+#, no-wrap
+msgid "F 1000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1342
+msgid ""
+"If the *F* word is used, and the *F* word value does not match the cut feed "
+"rate of the selected material then a warning dialog will indicate this "
+"during loading of the G-code file."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1344
+#, no-wrap
+msgid "Material File"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1348
+msgid ""
+"Material handling uses a material file that was created for the machine "
+"configuration when the configuration wizard was ran and allows the user to "
+"conveniently store known material settings for easy recall either manually "
+"or automatically via G-code.  The resulting <<plasma:material-file, material "
+"file>> is named *__<machine_name>___material.cfg*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1352
+msgid ""
+"QtPlasmaC does not require the use of a material file. Instead, the user "
+"could change the cut parameters manually from the MATERIAL section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>.  It is also not required to use "
+"the automatic material changes.  If the user does not wish to use this "
+"feature, they can simply omit the material change codes from the G-code "
+"file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1354
+msgid ""
+"It is also possible to not use the material file and "
+"<<plasma:magic-comments,automatically load materials>> from within the "
+"G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1357
+msgid ""
+"Material numbers in the materials file do not need to be consecutive nor do "
+"they need to be in numerical order."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1359
+msgid ""
+"The following variables are mandatory, and an error message will appear if "
+"any are not found when the material file is loaded."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1361 src/plasma/qtplasmac.adoc:3941
+#, no-wrap
+msgid "PIERCE_HEIGHT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1362 src/plasma/qtplasmac.adoc:3944
+#, no-wrap
+msgid "PIERCE_DELAY"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1363 src/plasma/qtplasmac.adoc:3946
+#, no-wrap
+msgid "CUT_HEIGHT"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1364
+msgid "CUT_SPEED"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1367
+msgid ""
+"If doing <<plasma:tube_cutting,tube cutting>> using the #<tube_cut>=1 magic "
+"comment then the only mandatory variable is PIERCE_DELAY, all other "
+"variables are optional."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1369
+msgid ""
+"The following variables are optional. If they are not detected or have no "
+"value assigned, they will be assigned a value of 0 and no error message will "
+"appear."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1372
+msgid "KERF_WIDTH"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1374
+msgid "PUDDLE_JUMP_HEIGHT"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1375
+msgid "PUDDLE_JUMP_DELAY"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1376
+msgid "CUT_AMPS"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1377
+msgid "CUT_VOLTS"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1378 src/plasma/qtplasmac.adoc:3949
+#, no-wrap
+msgid "PAUSE_AT_END"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1379
+msgid "GAS_PRESSURE"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1380
+msgid "CUT_MODE"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1383
+msgid "Material numbers 1000000 and above are reserved for temporary materials."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1385
+msgid ""
+"It is the responsibility of the operator to ensure that the variables are "
+"included if they are a requirement for the G-code to be run."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1387
+msgid "The material file uses the following format:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1405
+#, no-wrap
+msgid ""
+"[MATERIAL_NUMBER_1]\n"
+"NAME                = name\n"
+"KERF_WIDTH          = value\n"
+"THC                 = value (0 = off, 1 = on)\n"
+"PIERCE_HEIGHT       = value\n"
+"PIERCE_DELAY        = value\n"
+"PUDDLE_JUMP_HEIGHT  = value\n"
+"PUDDLE_JUMP_DELAY   = value\n"
+"CUT_HEIGHT          = value\n"
+"CUT_SPEED           = value\n"
+"CUT_AMPS            = value (for info only unless PowerMax communications is "
+"enabled)\n"
+"CUT_VOLTS           = value (modes 0 & 1 only, if not using auto voltage "
+"sampling)\n"
+"PAUSE_AT_END        = value\n"
+"GAS_PRESSURE        = value (only used for PowerMax communications)\n"
+"CUT_MODE            = value (only used for PowerMax communications)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1409
+msgid ""
+"It is possible to add new material, delete material, or edit existing "
+"material from the <<plasma:parameters-tab,PARAMETERS tab.>>.  It is also "
+"possible to achieve this by using <<plasma:magic-comments,magic comments>> "
+"in a G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1412
+msgid ""
+"The material file may be edited with a text editor while LinuxCNC is "
+"running.  After any changes have been saved, press *Reload* in the MATERIAL "
+"section of the <<plasma:parameters-tab,PARAMETERS Tab>> to reload the "
+"material file."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1413
+#, no-wrap
+msgid "Manual Material Handling"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1417
+msgid ""
+"For manual material handling, the user would manually select the material "
+"from the materials list in the MATERIAL section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>> before starting the G-code "
+"program.  In addition to selecting materials with materials list in the "
+"MATERIAL section of the <<plasma:parameters-tab,PARAMETERS Tab>>, the user "
+"could use the MDI to change materials with the following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1421
+#, no-wrap
+msgid "M190 Pn\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1424
+msgid ""
+"The following code is the minimum code necessary to have a successful cut "
+"using the manual material selection method:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1432
+#, no-wrap
+msgid ""
+"F#<_hal[plasmac.cut-feed-rate]>\n"
+"M3 $0 S1\n"
+".\n"
+".\n"
+"M5 $0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1436
+msgid ""
+"Manual material handling will restrict the user to only one material for the "
+"entire job."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1437
+#, no-wrap
+msgid "Automatic Material Handling"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1440
+msgid ""
+"For automatic material handling, the user would add commands to their G-code "
+"file which will enable QtPlasmaC to change the material automatically."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1442
+msgid ""
+"The following codes may be used to allow QtPlasmaC to automatically change "
+"materials:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1444
+#, no-wrap
+msgid ""
+"*M190 P__n__* - Changes the currently displayed material to material number "
+"_n_.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1445
+#, no-wrap
+msgid ""
+"*M66 P3 L3 Q1* - Adds a small delay (1 second in this example) to wait for "
+"QtPlasmaC to confirm that it successfully changed materials.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1446
+#, no-wrap
+msgid ""
+"*F#<_hal[plasmac.cut-feed-rate]>* - Sets the cut feed rate to the feed rate "
+"shown in the MATERIAL section of the <<plasma:parameters-tab,PARAMETERS "
+"Tab>>.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1449
+msgid ""
+"For automatic material handling, the codes MUST be applied in the order "
+"shown.  If a G-code program is loaded which contains one or more material "
+"change commands then the first material will be displayed in the top header "
+"of the PREVIEW WINDOW on the <<plasma:main-tab,MAIN Tab>> as the program is "
+"loading."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1450
+#, no-wrap
+msgid ""
+"Minimum code necessary to have a successful cut using the automatic material "
+"selection method:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1460
+#, no-wrap
+msgid ""
+"M190 Pn\n"
+"M66 P3 L3 Q1\n"
+"F#<_hal[plasmac.cut-feed-rate]>\n"
+"M3 $0 S1\n"
+".\n"
+".\n"
+"M5 $0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1464
+msgid ""
+"Returning to the default material prior to the end of the program is "
+"possible with the code *M190 P-1*."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1466
+#, no-wrap
+msgid "Material Addition Via Magic Comments In G-code"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1469
+msgid ""
+"By using \"magic comments\" in a G-code file it is possible to do the "
+"following:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1471
+msgid "Add new materials to the __<machine_name>___material.cfg file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1472
+msgid "Edit existing materials in the __<machine_name>___material.cfg file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1473
+msgid "Use one or more temporary materials."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1477
+msgid ""
+"Temporary materials are numbered automatically by QtPlasmaC and the material "
+"change will also be done by QtPlasmaC and should not be added to the G-code "
+"file by CAM software or otherwise.  The material numbers begin at 1000000 "
+"and are incremented for each temporary material.  It is not possible to save "
+"a temporary material, however the user could create a new material while a "
+"temporary material is displayed, and it will use the settings from the "
+"temporary material as the defaults."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1479
+msgid ""
+"It is possible to use temporary materials only and have an empty "
+"__<machine_name>___material.cfg file. This negates the need to keep the "
+"QtPlasmaC materials file updated with the CAM tool file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1481
+msgid "The entire comment must be in parentheses."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1482
+msgid "The beginning of the magic comment must be: *(o=*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1483
+msgid "The equals sign must immediately follow each parameter with no space."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1484
+msgid ""
+"The mandatory parameters must be in the magic comment (for option 0, *na* is "
+"optional and *nu* is not used)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1485
+msgid "There can be any number and type of magic comments in a G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1486
+msgid ""
+"If option 0 is to be used in addition to option 1 and/or option 2 then all "
+"option 0 must appear after all option 1 or all option 2 in the G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1488
+msgid "The options are:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1495
+#, no-wrap
+msgid ""
+"Creates a temporary default material. +\n"
+"Material information added with this option will be discarded by a LinuxCNC "
+"restart or materials reload.\n"
+"They may also be overwritten by a new G-code file that has temporary "
+"materials."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1496
+#, no-wrap
+msgid "Adds a new material if the number specified does not exist."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1498
+#, no-wrap
+msgid ""
+"Overwrites an existing material if the number specified exists. +\n"
+"Adds a new material if the number specified does not exist."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1501
+msgid "Mandatory parameters are:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1505
+#, no-wrap
+msgid "o"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1506
+#, no-wrap
+msgid "Selects the option to be used."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1506
+#, no-wrap
+msgid "nu"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1507
+#, no-wrap
+msgid "Sets the material number (not used for option 0)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1507
+#, no-wrap
+msgid "na"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1508
+#, no-wrap
+msgid "Sets the material name (optional for option 0)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1508
+#, no-wrap
+msgid "ph"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1509
+#, no-wrap
+msgid "Sets the pierce height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1509
+#, no-wrap
+msgid "pd"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1510
+#, no-wrap
+msgid "Sets the pierce delay."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1510
+#, no-wrap
+msgid "ch"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1511
+#, no-wrap
+msgid "Sets the cut height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1511
+#, no-wrap
+msgid "fr"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1512
+#, no-wrap
+msgid "Sets the feed rate."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1515
+msgid "Optional parameters are:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1519
+#, no-wrap
+msgid "kw"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1520
+#, no-wrap
+msgid "Sets the kerf width."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1520
+#, no-wrap
+msgid "th"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1521
+#, no-wrap
+msgid "Sets the THC status (0=disabled, 1=enabled)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1521
+#, no-wrap
+msgid "ca"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1522
+#, no-wrap
+msgid "Sets the cut amps."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1522
+#, no-wrap
+msgid "cv"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1523
+#, no-wrap
+msgid "Sets the cut voltage."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1523
+#, no-wrap
+msgid "pe"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1524
+#, no-wrap
+msgid "Sets the pause at end delay."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1524
+#, no-wrap
+msgid "gp"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1525
+#, no-wrap
+msgid "Sets the gas pressure (PowerMax)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1525
+#, no-wrap
+msgid "cm"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1526
+#, no-wrap
+msgid "Sets the cut mode (PowerMax)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1526
+#, no-wrap
+msgid "jh"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1527
+#, no-wrap
+msgid "Sets the puddle jump height."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1527
+#, no-wrap
+msgid "jd"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1528
+#, no-wrap
+msgid "Sets the puddle jump delay."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1531
+msgid "A complete example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1535
+#, no-wrap
+msgid ""
+"(o=0, nu=2, na=5mm Mild Steel 40A, ph=3.1, pd=0.1, ch=0.75, fr=3000, kw=0.5, "
+"th=1, ca=45, cv=110, pe=0.1, gp=5, cm=1, jh=0, jd=0)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1538
+msgid ""
+"If a temporary material has been specified in a G-code file then the "
+"material change line (M190...) and wait for change line (M66...) will be "
+"added by the G-code filter and are not required in the G-code file."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1539
+#, no-wrap
+msgid "Material Converter"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1542
+msgid ""
+"This application is used to convert existing tool tables into QtPlasmaC "
+"material files. It can also create a material file from manual user input to "
+"entry fields."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1544
+msgid ""
+"At this stage the only conversions available are for tool tables exported "
+"from either SheetCam or Fusion 360."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1547
+msgid ""
+"SheetCam tool tables are complete, and the conversion is fully automatic.  "
+"The SheetCam tool file must be in the SheetCam .tools format."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1550
+msgid ""
+"Fusion 360 tool tables do not have all of the required fields so the user "
+"will be prompted for missing parameters.  The Fusion 360 tool file must be "
+"in the JSON format of Fusion 360."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1552
+msgid ""
+"If the user has a format from a different CAM software they would like "
+"converted, create a *New Topic* in the "
+"https://forum.linuxcnc.org/plasmac[PlasmaC forum] section of the "
+"https://forum.linuxcnc.org/[LinuxCNC forum] to request this addition."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1554
+msgid ""
+"Material Converter may be run from a terminal using one of the two following "
+"methods."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1559
+#, no-wrap
+msgid "qtplasmac-materials\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1562 src/plasma/qtplasmac.adoc:4008
+msgid ""
+"For a run in place installation enter the following two commands in a "
+"terminal window:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1566
+#, no-wrap
+msgid ""
+"source ~/linuxcnc-dev/scripts/rip-environment\n"
+"qtplasmac-materials\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1569
+msgid ""
+"This will bring up the Material Converter Main dialog box with Manual "
+"selected as the default."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1571
+msgid "Select one of:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1573
+#, no-wrap
+msgid "*Manual* - to manually create a new material file.\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:1574
+#, no-wrap
+msgid "images/qtplasmac_material_main_manual.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1577
+#, no-wrap
+msgid "*SheetCam* - to convert a SheetCam tool file.\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:1578
+#, no-wrap
+msgid "images/qtplasmac_material_main_sheetcam.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1581
+msgid ""
+"For SheetCam only, select whether the user requires a metric or imperial "
+"output file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1583
+#, no-wrap
+msgid "*Fusion 360* - to convert a Fusion 360 tool file.\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:1584
+#, no-wrap
+msgid "images/qtplasmac_material_main_fusion360.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1587
+msgid "To convert:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1589
+msgid ""
+"Select the Input File to be converted, press *INPUT* to bring up a file "
+"selector or directly enter the file in the entry box."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1592
+msgid ""
+"Select the Output File to write to, press *OUTPUT* to bring up a file "
+"selector or directly enter the file in the entry box.  This would normally "
+"be ~/linuxcnc/configs/__<machine_name>___material.cfg.  If necessary, the "
+"user could select a different file and hand edit the "
+"__<machine_name>___material.cfg file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1593
+msgid "Click *CREATE/CONVERT* and the new material file will be created."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1596
+msgid ""
+"For both a Manual creation or a Fusion 360 conversion, a dialog box will "
+"show with all available parameters displayed for input.  Any entry marked "
+"with pass:[***] is mandatory and all other entries are optional depending on "
+"the user's configuration needs."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:1597
+#, no-wrap
+msgid "images/qtplasmac_material_manual_dialog.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1601
+msgid ""
+"If the user selects ~/linuxcnc/configs/__<machine_name>___material.cfg and "
+"the file already exists, it will be overwritten."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1606
+msgid ""
+"QtPlasmaC has the ability to use a laser to set the origin with or without "
+"rotation compensation. Rotation compensation can be used to align the work "
+"offset to a sheet of material with edge(s) that are not parallel to the "
+"machine's X/Y axes. The LASER button will be enabled after the machine is "
+"homed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1608
+msgid ""
+"To use this feature, the user must set the laser's offset from the torch "
+"center by following the procedure described in "
+"<<peripheral-offsets,Peripheral Offsets>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1610
+msgid ""
+"To modify the offsets manually, the user could edit either or both the "
+"following options in the *[LASER_OFFSET]* section of the "
+"_<machine_name>_.prefs file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1615
+#, no-wrap
+msgid ""
+"X axis = n.n\n"
+"Y axis = n.n\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1618
+msgid ""
+"where _n.n_ is distance from the center line of the torch to the laser's "
+"cross hairs."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1620
+msgid ""
+"Additionally, the laser can be tied to any available output to turn the "
+"laser on and off via a HAL pin with the following name:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1624
+#, no-wrap
+msgid "qtplasmac.laser_on\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1627 src/plasma/qtplasmac.adoc:1681
+#, no-wrap
+msgid "*To set the origin with zero rotation:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1629 src/plasma/qtplasmac.adoc:1639
+#: src/plasma/qtplasmac.adoc:2297
+msgid "Click the *LASER* button."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1630 src/plasma/qtplasmac.adoc:1640
+#, no-wrap
+msgid ""
+"*LASER* button label will change to *MARK EDGE* and the HAL pin named "
+"qtplasmac.laser_on will be turned on.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1631
+#, no-wrap
+msgid "Jog until the laser cross hairs are on top of the desired origin point.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1632 src/plasma/qtplasmac.adoc:1642
+#, no-wrap
+msgid ""
+"Press *MARK EDGE*. The *MARK EDGE* button label will change to *SET "
+"ORIGIN*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1633 src/plasma/qtplasmac.adoc:1644
+#, no-wrap
+msgid ""
+"Press *SET ORIGIN*. The *SET ORIGIN* button label will change to *MARK EDGE* "
+"and the HAL pin named qtplasmac.laser_on will be turned off.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1634 src/plasma/qtplasmac.adoc:1645
+#, no-wrap
+msgid "The torch will now move to the X0 Y0 position.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1635
+#, no-wrap
+msgid "The offset is now successful set.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1637 src/plasma/qtplasmac.adoc:1689
+#, no-wrap
+msgid "*To set the origin with rotation:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1641
+#, no-wrap
+msgid ""
+"Jog until the laser cross hairs are at the edge of the material a suitable "
+"distance away from the desired origin point.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1643
+#, no-wrap
+msgid "Jog until the laser cross hairs are at the origin point of the material.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1646
+#, no-wrap
+msgid "The offset is now successfully set.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1648
+#, no-wrap
+msgid "*To turn the laser off and cancel an alignment:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1650
+msgid "Press the *LASER* button and hold for longer than 750 mSec."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1651
+#, no-wrap
+msgid ""
+"*LASER* button label will change to *LASER* and the HAL pin named "
+"qtplasmac.laser_on will be turned off.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1652 src/plasma/qtplasmac.adoc:1659
+#, no-wrap
+msgid "Release the *LASER* button.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1654
+msgid ""
+"If an alignment laser has been set up then it is possible to use the laser "
+"during <<plasma:cut-recovery,CUT RECOVERY>> for accurate positioning of the "
+"new start coordinates."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1656
+#, no-wrap
+msgid "*To dry run the G-code file with the laser:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1657
+#, no-wrap
+msgid "Ensure there are no bounds errors and CYCLE START is enabled.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1658
+#, no-wrap
+msgid ""
+"Press the *LASER* button and hold for longer than 750 mSec, the laser will "
+"turn on and the dry run will start.\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:1663
+#, no-wrap
+msgid "images/qtplasmac_camview.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1666
+msgid ""
+"QtPlasmaC has the ability to use a USB camera to set the origin with or "
+"without rotation compensation. Rotation compensation can be used to align "
+"the work offset to a sheet of material with edge(s) that are not parallel to "
+"the machine's X/Y axes. The CAMERA button will be enabled after the machine "
+"is homed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1668
+msgid ""
+"To use this feature, the user must set the camera's offset from the torch "
+"center by following the procedure described in "
+"<<peripheral-offsets,Peripheral Offsets>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1670
+msgid ""
+"To modify the offsets manually, the user could edit either or both the "
+"following axes options in the *[CAMERA_OFFSET]* section of the "
+"_<machine_name>_.prefs file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1676
+#, no-wrap
+msgid ""
+"X axis = n.n\n"
+"Y axis = n.n\n"
+"Camera port = 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1679
+msgid ""
+"where _n.n_ is distance from the center line of the torch to the camera's "
+"cross hairs."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1683
+msgid "Jog until the cross hairs are on top of the desired origin point."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1684 src/plasma/qtplasmac.adoc:1692
+msgid ""
+"Press *MARK EDGE*. The *MARK EDGE* button label will change to *SET ORIGIN* "
+"and the *GOTO ORIGIN* button will be disabled."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1685 src/plasma/qtplasmac.adoc:1694
+msgid ""
+"Press *SET ORIGIN*. The *SET ORIGIN* button label will change to *MARK EDGE* "
+"and the *GOTO ORIGIN* button will be enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1686 src/plasma/qtplasmac.adoc:1695
+msgid "The torch will now move to the X0 Y0 position."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1687
+msgid "The offset is now successful set."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1691
+msgid ""
+"Jog until the cross hairs are at the edge of the material a suitable "
+"distance away from the desired origin point."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1693
+msgid "Jog until the cross hairs are at the origin point of the material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1696
+msgid "The offset is now successfully set."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1698
+msgid ""
+"In the CAMVIEW panel, the mouse can affect the cross hairs, and the zoom "
+"level as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1700
+msgid "Mouse Wheel Scroll - Change cross hair diameter."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1701
+msgid "Mouse Wheel Button Double Click - Restores cross hair diameter to default."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1702
+msgid "Mouse Left Button Clicked + Wheel Scroll - Changes camera zoom level."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1703
+msgid ""
+"Mouse Left Button Clicked + Wheel Button Double Click - Restores default "
+"camera zoom level."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1705
+#, no-wrap
+msgid "Path Tolerance"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1708
+msgid ""
+"Path tolerance is set with a G64 command and a following P value. The P "
+"value corresponds to the amount that the actual cut path followed by the "
+"machine may deviate from the programmed cut path."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1710
+msgid ""
+"The default LinuxCNC path tolerance is set for maximum speed which will "
+"severely round corners when used with normal plasma cutting speeds."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1712
+msgid ""
+"It is recommended that the path tolerance is set by placing the appropriate "
+"G64 command and P value in the header of each G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1716
+msgid ""
+"The provided G-code filter program will test for the existence of a `G64 "
+"P__n__` command prior to the first motion command.  If no G64 command is "
+"found it will insert a `G64 P0.1` command which sets the path tolerance to "
+"0.1 mm.  For a imperial config the command will be `G64 P0.004`."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1717
+#, no-wrap
+msgid "For Metric:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1721
+#, no-wrap
+msgid "G64 P0.1\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1723
+#, no-wrap
+msgid "For Imperial:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1727
+#, no-wrap
+msgid "G64 P0.004\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1730
+#, no-wrap
+msgid "Paused Motion"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1733
+msgid ""
+"QtPlasmaC has the ability to allow the repositioning of the X and Y axes "
+"along the current cut path while the G-code program is paused."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1735
+msgid ""
+"In order to use this feature, LinuxCNC's Adaptive Feed Control (M52) must be "
+"turned on (P1)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1737
+msgid ""
+"To enable *Paused Motion* The preamble of the G-code must contain the "
+"following line:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1741
+#, no-wrap
+msgid "M52 P1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1744
+msgid "To turn off *Paused Motion* at any point, use the following command:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1748
+#, no-wrap
+msgid "M52 P0\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1751
+#, no-wrap
+msgid "Pause At End Of Cut"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1755
+msgid ""
+"This feature can be used to allow the arc to \"catch up\" to the torch "
+"position to fully finish the cut.  It is usually required for thicker "
+"materials and is especially useful when cutting stainless steel."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1758
+msgid ""
+"Using this feature will cause all motion to pause at the end of the cut "
+"while the torch is still on.  After the dwell time (in seconds) set by the "
+"*Pause At End* parameter in the MATERIAL section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>> has expired, QtPlasmaC will proceed "
+"with the M5 command to turn off and raise the torch."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1760
+#, no-wrap
+msgid "Multiple Tools"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1763
+msgid ""
+"QtPlasmaC has the ability to allow the use of more than one type of plasma "
+"tool by utilizing LinuxCNC spindles as a plasma tool when running a G-code "
+"program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1765
+msgid "Valid plasma tools for use are:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1768
+#, no-wrap
+msgid "TOOL #"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1769 src/plasma/qtplasmac.adoc:1771
+#, no-wrap
+msgid "Plasma Torch"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1770
+#, no-wrap
+msgid "Used for normal Plasma cutting."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1770 src/plasma/qtplasmac.adoc:2373
+#, no-wrap
+msgid "Scribe"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1771
+#, no-wrap
+msgid "Used for material engraving."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:1772
+#, no-wrap
+msgid "Used for spotting (creating dimples to aid in drilling)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1776
+msgid ""
+"A LinuxCNC spindle number (designated by $_n_) is required to be in the "
+"starting command and also the end command to be able to start and stop the "
+"correct plasma tool.  Examples:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1778
+msgid "`M3 $0 S1` will select and start the plasma cutting tool."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1779
+msgid "`M3 $1 S1` will select and start the scribe."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1780
+msgid "`M3 $2 S1` will select and start the plasma spotting tool."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1782
+msgid "`M5 $0` will stop the plasma cutting tool."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1783
+msgid "`M5 $1` will stop the scribe."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1784
+msgid "`M5 $2` will stop the plasma spotting tool."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1786
+msgid ""
+"It is permissible to use *M5 $-1* in lieu of the M5 $_n_ codes above to stop "
+"all tools."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1792
+msgid ""
+"In order to use a scribe, it is necessary for the user to add the X and Y "
+"axis offsets to the LinuxCNC tool table.  Tool 0 is assigned to the Plasma "
+"Torch and Tool 1 is assigned to the scribe.  Tools are selected with a "
+"*T__n__ M6* command, and then a *G43 H0* command is required to apply the "
+"offsets for the selected tool.  It is important to note that the LinuxCNC "
+"tool table and tool commands only come into play if the user is using a "
+"<<plasma:scribe,scribe>> in addition to a plasma torch.  For more "
+"information, see <<plasma:scribe,scribe>>."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1794
+#, no-wrap
+msgid "Velocity Reduction"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1798
+msgid ""
+"There is a HAL pin available named *motion.analog-out-03* that can be "
+"changed in G-code with the *M67 (Synchronized with Motion)/M68 (Immediate)* "
+"commands.  This pin will reduce the velocity to the percentage specified in "
+"the command."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1800 src/plasma/qtplasmac.adoc:1848
+msgid ""
+"It is important to thoroughly understand the difference between "
+"*Synchronized with Motion* and *Immediate*:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1802
+msgid ""
+"`M67` (Synchronized with Motion) - The actual change of the specified output "
+"(P2 (THC) for example) will happen at the beginning of the next motion "
+"command. If there is no subsequent motion command, the output changes will "
+"not occur. It is best practice to program a motion code (G0 or G1 for "
+"example) right after a M67."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1803
+msgid ""
+"`M68` (Immediate) - These commands happen immediately as they are received "
+"by the motion controller. Since these are not synchronized with motion, they "
+"will break blending. This means if these codes are used in the middle of "
+"active motion codes, the motion will pause to activate these commands."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1807
+msgid "`M67 E3 Q0` would set the velocity to 100% of *CutFeedRate*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1808
+msgid "`M67 E3 Q40` would set the velocity to 40% of *CutFeedRate*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1809
+msgid "`M67 E3 Q60` would set the velocity to 60% of *CutFeedRate*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1810
+msgid "`M67 E3 Q100` would set the velocity to 100% of *CutFeedRate*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1812
+msgid "The minimum percentage allowed is 10%, values below this will be set to 10%."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1814
+msgid ""
+"The maximum percentage allowed is 100%, values above this will be set to "
+"100%."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1816
+msgid ""
+"If the user intends to use this feature it would be prudent to add `M68 E3 "
+"Q0` to both the preamble and postamble of the G-code program so the machine "
+"starts and ends in a known state."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1818
+#, no-wrap
+msgid ""
+"*G-CODE THC* AND *VELOCITY BASED THC* ARE NOT ABLE TO BE USED IF *CUTTER "
+"COMPENSATION* IS IN EFFECT; AN ERROR MESSAGE WILL BE DISPLAYED.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1820
+msgid ""
+"If Cut Feed Rate in the MATERIAL section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>> is set to zero, then QtPlasmaC will "
+"use *motion.requested-velocity* (as set by a standard Feedrate call in the "
+"G-code) for the THC calculations. This is not recommended as it is not a "
+"reliable way of implementing velocity-based THC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1823
+msgid ""
+"All references to CutFeedRate refer to the *Cut Feed Rate* value displayed "
+"in the MATERIAL section of the <<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1825
+#, no-wrap
+msgid "THC (Torch Height Controller)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1828
+msgid ""
+"The THC can be enabled or disabled from the THC frame of the "
+"<<plasma:main-tab,MAIN Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1830
+msgid "The THC can also be enabled or disabled directly from the G-code program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1832
+msgid ""
+"The THC does not become active until the velocity reaches 99.9% of the "
+"*CutFeedRate* and then the THC *Delay* time if any in the THC section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>> has timed out. This is to allow the "
+"arc voltage to stabilize."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1834
+msgid ""
+"QtPlasmaC uses a control voltage which is dependent on the state of the "
+"*AUTO VOLTS* checkbox on the <<plasma:main-tab,MAIN Tab>>:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1836
+msgid ""
+"If *Use Auto Volts* is checked, then the actual cut voltage is sampled at "
+"the end of the THC *Delay* time and this is used as the target voltage to "
+"adjust the height of the torch."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1837
+msgid ""
+"If *Use Auto Volts* is not checked then the voltage displayed as Cut Volts "
+"in the MATERIAL section of the <<plasma:parameters-tab,PARAMETERS Tab>> is "
+"used as the target voltage to adjust the height of the torch."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1838
+#, no-wrap
+msgid "*G-code THC*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1841
+msgid ""
+"THC may be disabled and enabled directly from G-code, provided the THC is "
+"not disabled in the THC Section of the <<plasma:main-tab,MAIN Tab>>, by "
+"setting or resetting the *motion.digital-out-02* pin with the M-Codes "
+"M62-M65:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1843
+msgid "`M62 P2` will disable THC (Synchronized with Motion)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1844
+msgid "`M63 P2` will enable THC (Synchronized with Motion)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1845
+msgid "`M64 P2` will disable THC (Immediately)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1846
+msgid "`M65 P2` will enable THC (Immediately)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1850
+msgid ""
+"`M62` and `M63` (Synchronized with Motion) - The actual change of the "
+"specified output (P2 (THC) for example) will happen at the beginning of the "
+"next motion command. If there is no subsequent motion command, the output "
+"changes will not occur. It is best practice to program a motion code (G0 or "
+"G1 for example) right after a M62 or M63."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1851
+msgid ""
+"`M64` and `M65` (Immediate) - These commands happen immediately as they are "
+"received by the motion controller. Since these are not synchronized with "
+"motion, they will break blending. This means if these codes are used in the "
+"middle of active motion codes, the motion will pause to activate these "
+"commands."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:1853
+#, no-wrap
+msgid "*Velocity Based THC*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1857
+msgid ""
+"If the cut velocity falls below a percentage of *CutFeedRate* (as defined by "
+"the VAD Threshold % value in the THC frame of the CONFIGURATION section of "
+"the <<plasma:parameters-tab,PARAMETERS Tab>>) the THC will be locked until "
+"the cut velocity returns to at least 99.9% of *CutFeedRate*.  This will be "
+"made apparent by the *VELOCITY ANTI DIVE* indicator illuminating in the "
+"<<plasma:control-panel,CONTROL Panel>> on the <<plasma:main-tab,MAIN Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1859
+msgid ""
+"Velocity based THC prevents the torch height being changed when velocity is "
+"reduced for a sharp corner or a small hole."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1861
+msgid ""
+"It is important to note that <<plasma:velocity-reduction,Velocity "
+"Reduction>> affects the Velocity Based THC in the following ways:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1863
+msgid ""
+"If Velocity Reduction is invoked in the middle of the cut, the THC will be "
+"locked."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1864
+msgid ""
+"The THC will remain locked until the velocity reduction is canceled by "
+"returning it to a value that is above the *VAD Threshold*, and the torch "
+"actually reaches 99.9% of the *CutFeedRate*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1870
+msgid ""
+"LinuxCNC (QtPlasmaC) has the ability to automatically adjust the cut path of "
+"the current program by the amount specified in Kerf Width of the selected "
+"material's Cut Parameters.  This is helpful if the G-code is programmed to "
+"the nominal cut path and the user will be running the program on different "
+"thickness materials to help ensure consistently sized parts."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1872
+msgid ""
+"To use cutter compensation the user will need to use G41.1, G42.1 and G40 "
+"with the kerf width HAL pin:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1874
+msgid ""
+"`G41.1 D#<_hal[plasmac.kerf-width]>` : offsets torch to the left of the "
+"programmed path"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1875
+msgid ""
+"`G42.1 D#<_hal[plasmac.kerf-width]>` : offsets torch to the right of the "
+"programmed path"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1876
+msgid "`G40` turns the cutter compensation off"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1878
+msgid ""
+"IF *CUTTER COMPENSATION* IS IN EFFECT *G-CODE THC*, *VELOCITY BASED THC* AND "
+"*OVER CUT* ARE NOT ABLE TO BE USED; AN ERROR MESSAGE WILL BE DISPLAYED."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1880
+#, no-wrap
+msgid "Initial Height Sense (IHS) Skip"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1883
+msgid "Initial Height Sense may be skipped in one of two different ways:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1886
+msgid ""
+"If the THC is disabled, or the THC is enabled but not active, then the IHS "
+"skip will occur if the start of the cut is less than *Skip IHS* distance "
+"from the last successful probe."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1887
+msgid ""
+"If the THC is enabled and active, then the IHS skip will occur if the start "
+"of the cut is less than *Skip IHS* distance from the end of the last cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1889
+msgid "A value of zero for *Skip IHS* will disable all IHS skipping."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1891
+msgid ""
+"Any errors encountered during a cut will disable IHS skipping for the next "
+"cut if *Skip IHS* is enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1898
+msgid ""
+"Probing may be done with either ohmic sensing or a float switch.  It is also "
+"possible to combine the two methods, in which case the float switch will "
+"provide a fallback to ohmic probing.  An alternative to ohmic probing is "
+"<<plasma:offset_probing,Offset Probing>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1902
+msgid ""
+"If the machine's torch does not support ohmic probing, the user could have a "
+"separate probe next to the torch.  In this case the user would extend the "
+"probe below the torch.  The probe must NOT extend more than the minimum Cut "
+"Height below the torch and the Z axis offset distance needs to be entered as "
+"the *Ohmic Offset* in the PROBING frame of the CONFIGURATION section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1904
+msgid ""
+"Probing setup is done in the PROBING frame of the CONFIGURATION section of "
+"the <<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1907
+msgid ""
+"QtPlasmaC can probe at the full Z axis velocity so long as the machine has "
+"enough movement in the float switch to absorb any overrun.  If the machine's "
+"float switch travel is suitable, the user could set the Probe Height to near "
+"the Z axis MINIMUM_LIMIT and do all probing at full speed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1909
+msgid ""
+"Some float switches can exhibit a large switching hysteresis which shows up "
+"in the probing sequence as an excessive time to complete the final probe up."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1911
+msgid "This time may be decreased by changing the speed of the final probe up."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1912
+msgid "This speed defaults to 0.001 mm (0.000039\") per servo cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1913
+msgid ""
+"It is possible to increase this speed by up to a factor of 10 by adding the "
+"following line to the custom.hal file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1917
+#, no-wrap
+msgid "setp plasmac.probe-final-speed n\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1920
+msgid ""
+"where _n_ is a value from 1-10. It is recommended to keep this value as low "
+"as possible."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1922
+msgid ""
+"Using this feature will change the final height slightly and will require "
+"thorough probe testing to confirm the final height."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1924
+msgid ""
+"This speed value affects ALL probing so if the user uses ohmic probing and "
+"the user changes this speed value then the user will need to probe test to "
+"set the require offset to compensate for this speed change as well as the "
+"float travel."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1926
+msgid ""
+"The reliability of this feature will only be as good as the repeatability of "
+"the float switch."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1929
+msgid "Probe Height refers to the height above the Z axis MINIMUM_LIMIT."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1931
+#, no-wrap
+msgid "Offset Probing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1936
+msgid ""
+"Offset Probing is the use of a probe that is offset from the torch.  This "
+"method is an alternative to Ohmic Probing and uses the "
+"`plasmac.ohmic-enable` output pin to operate a solenoid for extending and "
+"retracting the probe.  The `plasmac.ohmic-probe` input pin is used to detect "
+"the material and the *Ohmic Offset* in the PROBING frame of the "
+"CONFIGURATION section of the <<plasma:parameters-tab,PARAMETERS Tab>> is "
+"used to set the correct measured height."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1939
+msgid ""
+"The probe could be a mechanically deployed probe, a permanently mounted "
+"proximity sensor or even simply a stiff piece of wire extending about 0.5 mm "
+"(0.2\") below the torch tip.  If the probe is mechanically deployed, then it "
+"needs to extend/retract rather quickly to avoid excessive probing times and "
+"would commonly be pneumatically operated."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1941
+msgid ""
+"To use this feature, the user must set the probe's offset from the torch "
+"center by following the procedure described in "
+"<<peripheral-offsets,Peripheral Offsets>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1943
+msgid ""
+"To modify the offsets manually, the user could edit either or both the "
+"following options in the *[OFFSET_PROBING]* section of the "
+"_<machine_name>_.prefs file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1949
+#, no-wrap
+msgid ""
+"X axis = n.n\n"
+"Y axis = n.n\n"
+"Delay = t.t\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1952
+msgid ""
+"where _n.n_ is the offset of the probe from the torch center in machine "
+"units for the X and Y axes and _t.t_ is the time in seconds to allow for any "
+"mechanical deployment of the probe if required."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1954
+msgid ""
+"Each of these parameters is optional and also may appear in any order. If a "
+"parameter is not detected, then the default is 0.0. There can be no space "
+"after the X or Z, lower case is permissible."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1957
+msgid ""
+"When this variable appears in the INI file with either X or Y not equal to "
+"zero, then QtPlasmaC will do *all* Ohmic Probing as Offset Probing.  If "
+"Offset Probing is valid then the feed rate at which the X and Y axes move to "
+"the offset position may be adjusted by the use of the *Offset Speed* "
+"parameter in the PROBING frame of the <<plasma:parameters-tab,PARAMETERS "
+"Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1959
+msgid ""
+"When a probe sequence has begun, the `plasmac.ohmic-enable` pin will be set "
+"True causing the probe to extend. When the material is detected the "
+"`plasmac.ohmic-enable` pin will be reset to false causing the probe to "
+"retract."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1962
+msgid ""
+"The probe will begin moving to the offset position simultaneously with the Z "
+"axis moving down to the Probe Height, probing will not commence unless the "
+"deployment timer has completed.  It is required that the *Probe Height* in "
+"the PROBING frame of the CONFIGURATION section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>> is above the top of the material to "
+"ensure that the probe is fully offset to the correct X/Y position before the "
+"final vertical probe down movement."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1964
+msgid ""
+"PROBE HEIGHT NEEDS TO BE SET ABOVE THE TOP OF THE MATERIAL FOR OFFSET "
+"PROBING."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1966
+#, no-wrap
+msgid "Cut Types"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1969
+msgid "QtPlasmaC allows two different cut modes:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1971
+#, no-wrap
+msgid "*NORMAL CUT* - runs the loaded G-code program to pierce then cut.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1972
+#, no-wrap
+msgid ""
+"<<plasma:pierce-only,*PIERCE ONLY*>> - only pierces the material at each cut "
+"start position, useful prior to a *NORMAL CUT* on "
+"<<plasma:thick-materials,thick materials>>\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1974
+msgid "There are two ways of enabling this feature:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1976
+msgid ""
+"Utilize the default <<plasma:button-cut,custom user button>> to toggle "
+"between the cut types."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1977
+msgid ""
+"Adding the following line to the G-code program before the first cut to "
+"enable *Pierce Only* mode for the current file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:1981
+#, no-wrap
+msgid "#<pierce-only> = 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1984
+msgid ""
+"If using a custom user button is utilized then QtPlasmaC will automatically "
+"reload the file when the cut type is toggled."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:1985
+#, no-wrap
+msgid "Hole Cutting - Intro"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1988
+msgid ""
+"It is recommended that any holes to be cut have a diameter no less than one "
+"and a half times the thickness of the material to be cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1990
+msgid ""
+"It is also recommended that holes with a diameter of less than 32&#8239;mm "
+"(1.26\") are cut at 60% of the feed rate used for profile cuts. This should "
+"also lock out THC due to velocity constraints."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1992
+msgid ""
+"QtPlasmaC can utilize G-code commands usually set by a CAM Post Processor "
+"(PP) to aid in hole cutting or if the user does not have a PP or the user's "
+"PP does not support these methods then QtPlasmaC can automatically adapt the "
+"G-code to suit. This automatic mode is disabled by default."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1994
+msgid "There are three methods available for improving the quality of small holes:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1996
+#, no-wrap
+msgid ""
+"*Velocity Reduction* - <<plasma:hole-cutting-velocity-reduction,Reducing the "
+"velocity>> to approximately 60% of the *CutFeedRate*.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1997
+#, no-wrap
+msgid ""
+"*Arc Dwell (<<plasma:pause-at-end,Pause At End>>)* - Keeping the torch on "
+"for a short time at the end of the hole while motion is stopped to allow the "
+"arc to catch up.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:1998
+#, no-wrap
+msgid ""
+"*Over cut* - Turning the torch off at the end of the hole then continue "
+"along the path.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2001
+msgid ""
+"If both *Arc Dwell* and *Over cut* are active at the same time, then *Over "
+"cut* will take precedence."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2003
+#, no-wrap
+msgid ""
+"*OVER CUT* IS NOT ABLE TO BE USED IF CUTTER COMPENSATION IS IN EFFECT; AN "
+"ERROR MESSAGE WILL BE DISPLAYED.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2004
+#, no-wrap
+msgid "Hole Cutting"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2007
+msgid ""
+"G-code commands can be set up by either by a CAM Post Processor (PP) or by "
+"hand coding."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2009
+#, no-wrap
+msgid "*Hole Cutting Velocity Reduction*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2014
+msgid ""
+"If cutting a hole requires a reduced velocity, then the user would use the "
+"following command to set the velocity: `M67 E3 Qnn` where `nn` is the "
+"percentage of the velocity desired.  For example, `M67 E3 Q60` would set the "
+"velocity to 60% of the current material's *CutFeedRate*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2016
+msgid "See the <<plasma:velocity_thc,Velocity Based THC>> section."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2017
+#, no-wrap
+msgid "Sample code for hole cutting with reduced velocity."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2033
+#, no-wrap
+msgid ""
+"G21 (metric)\n"
+"G64 P0.005\n"
+"M52 P1 (allow paused motion)\n"
+"F#<_hal[plasmac.cut-feed-rate]> (feed rate from cut parameters)\n"
+"G0 X10 Y10\n"
+"M3 $0 S1 (start cut)\n"
+"G1 X0\n"
+"M67 E3 Q60 (reduce feed rate to 60%)\n"
+"G3 I10 (the hole)\n"
+"M67 E3 Q0 (restore feed rate to 100%)\n"
+"M5 $0 (end cut)\n"
+"G0 X0 Y0\n"
+"M2 (end job)\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2035 src/plasma/qtplasmac.adoc:2114
+#, no-wrap
+msgid "*Arc Dwell (Pause At End)*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2038
+msgid ""
+"This method can be invoked by setting the <<plasma:pause-at-end,Pause At "
+"End>> parameter in the MATERIAL frame of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2040 src/plasma/qtplasmac.adoc:2105
+#, no-wrap
+msgid "*Over cut*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2044
+msgid ""
+"The torch can be turned off at the end of the hole by setting the "
+"`motion.digital-out-03` pin with the M-Codes `M62` (Synchronized with "
+"Motion)* or `M64` (Immediate).  After turning the torch off it is necessary "
+"to allow the torch to be turned on again before beginning the next cut by "
+"resetting the `motion.digital-out-03` pin with the M-Codes `M63` or `M65`, "
+"this will be done automatically by the QtPlasmaC G-code parser if it reaches "
+"an M5 command without seeing a `M63 P3` or `M65 P3`."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2046
+msgid ""
+"After the torch is turned off the hole path will be followed for a default "
+"length of 4 mm (0.157\"). This distance may be specified by adding "
+"`#<oclength> =` _n_ to the G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2048
+msgid "`M62 P3` will turn the torch off (Synchronized with Motion)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2049
+msgid "`M63 P3` will allow the torch to be turned on (Synchronized with Motion)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2050
+msgid "`M64 P3` will turn the torch off (Immediately)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2051
+msgid "`M65 P3` will allow the torch to be turned on (Immediately)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2053 src/plasma/qtplasmac.adoc:2258
+msgid ""
+"It is important to thoroughly understand the difference between "
+"*Synchronized with motion* and *Immediate*:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2056
+msgid ""
+"`M62 and M63` (Synchronized with Motion) - The actual change of the "
+"specified output (P2 (THC) for example) will happen at the beginning of the "
+"next motion command.  If there is no subsequent motion command, the output "
+"changes will not occur. It is best practice to program a motion code (G0 or "
+"G1 for example) right after a M62 or M63."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2058
+msgid ""
+"`M64 and M65` (Immediate) - These commands happen immediately as they are "
+"received by the motion controller. Since these are not synchronized with "
+"motion, they will break blending.  This means if these codes are used in the "
+"middle of active motion codes, the motion will pause to activate these "
+"commands."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2060 src/plasma/qtplasmac.adoc:2118
+#, no-wrap
+msgid "Sample code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2079
+#, no-wrap
+msgid ""
+"G21 (metric)\n"
+"G64 P0.005\n"
+"M52 P1 (allow paused motion)\n"
+"F#<_hal[plasmac.cut-feed-rate]> (feed rate from cut parameters)\n"
+"G0 X10 Y10\n"
+"M3 $0 S1 (start cut)\n"
+"G1 X0\n"
+"M67 E3 Q60 (reduce feed rate to 60%)\n"
+"G3 I10 (the hole)\n"
+"M62 P3 (turn torch off)\n"
+"G3 X0.8 Y6.081 I10 (continue motion for 4 mm)\n"
+"M63 P3 (allow torch to be turned on)\n"
+"M67 E3 Q0 (restore feed rate to 100%)\n"
+"M5 $0 (end cut)\n"
+"G0 X0 Y0\n"
+"M2 (end job)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2082
+#, no-wrap
+msgid "Hole Cutting - Automatic"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2085
+msgid ""
+"QtPlasmaC has the ability to automatically modify the G-code to reduce the "
+"velocity and/or apply *Over cut* which can be useful when cutting holes."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2087
+msgid ""
+"For valid hole sensing it is required that all values in the G2 or G3 G-code "
+"line are explicit, an error dialog will be displayed if any values are "
+"mathematically calculated."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2089
+msgid ""
+"QtPlasmaC Hole Sensing is disabled by default. It can be enabled/disabled by "
+"using the following G-code parameters to select the desired hole sensing "
+"mode:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2091
+msgid ""
+"`#<holes> = 0` - Causes QtPlasmaC to disable hole sensing if it was "
+"previously enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2092
+msgid ""
+"`#<holes> = 1` - Causes QtPlasmaC to reduce the speed of holes less than "
+"32 mm (1.26\") to 60% of *CutFeedRate*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2093
+msgid ""
+"`#<holes> = 2` - Causes QtPlasmaC to <<plasma:overcut,Over cut>> the hole in "
+"addition to the velocity changes in setting 1."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2094
+msgid ""
+"`#<holes> = 3` - Causes QtPlasmaC to reduce the speed of holes less than "
+"32 mm (1.26\") and arcs less than 16 mm (0.63\") to 60% of *CutFeedRate*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2095
+msgid ""
+"`#<holes> = 4` - Causes QtPlasmaC to <<plasma:overcut,Over cut>> the hole in "
+"addition to the velocity change in setting 3."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2097
+msgid ""
+"The default hole size for QtPlasmaC hole sensing is 32&#8239;mm (1.26\"). It "
+"is possible to change this value with the following command in a G-code "
+"file:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2099
+msgid ""
+"`#<h_diameter> =` _nn_ - To set a diameter (_nn_) in the same units system "
+"as the rest of the G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2102
+msgid ""
+"The default velocity for QtPlasmaC small holes is 60% of the current feed "
+"rate.  It is possible to change this value with the following command in a "
+"G-code file:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2104
+msgid ""
+"`#<h_velocity> =` _nn_ - to set the percentage (_nn_) of the current feed "
+"rate required."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2108
+msgid ""
+"If Hole Sensing modes 2 or 4 are active, QtPlasmaC will over cut the hole in "
+"addition to the velocity changes associated with modes 1 and 3."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2111
+msgid ""
+"The default over cut length for QtPlasmaC hole sensing is 4&#8239;mm "
+"(0.157\").  It is possible to change this value with the following command "
+"in a G-code file:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2113
+msgid ""
+"`#<oclength> =` _nn_ to specify an over cut length (_nn_) in the same units "
+"system as the rest of the G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2117
+msgid ""
+"This feature can be used in addition to setting the desired hole sensing "
+"mode via the appropriate G-code parameter by setting the "
+"<<plasma:pause-at-end,Pause At End>> parameter in the MATERIAL frame of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2134
+#, no-wrap
+msgid ""
+"G21 (metric)\n"
+"G64 P0.005\n"
+"M52 P1 (allow paused motion)\n"
+"F#<_hal[plasmac.cut-feed-rate]> (feed rate from cut parameters)\n"
+"#<holes> = 2 (over cut for holes)\n"
+"#<oclength> = 6.5 (optional, 6.5 mm over cut length)\n"
+"G0 X10 Y10\n"
+"M3 $0 S1 (start cut)\n"
+"G1 X0\n"
+"G3 I10 (the hole)\n"
+"M5 $0 (end cut)\n"
+"G0 X0 Y0\n"
+"M2 (end job)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2138
+msgid "It is OK to have multiple and mixed hole commands in a single G-code file."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2139 src/plasma/qtplasmac.adoc:3532
+#, no-wrap
+msgid "Single Cut"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2142
+msgid ""
+"A single cut is a single unidirectional cutting move often used to cut a "
+"sheet into smaller pieces prior to running a G-code program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2144
+msgid "The machine needs to be homed before commencing a single cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2146
+msgid "A single cut will commence from the machine's current X/Y position."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2148
+#, no-wrap
+msgid "*Automatic Single Cut*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2151
+msgid ""
+"This is the preferred method. The parameters for this method are entered in "
+"the following dialog box that is displayed after pressing a "
+"<<plasma:button-single,user button>> which has been coded to run single cut:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2152
+#, no-wrap
+msgid "images/qtplasmac_single_cut.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2155 src/plasma/qtplasmac.adoc:2165
+#: src/plasma/qtplasmac.adoc:2181
+msgid "Jog to the required X/Y start position."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2156
+msgid ""
+"Set required appropriate material, or edit the Feed Rate for the default "
+"material in the <<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2157
+msgid "Press the assigned single cut user button."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2158
+msgid "Enter the length of the cut along the X and/or Y axes."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2159
+msgid "Press the *CUT* button and the cut will commence."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2160
+#, no-wrap
+msgid "*Pendant Single Cut*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2163
+msgid ""
+"If the machine is equipped with a pendant that can start and stop the "
+"spindle plus jog the X and Y axes, the user can manually perform a single "
+"cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2166
+msgid "Set the required feed rate with the Jog Speed slider."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2167
+msgid "Start the cut process by starting the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2168 src/plasma/qtplasmac.adoc:2185
+msgid "After probing the torch will fire."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2169
+msgid ""
+"When the Arc OK is received the machine can be jogged along the cut line "
+"using the jog buttons."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2170
+msgid "When the cut is complete stop the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2171 src/plasma/qtplasmac.adoc:2189
+msgid "The torch will turn off and the Z axis will return to the starting position."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2173
+#, no-wrap
+msgid "*Manual Single Cut*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2177
+msgid ""
+"Manual single cut requires that either <<plasma:keyboard-shortcuts,keyboard "
+"shortcuts>> are enabled in the GUI SETTINGS section of the "
+"<<plasma:settings-tab,SETTINGS Tab>>, or a custom user button is specified "
+"as a <<plasma:button-mancut,manual cut>> button."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2179
+msgid ""
+"If the user is using a custom user button then, substitute *F9* with *User "
+"Button* in the following description."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2184
+msgid ""
+"Start the procedure by pressing *F9*. The jog speed will be automatically "
+"set to the feed rate of the currently selected material.  The jog label will "
+"blink to indicate that the jog speed is temporarily being overridden (jog "
+"speed manipulation will be disabled while a manual cut is active).  *CYCLE "
+"START* will change to *MANUAL CUT* and blink."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2186
+msgid ""
+"When the Arc OK is received the machine can be jogged along the cut line "
+"using the jog keys."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2187
+msgid ""
+"The Z height will remain locked at the cut height for the duration of the "
+"manual cut, regardless of the Torch Height Controller *ENABLE* status."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2188
+msgid "When the cut is complete press *F9* or *Esc* or the *CYCLE STOP* button."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2190
+msgid ""
+"The jog speed will automatically be returned to the value it was prior to "
+"initiating the manual cut process, the label will stop blinking and the jog "
+"speed manipulation will be enabled. *MANUAL CUT* will stop blinking and "
+"revert to *CYCLE START*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2194
+msgid ""
+"If the torch flames out during cutting, the user must still press *F9* or "
+"*Esc* or the *CYCLE STOP* button to end the cut.  This clears the Z offsets "
+"and returns the torch to the starting position."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2196
+#, no-wrap
+msgid "Thick Materials"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2199
+msgid ""
+"Cutting thick materials can be problematic in that the large amount of "
+"molten metal caused by piercing can shorten the life of consumables and also "
+"may cause a puddle high enough that the torch may hit the puddle while "
+"moving to cut height."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2201
+msgid ""
+"There are several functions built into QtPlasmaC to help alleviate these "
+"issues, Pierce Only and Puddle Jump described in this section as well as "
+"Wiggle Pierce and Ramp Pierce described in the <<plasma:moving-pierce,Moving "
+"Pierce>> section."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2203
+#, no-wrap
+msgid "*Pierce Only*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2206
+#, no-wrap
+msgid ""
+"*Pierce Only* mode converts the loaded G-code program and then runs the "
+"program to pierce the material at the start position of each cut. Scribe and "
+"Spotting commands will be ignored, and no pierce will take place in those "
+"locations.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2208
+msgid ""
+"This mode is useful for thick materials which may produce enough dross on "
+"the material surface from piercing to interfere with the torch while "
+"cutting. The entire sheet can pierced, and then cleaned off prior to "
+"cutting."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2210
+msgid ""
+"It is possible to use near-end-of-life consumables for piercing and then "
+"they can be swapped out for good consumables to be used while cutting."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2213
+msgid ""
+"The pierce location during *Pierce Only* mode may be offset in the X and/or "
+"Y axes to ensure that the arc is able to transfer correctly when piercing "
+"after returning to the *Normal Cut* mode.  The parameters for the X and Y "
+"Offsets are in the PIERCE ONLY frame of the CONFIGURATION section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2215
+#, no-wrap
+msgid "*Pierce Only* is one of two different <<plasma:cut-types,cut types>>\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:2216
+#, no-wrap
+msgid "*Puddle Jump*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2221
+#, no-wrap
+msgid ""
+"*Puddle Jump* is the height that the torch will move to after piercing and "
+"prior to moving to *Cut Height* and is expressed as a percentage of *Pierce "
+"Height*.\n"
+"This allows the torch to clear any puddle of molten material that may be "
+"caused by piercing.\n"
+"The maximum allowable height is 200% of the *Pierce Height*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2223
+msgid ""
+"Setting for *Puddle Jump* are described in <<plasma:material,cut "
+"parameters>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2225
+msgid ""
+"The recommended option is to use *Pierce Only* due to it being able to "
+"utilise near end-of-life consumables."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2227
+#, no-wrap
+msgid "*PUDDLE JUMP* IS DISABLED DURING CUT RECOVERY\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2229
+#, no-wrap
+msgid "Mesh Mode (Expanded Metal Cutting)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2232
+msgid ""
+"QtPlasmaC is capable of cutting of expand (mesh) metal provided the machine "
+"has a pilot arc torch and it is capable of Constant Pilot Arc (CPA) mode."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2235
+#, no-wrap
+msgid ""
+"*Mesh Mode* disables the THC and also ignores a lost Arc OK signal during a "
+"cut.\n"
+"It can be selected by checking the *Mesh Mode* check button in the CONTROL "
+"section of the <<plasma:main-tab,MAIN Tab>>.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2237
+msgid ""
+"If the machine has <<plasma:pm_comms,RS485>> communications enabled with a "
+"Hypertherm PowerMax plasma cutter, selecting *Mesh Mode* will automatically "
+"override the *Cut Mode* for the currently selected material and set it to "
+"cut mode 2 (CPA). When *Mesh Mode* is disabled, the *Cut Mode* will be "
+"return to the default cut mode for the currently selected material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2239
+msgid ""
+"It is also possible to start a *Mesh Mode* cut without receiving an Arc OK "
+"signal by checking the *Ignore Arc OK* check button in the CONTROL section "
+"of the <<plasma:main-tab,MAIN Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2241 src/plasma/qtplasmac.adoc:2268
+msgid ""
+"Both *Mesh Mode* and *Ignore Arc OK* can be enabled/disabled at any time "
+"during a job."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2243
+#, no-wrap
+msgid "Ignore Arc OK"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2246
+#, no-wrap
+msgid ""
+"*Ignore Arc OK* mode disables the THC, will begin a cut without requiring an "
+"Arc OK signal, and will ignore a lost Arc OK signal during a cut.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2248
+msgid "This mode can be selected by:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2250
+msgid ""
+"Checking the *Ignore Arc OK* check button in the CONTROL section of the "
+"<<plasma:main-tab,MAIN Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2251
+msgid "Setting HAL pin *motion.digital-out-01* to 1 via G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2253
+msgid "`M62 P1` will enable *Ignore Arc OK* (Synchronized with Motion)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2254
+msgid "`M63 P1` will disable *Ignore Arc OK* (Synchronized with Motion)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2255
+msgid "`M64 P1` will enable *Ignore Arc OK* (Immediately)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2256
+msgid "`M65 P1` will disable *Ignore Arc OK* (Immediately)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2262
+msgid ""
+"`M62` and `M63` (Synchronized with Motion) - The actual change of the "
+"specified output (P2 (THC) for example) will happen at the beginning of the "
+"next motion command.  If there is no subsequent motion command, the output "
+"changes will not occur.  It is best practice to program a motion code (G0 or "
+"G1 for example) right after a M62 or M63."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2264
+msgid ""
+"`M64` and `M65` (Immediate) - These commands happen immediately as they are "
+"received by the motion controller. Since these are not synchronized with "
+"motion, they will break blending.  This means if these codes are used in the "
+"middle of active motion codes, the motion will pause to activate these "
+"commands."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2266
+msgid ""
+"This mode may also be used in conjunction with *Mesh Mode* if the user "
+"doesn't require an Arc OK signal to begin the cut."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2270
+#, no-wrap
+msgid "Cut Recovery"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2272
+#, no-wrap
+msgid "images/qtplasmac_cut_recovery.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2276
+msgid ""
+"This feature will produce a CUT RECOVERY panel that will allow the torch to "
+"be moved away from the cut path during a <<plasma:paused-motion,paused "
+"motion>> event in order to position the torch over a scrap portion of the "
+"material being cut so that the cut restarts with a minimized arc-divot.  The "
+"CUT RECOVERY panel will display automatically over top of the JOGGING panel "
+"when motion is paused."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2280
+msgid ""
+"It is preferable to make torch position adjustments from the point at which "
+"paused motion occurred, however if moving along the cut path is necessary "
+"prior to setting the new start point, the user may use the paused motion "
+"controls (*REV*, *FWD*, and a *JOG-SPEED* slider) at the top of the CUT "
+"RECOVERY panel.  Once the user is satisfied with the positioning of the "
+"torch along the cut path, moving off the cut path is achieved by pressing "
+"the *DIRECTION* buttons.  Each press of the *DIRECTION* button will move the "
+"torch a distance equivalent to the *Kerf Width* parameter of the currently "
+"selected material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2282
+msgid ""
+"The moment the torch has been moved off the cut path, the paused motion "
+"controls (*REV*, *FWD*, and a *JOG-SPEED* slider) at the top of the CUT "
+"RECOVERY panel will become disabled."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2284
+msgid ""
+"Once the torch position is satisfactory, press *CYCLE RESUME* and the cut "
+"will resume from the new position and travel the shortest distance to the "
+"original paused motion location. The CUT RECOVERY panel will close, and the "
+"JOGGING panel will display when the torch returns to the original paused "
+"motion location."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2287
+msgid ""
+"Pressing *CANCEL MOVE* will cause the torch to move back to where it was "
+"positioned before the direction keys were used to offset the torch.  It will "
+"not reset any *REV* or *FWD* motion."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2290
+msgid ""
+"Pressing *CYCLE STOP* will cause the torch to move back to where it was "
+"positioned before the direction keys were used to offset the torch and the "
+"CUT RECOVERY panel overlay will return to the JOGGING panel.  It will not "
+"reset any *REV* or *FWD* motion."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2293
+msgid ""
+"If an alignment laser has been set up then it is possible to use the laser "
+"during cut recovery for very accurate positioning of the new start "
+"coordinates.  If either the X axis offset or Y axis offset for the laser "
+"would cause the machine to move out of bounds, then an error message will be "
+"displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2295
+#, no-wrap
+msgid "*To use a laser for cut recovery when paused during a cut:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2298
+#, no-wrap
+msgid ""
+"*LASER* button will change to disabled, the HAL pin named qtplasmac.laser_on "
+"will be turned on and the X and Y axis will offset so that the laser cross "
+"hairs will indicate the starting coordinates of the cut when it is "
+"resumed.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2299
+#, no-wrap
+msgid "Continue the cut recovery as described above.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2301
+msgid ""
+"If a laser offset is in effect when *CANCEL MOVE* is pressed, then this "
+"offset will also be cleared."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2305
+msgid ""
+"Cut recovery movements will be limited to a radius of 10&#8239;mm (0.4\") "
+"from either the point the program was paused, or from the last point on the "
+"cut path if paused motion was used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2307
+msgid "PUDDLE JUMP IS DISABLED DURING CUT RECOVERY"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2312
+msgid ""
+"If the user has the Run From Line option enabled in the GUI SETTINGS section "
+"of the <<plasma:settings-tab,SETTINGS Tab>> then they will have the ability "
+"to start from any line in a G-code program via the following methods:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2314
+msgid "Clicking any line in the Preview Window"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2315
+msgid "Clicking any line in the G-code Window"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2318
+msgid ""
+"It is important to note that G-code programs can be run from any selected "
+"line using this method, however a leadin may not be possible depending on "
+"the line selected.  In this case, an error message will be displayed to let "
+"the user know the leadin calculation was not possible."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2321
+msgid ""
+"Once the user has selected the starting place, the *CYCLE START* button will "
+"blink *\"SELECTED __nn__\"* where _nn_ is the corresponding line number "
+"selected.  Clicking this button will bring up the following Run From Line "
+"dialog box:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2324
+msgid ""
+"It is not possible to use Run From Line from within a subroutine.  If the "
+"user selects a line within a subroutine and clicks *\"SELECTED __nn__\"* "
+"then an error message will be displayed that includes the O-code name of the "
+"subroutine."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2327
+msgid ""
+"It is not possible to use Run From Line if previous G-code has set cutter "
+"compensation active.  If the user selects a line while cutter compensation "
+"is active and clicks *\"SELECTED __nn__\"* then an error message will be "
+"displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2329
+msgid "It is possible to select a new line while Run From Line is active."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2330
+#, no-wrap
+msgid "images/qtplasmac_rfl_options.png"
+msgstr ""
+
+#. type: Title ====
+#: src/plasma/qtplasmac.adoc:2332
+#, no-wrap
+msgid "HERE TO END"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2335
+#, no-wrap
+msgid ""
+"*HERE TO END* will run from the beginning of the selected line to the end of "
+"the G-code file with the option of adding a leadin.\n"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2336
+#, no-wrap
+msgid "images/qtplasmac_rfl_here_to_end.png"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2341
+#, no-wrap
+msgid "USE LEADIN"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2342
+#, no-wrap
+msgid ""
+"This radio button will allow the user to start the selected line with a "
+"leadin."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2342
+#, no-wrap
+msgid "LEADIN LENGTH"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2343
+#, no-wrap
+msgid ""
+"If USE LEADIN is selected, this will set the length of the lead in the "
+"machine units."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2343
+#, no-wrap
+msgid "LEADIN ANGLE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2349
+#, no-wrap
+msgid ""
+"If USE LEADIN is selected, this will set the angle of approach for the "
+"leadin. +\n"
+"The angle is measured such that positive increases in value move the leadin "
+"counterclockwise: +\n"
+"0 Degrees = 3 o'clock position +\n"
+"90 Degrees = 12 o'clock position +\n"
+"180 Degrees = 9 o'clock position +\n"
+"270 Degrees = 6 o'clock position"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2349
+#, no-wrap
+msgid "CANCEL"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2350
+#, no-wrap
+msgid "This button will cancel the Run From Line dialog box and any selections."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2350
+#, no-wrap
+msgid "LOAD"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2354
+#, no-wrap
+msgid ""
+"This button will load a temporary \"rfl.ngc\" program with any selected "
+"leadin parameters applied. +\n"
+"If the leadin cannot be calculated for the selected line, the following "
+"error message will be displayed: +\n"
+"\"Unable to calculate a leadin for this cut +\n"
+"Program will run from selected line with no leadin applied\""
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2358
+msgid ""
+"After pressing *LOAD*, the blinking \"SELECTED _nn_\" button will change to "
+"*RUN FROM LINE CYCLE START* button.  Click this button to start the program "
+"from the beginning of the selected line."
+msgstr ""
+
+#. type: Title ====
+#: src/plasma/qtplasmac.adoc:2359
+#, no-wrap
+msgid "THIS CUTPATH"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2362
+#, no-wrap
+msgid ""
+"*THIS CUTPATH* will run only the cutpath that the selected segment is a part "
+"of.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2365
+msgid ""
+"The blinking \"SELECTED _nn_\" button will change to *RUN FROM LINE CYCLE "
+"START* button.  Click this button to run the selected cutpath."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2367
+#, no-wrap
+msgid "*Run From Line selections may be canceled in the following ways:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2369
+msgid ""
+"Click the background of the preview window - this method will cancel a "
+"selection of either a cut line in the preview window, or a G-code line in "
+"the G-code window."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2370
+msgid ""
+"Click the text of the first line of the G-code program in the G-code display "
+"- this method will cancel a selection of either a cut line in the preview "
+"window, or a G-code line in the G-code window."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2371
+msgid ""
+"Clicking *RELOAD* in the G-code window header - this method will cancel the "
+"Run From Line process if LOAD was clicked on the Run From Line dialog box "
+"and \"rfl.ngc\" is displayed as the loaded file name in the G-code window "
+"header. This will return the user to the originally loaded file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2376
+msgid "A scribe may be operated by QtPlasmaC in addition to the plasma torch."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2378
+msgid ""
+"Using a scribe requires the use of the LinuxCNC tool table. Tool 0 is "
+"assigned to the plasma torch and Tool 1 is assigned to the scribe. The "
+"scribe X and Y axes offsets from the plasma torch need to be entered into "
+"the LinuxCNC tool table. This is done by editing the tool table via the main "
+"GUI, or by editing the *tool.tbl* file in the *_<machine_name>_* "
+"configuration directory. This will be done after the scribe can move to the "
+"work piece to help determine the appropriate offset."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2381
+msgid ""
+"The plasma torch offsets for X and Y will always be zero. The tools are "
+"selected by the *T__n__ M6* command followed by a *G43 H0* command which is "
+"required to apply the offsets.  The tool is then started with a *M3 $_n_ S1* "
+"command. For _n_, use 0 for torch cutting or 1 for scribing."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2383
+msgid "To stop the scribe, use the G-code command *M5 $1*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2386
+msgid ""
+"If the user has not yet assigned the HAL pins for the scribe in the "
+"configuration wizard then they may do so by using the appropriate "
+"<<configuring,configuration wizard>> or by manually editing the HAL file, "
+"see <<plasma:modify-config,modifying QtPlasmaC>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2389
+msgid ""
+"There are two HAL output pins used to operate the scribe; the first pin is "
+"used to arm the scribe which moves the scribe to the surface of the "
+"material.  After the <<plasma:scribe-config,Arm Delay>> has elapsed, the "
+"second pin is used to start the scribe. After the <<plasma:scribe-config,On "
+"Delay>> has elapsed, motion will begin."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2391
+msgid ""
+"Using QtPlasmaC after enabling the scribe requires the selection of either "
+"the torch or the scribe in each G-code file as a LinuxCNC tool."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2393
+msgid ""
+"The first step is to set the offsets for the scribe by following the "
+"procedure described in <<peripheral-offsets,Peripheral Offsets>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2395
+msgid ""
+"The final step is to set the <<plasma:scribe-config,scribe delays>> "
+"required:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2397
+#, no-wrap
+msgid ""
+"*Arm Delay* - allows time for the scribe to descend to the surface of the "
+"material.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2398
+#, no-wrap
+msgid "*On Delay* - allows time for the scribe to start before motion begins.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2400
+msgid "Save the parameters in the Config tab."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2402
+msgid ""
+"After the above directions are completed, the scribe may be tested manually "
+"by issuing a *M3 $1 S1* command in the MDI input. The user may find it "
+"helpful to use this method to scribe a small divot and then try to pulse the "
+"torch in the same location to align the offsets between the scribe and the "
+"torch."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2404
+msgid "To use the scribe from G-code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2420
+#, no-wrap
+msgid ""
+"...\n"
+"M52 P1 (paused motion on)\n"
+"F#<_hal[plasmac.cut-feed-rate]>\n"
+"T1 M6 (select scribe)\n"
+"G43 H0 (apply offsets for current tool)\n"
+"M3 $1 S1 (start the scribe)\n"
+".\n"
+"M5 $1 (stop the scribe)\n"
+".\n"
+"T0 M6 (select torch)\n"
+"G43 H0 (apply offsets for current tool)\n"
+"G0 X0 Y0 (parking position)\n"
+"M5 $-1 (end all)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2423
+msgid ""
+"It is a good idea to switch back to the torch at the end of the program "
+"before the final rapid parking move, so the machine is always in the same "
+"state at idle."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2425
+msgid ""
+"The user can switch between the torch and the scribe any number of times "
+"during a program by using the appropriate G-codes."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2428
+msgid ""
+"Issuing *M3 S1* (without $_n_) will cause the machine to behave as if an *M3 "
+"$0 S1* had been issued and issuing *M5* (without $_n_) will cause the "
+"machine to behave as if an *M5 $0* had been issued.  This will control the "
+"torch firing by default in order to provide backward compatibility for "
+"previous G-code files."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2430
+msgid ""
+"If there is an existing manual tool change parameter set in the "
+"_<machine_name>_.hal file then QtPlasmaC will convert it to an automatic "
+"tool change."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2432
+#, no-wrap
+msgid "Spotting"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2435
+msgid ""
+"To achieve spotting to mark the material prior to drilling etc., QtPlasmaC "
+"can pulse the torch for a short duration to mark the spot to drill."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2437
+msgid "Spotting can be configured by following these steps:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2439
+msgid ""
+"Set the arc voltage *Threshold* in the Spotting section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>. Setting the voltage threshold to "
+"zero will cause the delay timer to begin immediately upon starting the "
+"torch. Setting the voltage threshold above zero will cause the delay timer "
+"to begin when the arc voltage reaches the threshold voltage."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2440
+msgid ""
+"Set the *Time On* in the Spotting section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>. When the *Time On* timer has "
+"elapsed, the torch will turn off. Times are adjustable from 0 to 9999 "
+"milliseconds."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2442
+msgid ""
+"The torch is then turned on in G-code with the *M3 $2 S1* command which "
+"selects the plasma torch as a spotting tool."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2444
+msgid "To turn the torch off, use the G-code command *M5 $2*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2446
+msgid ""
+"For more information on multiple tools, see <<plasma:multi-tool,multiple "
+"tools>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2449
+msgid ""
+"LinuxCNC (QtPlasmaC) requires some motion between any *M3* and *M5* "
+"commands.  For this reason, a minimal movement at a high speed is required "
+"to be programmed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2451
+msgid "An example G-code is:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2469
+#, no-wrap
+msgid ""
+"G21 (metric)\n"
+"F99999 (high feed rate)\n"
+".\n"
+".\n"
+"G0 X10 Y10\n"
+"M3 $2 S1 (spotting on)\n"
+"G91 (relative distance mode)\n"
+"G1 X0.000001\n"
+"G90 (absolute distance mode)\n"
+"M5 $2 (spotting off)\n"
+".\n"
+".\n"
+"G0 X0 Y0\n"
+"G90\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2473
+msgid ""
+"The *high feed rate* of 99999 is to ensure that the motion is at the "
+"machine's highest feed rate."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2476
+#, no-wrap
+msgid ""
+"SOME PLASMA CUTTERS WILL NOT BE SUITABLE FOR THIS FEATURE.\n"
+"IT IS RECOMMENDED THAT THE USER CARRY OUT SOME TEST SPOTTING TO ENSURE THAT "
+"THE PLASMA CUTTER IS CAPABLE OF UTILIZING THIS FEATURE."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2478
+#, no-wrap
+msgid "Tube Cutting"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2481
+msgid ""
+"Tube cutting with an angular A, B, or C axis is achieved with the following "
+"in the G-code file:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2483
+msgid "#<tube_cut>=1 magic comment before any motion command."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2484
+msgid ""
+"All material probing must be done using the "
+"link:../gcode/g-code.html#gcode:g38[G38] straight probe codes."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2485
+msgid ""
+"All Z axis motion is required, plasmac does no internal Z axis motion during "
+"tube cutting."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2486
+msgid ""
+"PIERCE_DELAY is the only required <<plasma:material-handling,material "
+"parameter>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2487
+msgid "Start a cut with M3 $0 S1."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2488
+msgid "End a cut with M5 $0"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2490
+#, no-wrap
+msgid "Virtual Keyboard Custom Layouts"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2493
+msgid ""
+"Virtual keyboard support is available for only the \"onboard\" onscreen "
+"keyboard. If it is not already on the system, it may be installed by typing "
+"the following in a terminal:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2496
+#, no-wrap
+msgid "sudo apt install onboard\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2499
+msgid "The following two custom layouts are used for soft key support:"
+msgstr ""
+
+#. type: Named 'title' AttributeList argument for macro 'image'
+#: src/plasma/qtplasmac.adoc:2500
+#, no-wrap
+msgid "Number keypad - used for the CONVERSATIONAL Tab and the PARAMETERS Tab"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2500
+#, no-wrap
+msgid "images/qtplasmac_numpad.png"
+msgstr ""
+
+#. type: Named 'title' AttributeList argument for macro 'image'
+#: src/plasma/qtplasmac.adoc:2502
+#, no-wrap
+msgid "Alpha-numeric keypad - used for G-code editing and file management."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2502
+#, no-wrap
+msgid "images/qtplasmac_keypad.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2505
+msgid ""
+"If the virtual keyboard has been repositioned and on the next opening of a "
+"virtual keyboard it is not visible, then clicking twice on the onboard icon "
+"in the system tray will reposition the virtual keyboard so the move handle "
+"is visible."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2507
+#, no-wrap
+msgid "Keyboard Shortcuts"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2510
+msgid "Below is a list of all available keyboard shortcuts in QtPlasmaC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2513
+msgid "All keyboard shortcuts are disabled by default."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2515
+msgid ""
+"In order to utilize them, *KB Shortcuts* must be enabled in the *GUI "
+"SETTINGS* section of the <<plasma:settings-tab,SETTINGS Tab>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2518
+#, no-wrap
+msgid "Keyboard Shortcut"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2520
+#, no-wrap
+msgid ""
+"Aborts current automated motion (example: a running program, a probe test, "
+"etc.) as well as an active torch pulse (behaves the same as clicking CYCLE "
+"STOP)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2521
+#, no-wrap
+msgid "Toggles the GUI E-STOP button (if the GUI E-STOP button is enabled)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2522
+#, no-wrap
+msgid "Toggles the GUI power button."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2522
+#, no-wrap
+msgid "F9"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2523
+#, no-wrap
+msgid "Toggles the \"Cutting\" command, used to begin or end a manual cut."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2523
+#, no-wrap
+msgid "F12"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2524
+#, no-wrap
+msgid "Show stylesheet editor."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2524
+#, no-wrap
+msgid "ALT+RETURN"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2527
+#, no-wrap
+msgid ""
+"Places QtPlasmaC into Manual Data Input (MDI) mode. +\n"
+"Note that ALT + ENTER will achieve the same result. +\n"
+"In addition, pressing RETURN (or ENTER) with no entry in the MDI will close "
+"the MDI window."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2527
+#, no-wrap
+msgid "`, 1-9, 0"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2528
+#, no-wrap
+msgid ""
+"Changes jog speed to 0%, 10%-90%, 100% of the value present in the "
+"DEFAULT_LINEAR_VELOCITY variable in the *[DISPLAY]* section of the "
+"_<machine_name>_.ini file."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2528
+#, no-wrap
+msgid "SHIFT+`, 1-9, 0"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2529
+#, no-wrap
+msgid "Changes rapid speed to 0%, 10%-90%, 100%."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2529
+#, no-wrap
+msgid "CTRL+1-9, 0"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2530
+#, no-wrap
+msgid "Changes feed rate to 10%-90%, 100%."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2530
+#, no-wrap
+msgid "CTRL+HOME"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2531
+#, no-wrap
+msgid ""
+"Homes all axes if they are not yet homed and have a homing sequence set in "
+"the _<machine_name>_.ini file. If they are already homed, they will no "
+"longer be homed."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2531
+#, no-wrap
+msgid "CTRL+R"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2532
+#, no-wrap
+msgid ""
+"Cycle Start if the program is not already running. Cycle Resume if the "
+"program is paused."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2532
+#, no-wrap
+msgid "END"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2533
+#, no-wrap
+msgid "Touches off X and Y to 0."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2533
+#, no-wrap
+msgid "DEL"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2534
+#, no-wrap
+msgid ""
+"Allows the user to use a laser to set an origin with or without "
+"rotation. See the <<plasma:laser,LASER section>> for detailed instructions."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2534
+#, no-wrap
+msgid "SPACE BAR"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2535
+#, no-wrap
+msgid "Pauses motion."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2535
+#, no-wrap
+msgid "CTRL+SPACE BAR"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2536
+#, no-wrap
+msgid "Clears notifications."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2537
+#, no-wrap
+msgid "Opens a new program."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2538
+#, no-wrap
+msgid ""
+"Loads the previously opened program if no program is loaded. Reloads the "
+"current program if there is a program loaded."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2539
+#, no-wrap
+msgid "Jogs the X axis positive."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2540
+#, no-wrap
+msgid "Jogs the X axis negative."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2541
+#, no-wrap
+msgid "Jogs the Y axis positive."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2542
+#, no-wrap
+msgid "Jogs the Y axis negative."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2542
+#, no-wrap
+msgid "PAGE UP"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2543
+#, no-wrap
+msgid "Jogs the Z axis positive."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2543
+#, no-wrap
+msgid "PAGE DOWN"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2544
+#, no-wrap
+msgid "Jogs the Z axis negative."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2544
+#, no-wrap
+msgid "["
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2545
+#, no-wrap
+msgid "Jogs the A axis positive."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2545
+#, no-wrap
+msgid "]"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2546
+#, no-wrap
+msgid "Jogs the A axis negative."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2546
+#, no-wrap
+msgid "."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2547
+#, no-wrap
+msgid "Jogs the B axis positive."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2547
+#, no-wrap
+msgid ","
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2548
+#, no-wrap
+msgid "Jogs the B axis negative."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2548
+#, no-wrap
+msgid "SHIFT (+ Jog Key)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2549
+#, no-wrap
+msgid "The shift key is used with any jog key to invoke a rapid jog."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2549
+#, no-wrap
+msgid "+ (+Jog Key)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2550
+#, no-wrap
+msgid ""
+"The plus key can be used with any jog key to invoke a rapid jog (behaves the "
+"same as SHIFT)."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2550
+#, no-wrap
+msgid "- (+Jog Key)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2552
+#, no-wrap
+msgid ""
+"The minus key can be used with any jog key to invoke a slow jog (10% of the "
+"displayed jog speed) +\n"
+"If SLOW jogging is already active, the axis will jog at the displayed jog "
+"speed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2559
+msgid ""
+"In addition to the typical G and M codes that are allowed by LinuxCNC in MDI "
+"mode, the MDI in QtPlasmaC can be used to access several other handy "
+"features.  The following link outlines the features and their use: "
+"<<sub:qtvcp:widgets:mdiline>>[MDILine Widget]"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2562
+msgid "M3, M4, and M5 are not allowed in the QtPlasmaC MDI."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2564
+#, no-wrap
+msgid ""
+"*In addition, pressing RETURN (or ENTER) with no entry in the MDI will close "
+"the MDI window.*\n"
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:2566
+#, no-wrap
+msgid "Conversational Shape Library"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2572
+msgid ""
+"The *Conversational Shape Library* consists of several basic shapes and "
+"functions to assist the user with generating quick G-code at the machine to "
+"cut simple shapes quickly.  This feature is found on the "
+"<<plasma:conversational-tab,CONVERSATIONAL Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2575
+msgid ""
+"The Conversational Library is not meant to be a CAD/CAM replacement as there "
+"are limitations to what can be achieved."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2577
+msgid ""
+"Blank entries in the shape input boxes will use the current setting at the "
+"time the G-code was generated. For example, if *X start* was left blank then "
+"the current X axis position would be used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2579
+msgid "All leadins and leadouts are arcs except for *Circles* and *Stars*:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2581
+#, no-wrap
+msgid "*Circles:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2583
+msgid "If the circle is external then any leadin or leadout will be an arc."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2584
+msgid ""
+"If the circle is internal and a *small hole* then any leadin will be "
+"perpendicular and there will be no lead out."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2587
+msgid ""
+"If the circle is internal and not a *small hole* then any leadin and leadout "
+"will be an arc.  If the leadin has a length greater than half the radius "
+"then the leadin will revert to perpendicular and there will be no leadout.  "
+"If the leadout has a length greater than half the radius then there will be "
+"no leadout."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2589
+#, no-wrap
+msgid "*Stars:*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2591
+msgid ""
+"The leadin is at the same angle as the first cut and the leadout is at the "
+"same angle as the last cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2593
+msgid ""
+"A *small hole* is a circle that is smaller than the SMALL HOLE DIAMETER "
+"specified in the CONVERSATIONAL SETTINGS page."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2595
+msgid "The holes in a BOLT CIRCLE shape will also abide by the above rules."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2597
+#, no-wrap
+msgid "*The cut order will occur in the same order as the shape was built.*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2600
+msgid ""
+"Pressing *Return* on the keyboard while editing parameters will "
+"automatically show the preview of the shape if there are enough parameters "
+"entered to create the shape.  Clicking any of the available check boxes will "
+"do the same."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2602
+msgid "The general functions are as follows:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2606
+#, no-wrap
+msgid "Material Drop-Down"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2609
+#, no-wrap
+msgid ""
+"Allows the user to select the desired material for cutting. +\n"
+"If \"VIEW MATERIAL\" is selected on the <<plasma:settings-tab,SETTINGS "
+"Tab>>, a visual reference showing key material cut settings will be "
+"displayed on the Conversational Preview Window. +\n"
+"Examples are:  Feed Rate, Pierce Height, Pierce Delay, Cut Height, and Kerf "
+"Width (for Conversational only). Cut Amps will be shown if PowerMax "
+"communications are enabled."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2609
+#, no-wrap
+msgid "NEW"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2610
+#, no-wrap
+msgid "Removes the current G-code file and load a blank G-code file."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2610
+#, no-wrap
+msgid "SAVE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2611
+#, no-wrap
+msgid "Opens a dialog box allowing the current shape to be saved as a G-code file."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2611
+#, no-wrap
+msgid "SETTINGS"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2612
+#, no-wrap
+msgid "Allows the changing of the global settings."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2612
+#, no-wrap
+msgid "SEND"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2613
+#, no-wrap
+msgid ""
+"Loads the current shape into LinuxCNC (QtPlasmaC). If the last edit was not "
+"added, then it will be discarded."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2613
+#, no-wrap
+msgid "PREVIEW"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2614
+#, no-wrap
+msgid ""
+"Displays a preview of the current shape provided the required information is "
+"present."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2614
+#, no-wrap
+msgid "CONTINUE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2615
+#, no-wrap
+msgid ""
+"This button is used for lines and arcs only. Allows another segment to be "
+"added to the current segment/segments."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2615
+#, no-wrap
+msgid "ADD"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2616
+#, no-wrap
+msgid "Stores the current shape into the current job."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2616
+#, no-wrap
+msgid "UNDO"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2617
+#, no-wrap
+msgid "Reverts to the previously stored state. +"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:2618
+#, no-wrap
+msgid "Reloads the original G-code file or a blank file if none was loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2623
+msgid ""
+"If there is a G-code file loaded in LinuxCNC (QtPlasmaC) when the "
+"<<plasma:conversational-tab,CONVERSATIONAL Tab>> is selected, that code will "
+"be imported into the conversational as the first shape of the job.  If this "
+"code is not required, then it can be removed by pressing the *NEW* button."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2626
+msgid ""
+"If there is an added shape that is unsaved or unsent then it is not possible "
+"to switch tabs in the GUI.  To re-enable switching tabs, it is necessary to "
+"either *SAVE* the shape, *SEND* the shape, or press *NEW* to remove the "
+"shape."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2628
+msgid ""
+"If *NEW* is pressed to remove an added shape that is unsaved or unsent then "
+"a warning dialog will be displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2631
+msgid ""
+"All distances are in machine units relative to the current User Coordinate "
+"System and all angles are in degrees."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2632
+#, no-wrap
+msgid "Conversational Settings"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2636
+msgid ""
+"Global settings for the shape library can be set by pressing the *SETTINGS* "
+"button in the <<plasma:conversational-tab,CONVERSATIONAL Tab>>.  This will "
+"display all of the available settings parameters that are used for G-code "
+"program creation. These include:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2638
+#, no-wrap
+msgid "*Preamble*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2639
+#, no-wrap
+msgid "*Postamble*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2640
+#, no-wrap
+msgid "*Origin (Center or Bottom Left)*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2641
+#, no-wrap
+msgid "*Leadin length*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2642
+#, no-wrap
+msgid "*Leadout length*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2643
+#, no-wrap
+msgid "*Small hole diameter*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2644
+#, no-wrap
+msgid "*Small hole speed*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2645
+#, no-wrap
+msgid "*Preview Window Grid Size*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2647
+msgid ""
+"Any internal circle that has a diameter less than *Small hole diameter* is "
+"classified as a small hole and will have a straight leadin with a length "
+"that is the lesser of either the radius of the hole or the specified leadin "
+"length. It will also have its feed rate set to *Small hole speed*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2650
+msgid ""
+"Preamble and Postamble may be entered as a string of G-Codes and M-Codes "
+"separate by spaces.  If the user wishes for the generated G-code to have "
+"each code on an individual line, then this is made possible by separating "
+"the codes with *\\n*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2652
+msgid "This will place all codes on the same line:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2659
+msgid "This will place each code on its own line:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2663
+#, no-wrap
+msgid "G21\\nG40\\nG49\\nG64p0.1\\nG80\\nG90\\nG92.1\\nG94\\nG97\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2666
+msgid "Pressing the *RELOAD* button will discard any changed but unsaved settings."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2668
+msgid "Pressing the *SAVE* button will save all the settings as displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2670
+msgid ""
+"Pressing the *EXIT* button will close the setting panel and return to the "
+"previous shape."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2671
+#, no-wrap
+msgid "Conversational Lines And Arcs"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2673
+#, no-wrap
+msgid "images/qtplasmac_conv_line.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2676
+msgid ""
+"Lines and arcs have an additional option in that they may be strung together "
+"to create a complex shape."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2678
+msgid "There are two line types and three arc types available:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2680
+#, no-wrap
+msgid "*Line* given a start point and an end point.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2681
+#, no-wrap
+msgid "*Line* given a start point, length, and angle.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2682
+#, no-wrap
+msgid "*Arc* given a start point, way point, and end point.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2683
+#, no-wrap
+msgid "*Arc* given a start point, end point, and radius.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2684
+#, no-wrap
+msgid "*Arc* given a start point, length, angle, and radius.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2686
+msgid "To use lines and arcs:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2688
+msgid "Select the *Lines and Arcs* icon."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2689
+msgid "Select the type of line or arc to create."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2691 src/plasma/qtplasmac.adoc:2714
+msgid ""
+"Choose the material from the MATERIAL drop-down.  If no material is chosen, "
+"the default material (00000) will be used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2692
+msgid "Enter the desired parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2693
+msgid "Press *PREVIEW* to see the shape."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2694
+msgid "If satisfied with the shape press *CONTINUE*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2695
+msgid ""
+"Change the line or arc type if needed and continue this procedure until the "
+"shape is complete."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2696 src/plasma/qtplasmac.adoc:2718
+#: src/plasma/qtplasmac.adoc:2751
+msgid "Press *SEND* to send the G-code file to LinuxCNC (QtPlasmaC) for cutting."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2698
+msgid ""
+"If the user wishes to create a closed shape, they will need to create any "
+"required leadin as the first segment of the shape. If a leadout is required, "
+"it will need to be the last segment of the shape."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2701
+msgid ""
+"At this stage there is no automatic option for a leadin/leadout creation if "
+"the shape is closed."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2702
+#, no-wrap
+msgid "Conversational Single Shape"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2705
+msgid "The following shapes are available for creation:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2706
+#, no-wrap
+msgid "images/qtplasmac_conv_shapes.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2709
+msgid "To create a shape:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2712
+msgid ""
+"Select the corresponding icon for the shape to create.  The available "
+"parameters will be displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2715
+msgid "Enter the appropriate values and press *PREVIEW* to display the shape."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2716
+msgid ""
+"If the shape is not correct, edit the values and press *PREVIEW* and the new "
+"shape will be displayed. Repeat until satisfied with the shape."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2717
+msgid "Press *ADD* to add the shape to the G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2721
+msgid ""
+"For *CIRCLE*, the *OVER CUT* button will become valid when a CUT TYPE of "
+"INTERNAL is selected and the value entered in the DIAMETER field is less "
+"than the Small Hole Diameter parameter in the Conversational SETTINGS "
+"section."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2723
+msgid ""
+"For *BOLT CIRCLE* the *OVER CUT* button will become valid if the value "
+"entered in the HOLE DIA field is less than the SMALL HOLES DIAMETER "
+"parameter in the Conversational SETTINGS section."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2725
+msgid ""
+"For the following shapes, KERF OFFSET will become active once a LEAD IN is "
+"specified:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2727
+msgid "TRIANGLE"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2728
+msgid "RECTANGLE"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2729
+msgid "POLYGON"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2730
+msgid "SLOT"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2731
+msgid "STAR"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2732
+msgid "GUSSET"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2733
+#, no-wrap
+msgid "Conversational Group Of Shapes"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2736
+msgid "Multiple shapes can be added together to create a complex group."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2738
+msgid ""
+"The cut order of the group is determined by the order in which the "
+"individual shapes are added to the group."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2740
+msgid "Once a shape is added to the group it cannot be edited or removed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2742
+msgid "Groups cannot have shapes removed, only added to."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2744
+msgid "To create a group of shapes:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2746
+msgid "Create the first shape as in *Single Shape*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2747
+msgid "Press *ADD* and the shape will be added to the group."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2748
+msgid ""
+"If the user wishes to add another version of the same shape, then edit the "
+"required parameters and press *ADD* when satisfied with the shape."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2749
+msgid ""
+"If the user wishes to add a different shape, select that shape and create it "
+"as in *Single Shape*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2750
+msgid "Repeat until all the required shapes to complete the group have been added."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2752
+#, no-wrap
+msgid "Conversational Block"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:2754
+#, no-wrap
+msgid "images/qtplasmac_conv_block.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2758
+msgid ""
+"The Conversational Block feature allows block operations to be performed on "
+"the current shape or group of shapes displayed in the "
+"<<plasma:conversational-tab,CONVERSATIONAL Tab>>.  This can include a G-code "
+"file not created using the Conversational Shape Library that has been "
+"previously loaded from the <<plasma:main-tab,MAIN Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2760
+msgid ""
+"A previously saved Block G-code file may also be loaded from the "
+"<<plasma:main-tab,MAIN Tab>> and then have any of its operations edited "
+"using the Conversational Block feature."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2762
+msgid "Block operations:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2764
+msgid "Rotate"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2766
+msgid "Array"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2767
+msgid "Mirror"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2768
+msgid "Flip"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2770
+msgid "To create a block:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2772
+msgid "Create a shape, a group, or use a previously loaded G-code file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2773
+msgid "Click the *Block* icon to open the Block tab."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2774
+msgid ""
+"Enter the appropriate values in the Block tab and press *PREVIEW* to display "
+"the resulting changes."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2775
+msgid ""
+"If the result is not correct, edit the values and press *PREVIEW* and the "
+"new result will be shown. Repeat until satisfied with the result."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2776
+msgid "Press *ADD* to complete the procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2777
+msgid ""
+"Press *SEND* to send the G-code file to LinuxCNC (QtPlasmaC) for cutting, or "
+"*SAVE* to save the G-code file."
+msgstr ""
+
+#. type: Labeled list
+#: src/plasma/qtplasmac.adoc:2778
+#, no-wrap
+msgid "COLUMNS & ROWS"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2779
+msgid ""
+"specifies the number of duplicates of the original shape arranged in columns "
+"and rows as well as the offset distance from the original shape."
+msgstr ""
+
+#. type: Labeled list
+#: src/plasma/qtplasmac.adoc:2779
+#, no-wrap
+msgid "ORIGIN"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2780
+msgid "offset the result from the origin coordinates."
+msgstr ""
+
+#. type: Labeled list
+#: src/plasma/qtplasmac.adoc:2780
+#, no-wrap
+msgid "ANGLE"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2781
+msgid "rotate the result."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2782
+msgid "scale the result."
+msgstr ""
+
+#. type: Labeled list
+#: src/plasma/qtplasmac.adoc:2782
+#, no-wrap
+msgid "ROTATION"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2783
+msgid "rotate the shape within the result."
+msgstr ""
+
+#. type: Labeled list
+#: src/plasma/qtplasmac.adoc:2783
+#, no-wrap
+msgid "MIRROR"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2784
+msgid "mirror the shape about its X coordinates within the result."
+msgstr ""
+
+#. type: Labeled list
+#: src/plasma/qtplasmac.adoc:2784
+#, no-wrap
+msgid "FLIP"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2785
+msgid "flip the shape about its Y coordinates within the result."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2787
+msgid ""
+"If the result is an array of shapes, then the cut order of the result is "
+"from the left column to the right column, starting at the bottom row and "
+"ending at the top row."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2788
+#, no-wrap
+msgid "Conversational Saving A Job"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2793
+msgid ""
+"The current job displayed in the Preview Panel may be saved at any time by "
+"using the bottom *SAVE* button.  If the G-code has been sent to LinuxCNC "
+"(QtPlasmaC) and the user has left the "
+"<<plasma:conversational-tab,CONVERSATIONAL Tab>>, the user may still save "
+"the G-code file from the GUI.  Alternatively, the user could click the "
+"<<plasma:conversational-tab,CONVERSATIONAL Tab>> which will reload the job, "
+"at which time they can press the *SAVE* button."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2796
+#, no-wrap
+msgid "Error Logging"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2802
+msgid ""
+"All errors are logged into the machine log which is able to be viewed in the "
+"<<plasma:statistics-tab,STATISTICS Tab>>.  The log file is saved into the "
+"configuration directory when QtPlasmaC is shutdown.  The five last logfiles "
+"are kept, after which the oldest logfile is deleted each time a new log file "
+"is created.  These saved log files may be viewed with any text editor."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2803
+#, no-wrap
+msgid "Error Message Display"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2807
+msgid ""
+"By default, QtPlasmaC will display error messages via a Operator Error popup "
+"window.  In addition, QtPlasmaC will alert the user that an error has been "
+"sent to the machine log by displaying the message *\"ERROR SENT TO MACHINE "
+"LOG\"* in the lower left portion of the status bar."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2811
+msgid ""
+"The user may opt to disable the Operator Error popup window, and view the "
+"error messages by going to the <<plasma:statistics-tab,STATISTICS Tab>> by "
+"changing the following option to *False* in the *[SCREEN_OPTIONS]* of the "
+"_<machine_name>_.prefs file in the _<machine_name>_ directory:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2814
+#, no-wrap
+msgid "desktop_notify\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2818
+msgid ""
+"_<machine_name>_.prefs must be edited with QtPlasmaC closed or any changes "
+"will be overwritten on exit."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2820
+msgid ""
+"Additionally, it is possible for *ERROR SENT TO MACHINE LOG* to flash to get "
+"the user's attention by adding or editing the following option in the "
+"*[GUI_OPTIONS]* section of the _<machine_name>_.prefs file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2824
+#, no-wrap
+msgid "Flash error = True\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2826
+#, no-wrap
+msgid "Critical Errors"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2829
+msgid ""
+"There are a number of error messages printed by QtPlasmaC to inform the user "
+"of faults as they occur. The messages can be split into two groups, "
+"*Critical* and *Warning*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2831
+msgid ""
+"Critical Errors will cause the running program to pause, and the operator "
+"will need to clear the cause of the error before proceeding."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2833
+msgid ""
+"If the error was received during cutting, then forward or reverse motion is "
+"allowed while the machine is paused to enable the user to reposition the "
+"machine prior to resuming the cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2835
+msgid "When the error is cleared the program may be resumed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2837
+msgid "These errors indicate the corresponding sensor was activated during cutting:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2839
+#, no-wrap
+msgid "*breakaway switch activated, program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2840
+#, no-wrap
+msgid "*float switch activated, program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2841
+#, no-wrap
+msgid "*ohmic probe activated, program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2843
+msgid ""
+"These errors indicate the corresponding sensor was activated before probing "
+"commenced:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2845
+#, no-wrap
+msgid "*ohmic probe detected before probing program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2846
+#, no-wrap
+msgid "*float switch detected before probing program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2847
+#, no-wrap
+msgid "*breakaway switch detected before probing program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2849
+msgid ""
+"The Arc OK signal was lost during cutting motion, before the *M5* command "
+"was reached:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2851
+#, no-wrap
+msgid "*valid arc lost program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2853
+msgid "The Z axis reached the bottom limit before the work piece was detected:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2855
+#, no-wrap
+msgid "*bottom limit reached while probing down program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2857
+msgid "The work piece is too high for any safe rapid removes:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2859
+#, no-wrap
+msgid "*material too high for safe traverse, program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2861
+msgid ""
+"One of these values in MATERIAL section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>> is invalid (For example: if they "
+"are set to zero):"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2863
+#, no-wrap
+msgid ""
+"*invalid pierce height or invalid cut height or invalid cut volts, program "
+"is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2865
+msgid ""
+"No arc has been detected after attempting to start the number of times "
+"indicated by *Max Starts* in the ARC frame of the CONFIGURATION section of "
+"the <<plasma:parameters-tab,PARAMETERS Tab>>:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2867
+#, no-wrap
+msgid "*no arc detected after __<n>__d start attempts program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2868
+#, no-wrap
+msgid "*no arc detected after __<n>__d start attempts manual cut is stopped*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2870
+msgid "THC has caused the bottom limit to be reached while cutting:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2872
+#, no-wrap
+msgid "*bottom limit reached while THC moving down program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2874
+msgid "THC has caused the top limit to be reached while cutting:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2876
+#, no-wrap
+msgid "*top limit reached while THC moving up program is paused*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2878
+msgid ""
+"These errors indicate move to pierce height would exceed the Z Axis "
+"MAX_LIMIT for the corresponding probe method:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2880
+#, no-wrap
+msgid ""
+"*pierce height would exceed Z axis maximum limit condition found while "
+"moving to probe height during float switch probing*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2881
+#, no-wrap
+msgid ""
+"*pierce height would exceed Z axis maximum limit condition found while "
+"moving to probe height during ohmic probing*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2883
+msgid ""
+"These errors indicate the move to pierce height would exceed the Z axis "
+"maximum safe height for the corresponding probe method:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2885
+#, no-wrap
+msgid ""
+"*pierce height would exceed Z axis maximum safe height condition found while "
+"float switch probing*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2886
+#, no-wrap
+msgid ""
+"*pierce height would exceed Z axis maximum safe height condition found while "
+"ohmic probing*\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2887
+#, no-wrap
+msgid "Warning Messages"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2890
+msgid ""
+"Warning messages will not pause a running program and are informational "
+"only."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2892
+msgid ""
+"These messages indicate the corresponding sensor was activated before a "
+"probe test commenced:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2894
+#, no-wrap
+msgid "*ohmic probe detected before probing probe test aborted*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2895
+#, no-wrap
+msgid "*float switch detected before probing probe test aborted*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2896
+#, no-wrap
+msgid "*breakaway switch detected before probing probe test aborted*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2898
+msgid ""
+"This indicates that the corresponding sensor was activated during a "
+"consumable change:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2901
+#, no-wrap
+msgid ""
+"*breakaway, float, or ohmic activated during consumable change, motion is "
+"paused* +\n"
+"*WARNING: MOTION WILL RESUME IMMEDIATELY UPON RESOLVING THIS CONDITION!*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2903
+msgid ""
+"CONSUMABLE CHANGE MOTION WILL RESUME IMMEDIATELY UPON RESOLVING THE "
+"CORRESPONDING SENSOR ACTIVATION."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2905
+msgid ""
+"This indicates that the corresponding sensor was activated during probe "
+"testing:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2907
+#, no-wrap
+msgid "*breakaway switch detected during probe test*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2909
+msgid ""
+"This indicates that probe contact was lost before probing up to find the "
+"zero point:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2911
+#, no-wrap
+msgid "*probe trip error while probing*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2913
+msgid "This indicates that the bottom limit was reached during a probe test:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2915
+#, no-wrap
+msgid "*bottom limit reached while probe testing*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2917
+msgid ""
+"This indicates that the move to pierce height would exceed the Z Axis "
+"MAX_LIMIT during the corresponding probe method:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2919
+#, no-wrap
+msgid ""
+"*pierce height would exceed Z axis maximum limit condition found while "
+"moving to probe height during float switch probe testing*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2920
+#, no-wrap
+msgid ""
+"*pierce height would exceed Z axis maximum limit condition found while "
+"moving to probe height during ohmic probe testing*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2922
+msgid ""
+"This indicates that the safe height has been reduced due to THC raising the "
+"Z axis during cutting:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2924
+#, no-wrap
+msgid "*safe traverse height has been reduced*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2926
+msgid ""
+"This indicates that the value for the Arc Voltage was invalid (NAN or INF) "
+"when QtPlasmaC launched."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2928
+#, no-wrap
+msgid "*invalid arc-voltage-in*\n"
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:2930
+#, no-wrap
+msgid "Updating QtPlasmaC"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2932
+#, no-wrap
+msgid "Standard Update"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2935
+msgid ""
+"QtPlasmaC update notices are posted at "
+"https://forum.linuxcnc.org/plasmac/37233-plasmac-updates ."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2937
+#, no-wrap
+msgid ""
+"*Users are strongly encouraged to create a Username and subscribe to the "
+"above thread to receive update notices.*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2940
+msgid ""
+"For a standard ISO installation, LinuxCNC will only be updated when a new "
+"minor release has been released.  QtPlasmaC will then automatically update "
+"its configuration the first time it is run after a LinuxCNC update."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2942
+msgid ""
+"LinuxCNC is normally updated by entering the following commands into a "
+"terminal window (one at a time):"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2946
+#, no-wrap
+msgid ""
+"sudo apt update\n"
+"sudo apt dist-upgrade\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2948
+#, no-wrap
+msgid "Continuous Update"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2952
+msgid ""
+"Enhancements and bug fixes will not be available on a standard installation "
+"until a new minor release of LinuxCNC has been released.  If the user wishes "
+"to update whenever a new QtPlasmaC version has been pushed, they could use "
+"the LinuxCNC Buildbot repository rather than the standard LinuxCNC "
+"repository by following the instructions at http://buildbot.linuxcnc.org/ ."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:2953
+#, no-wrap
+msgid "Modify An Existing QtPlasmaC Configuration"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2956
+msgid "There are two ways to modify an existing QtPlasmaC configuration:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2958
+msgid ""
+"Running the appropriate <<configuring,configuration wizard>> and loading the "
+".conf file saved by the wizard."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2959
+msgid "Manually edit the INI and/or the HAL file of the configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2961
+msgid ""
+"Any manual modification to the _<machine_name>_.ini and _<machine_name>_.hal "
+"files will not be registered in PnCconf or StepConf."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2964
+msgid ""
+"If unsure of the HAL pin's full name, the user may start LinuxCNC and run "
+"*HalShow* for a full listing of all HAL pins."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:2965
+#, no-wrap
+msgid "Customizing QtPlasmaC GUI"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2969
+msgid ""
+"Styling of the QtPlasmaC GUI is done with Qt stylesheets and some "
+"customization may be achieved by the use of a custom stylesheet.  This "
+"allows the user to change some GUI items such as color, border, size, "
+"etc. It cannot change the layout of the GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2971
+msgid ""
+"Information on Qt stylesheets is available "
+"https://doc.qt.io/archives/qt-5.11/stylesheet.html[here]."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2973
+msgid "There are two methods available to apply custom styles:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2975
+msgid "Add A Custom Style: use this for minor style changes."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2976
+msgid "Create A New Style use this for a complete style change."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2977
+#, no-wrap
+msgid "Add A Custom Style"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2981
+msgid ""
+"Adding style changes to the default stylesheet is achieved by creating a "
+"file in the _<machine_name>_ configuration directory.  This file MUST be "
+"named qtplasmac_custom.qss. Any required style changes are then added to "
+"this file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:2984
+msgid ""
+"For example, the user may want the arc voltage display in red, a green Torch "
+"On LED of a larger size and a larger Torch Enable button.  This would be "
+"done with the following code in qtplasmac_custom.qss:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2988
+#, no-wrap
+msgid ""
+"#arc_voltage {\n"
+"    color: #ff0000 }\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2992
+#, no-wrap
+msgid ""
+"#led_torch_on {\n"
+"    qproperty-diameter: 30;\n"
+"    qproperty-color: green }\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:2996
+#, no-wrap
+msgid ""
+"#torch_enable::indicator {\n"
+"    width: 30;\n"
+"    height: 30}\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:2998
+#, no-wrap
+msgid "Create A New Style"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3001
+msgid ""
+"Custom stylesheets are enabled by setting the following option in the "
+"*[GUI_OPTIONS]* section of the _<machine_name>_.prefs file. This option must "
+"be set to the filename of the stylesheet as shown below."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3005
+#, no-wrap
+msgid "Custom style = the_cool_style.qss\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3008
+msgid ""
+"The filename may be any valid filename. The standard extension name is .qss "
+"but this is not mandatory."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3010
+msgid ""
+"There are some constraints on the custom stylesheet for QtPlasmaC, e.g., the "
+"jog buttons, cut-recovery buttons, and the conversational shape buttons are "
+"image files and are not able to be custom styled."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3012
+msgid "The custom style file requires a header in the following format:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3016
+#, no-wrap
+msgid ""
+"/*****************************\n"
+"Custom Stylesheet Header\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3019
+#, no-wrap
+msgid ""
+"color1 = #000000\n"
+"#QtPlasmaC default = #ffee06\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3022
+#, no-wrap
+msgid ""
+"color2 = #e0e0e0\n"
+"#QtPlasmaC default = #16160e\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3025
+#, no-wrap
+msgid ""
+"color3 = #c0c0c0\n"
+"#QtPlasmaC default = #ffee06\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3028
+#, no-wrap
+msgid ""
+"color4 = #e0e0e0\n"
+"#QtPlasmaC default = #26261e\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3031
+#, no-wrap
+msgid ""
+"color5 = #808080\n"
+"#QtPlasmaC default = #b0b0b0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3033
+#, no-wrap
+msgid "*****************************/\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3036
+msgid "The colors may be expressed in any valid stylesheet format."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3039
+msgid ""
+"The above colors are used for the following widgets. So any custom styling "
+"will need to take these into account.  The colors shown below are the "
+"defaults used in QtPlasmaC along with the color name from the "
+"<<plasma:settings-tab,SETTINGS Tab>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3043
+#, no-wrap
+msgid "Affects"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3043
+#, no-wrap
+msgid "color1 (#ffee06)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3048
+#, no-wrap
+msgid ""
+"foreground of jog buttons +\n"
+"foreground of latching user buttons +\n"
+"foreground of camera/laser buttons +\n"
+"foreground of conversational shape buttons +\n"
+"background of active conversational shape buttons"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3048
+#, no-wrap
+msgid "color2 (#16160e)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3052
+#, no-wrap
+msgid ""
+"background of latching user buttons +\n"
+"background of camera/laser buttons +\n"
+"background of G-code editor active line +\n"
+"background of conversational shape buttons"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3052
+#, no-wrap
+msgid "color3 (#ffee06)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3055
+#, no-wrap
+msgid ""
+"background of active latching user buttons +\n"
+"background of active camera/laser buttons +\n"
+"foreground of G-code editor cursor"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3055
+#, no-wrap
+msgid "color4 (#36362e)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3056
+#, no-wrap
+msgid "background of G-code display's active line"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3056
+#, no-wrap
+msgid "color5 (#b0b0b0)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3057
+#, no-wrap
+msgid "foreground of disabled buttons"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3060
+#, no-wrap
+msgid "Returning To The Default Styling"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3063
+msgid ""
+"The user may return to the default styling at any time by following the "
+"following steps:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3065
+msgid "Close QtPlasmaC if open."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3066
+msgid "Delete qtplasmac.qss from the machine config directory."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3067
+msgid ""
+"Delete qtplasmac_custom.qss from the machine config directory (if it "
+"exists)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3068
+msgid "Open _<machine_name>_.prefs file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3069
+msgid "Delete the *[COLOR_OPTIONS]* section."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3070
+msgid "Delete the Custom style option from the *[GUI_OPTIONS]* section."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3071
+msgid "Save the file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3073
+msgid ""
+"The next time QtPlasmaC is loaded all custom styling will be removed and the "
+"default styling will return."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3075
+msgid ""
+"Below is an example of the section and options to be deleted from "
+"_<machine_name>_.prefs:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3087
+#, no-wrap
+msgid ""
+"[COLOR_OPTIONS]\n"
+"Foreground = #ffee06\n"
+"Highlight = #ffee06\n"
+"LED = #ffee06\n"
+"Background = #16160e\n"
+"Background Alt = #36362e\n"
+"Frames = #ffee06\n"
+"Estop = #ff0000\n"
+"Disabled = #b0b0b0\n"
+"Preview = #000000\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3089
+#, no-wrap
+msgid "Custom Python Code"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3093
+msgid ""
+"It is possible to add custom Python code to change some existing functions "
+"or to add new ones.  Custom code can be added in two different ways: a user "
+"command file or a user periodic file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3095
+msgid ""
+"A user command file is specified in the DISPLAY section of the "
+"_<machine_name>_.ini file and contains Python code that is processed only "
+"once during startup."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3099
+#, no-wrap
+msgid "USER_COMMAND_FILE = my_custom_code.py\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3103
+msgid ""
+"A user periodic file must be named user_periodic.py and must be loaded in "
+"the machine's config directory.  This file is processed every cycle (usually "
+"100 ms) and is used for functions that require regular updating."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3104
+#, no-wrap
+msgid "Custom G-code Filter"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3108
+msgid ""
+"All incoming G-code is parsed by a G-code filter to ensure it is suitable "
+"for QtPlasmaC.  It is possible to extend this filter with custom python code "
+"executed from a file in the configuration directory to aid in converting "
+"different flavours of G-code to a format suitable for QtPlasmaC."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3110
+msgid ""
+"The name of this file is custom_filter.py and it will be automatically used "
+"if it exists."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3112
+msgid "There are three preset methods available for use:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3116
+#, no-wrap
+msgid "custom_pre_process"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3117
+#, no-wrap
+msgid ""
+"This does basic processing of each line before any processing is done in the "
+"filter."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3117
+#, no-wrap
+msgid "custom_pre_parse"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3118
+#, no-wrap
+msgid "This parses any G-code from a line *before* any parsing done in the filter."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3118
+#, no-wrap
+msgid "custom_post_parse"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3119
+#, no-wrap
+msgid "This parses any G-code from a line *after* any parsing done in the filter."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3122
+msgid "These methods are applied by the following procedure:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3124
+msgid "Define the method with an argument for the incoming data."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3125
+msgid "Add any required code to manipulate the data."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3126
+msgid "Return the resultant data."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3127
+msgid "Attach the new method."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3129
+msgid ""
+"For example, to remove any code beginning with 'G71' and change 'M2' to 'M5 "
+"$0' and 'M2':"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3139
+#, no-wrap
+msgid ""
+"def custom_pre_parse(data):\n"
+"    if data[:3] == 'G71':\n"
+"        return(None)\n"
+"    if data == 'M2':\n"
+"        return(f'M5 $0\\n\\n{data}')\n"
+"    return(data)\n"
+"self.custom_pre_parse = custom_pre_parse\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3143
+msgid ""
+"In addition to these it is also possible to override any existing method in "
+"the filter the same way.  This requires defining the same number of "
+"arguments as the existing method, noting that 'self' in the original does "
+"not constitute an argument."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3151
+#, no-wrap
+msgid ""
+"def new_method_name(data):\n"
+"    if data[:3] == 'G71':\n"
+"        return(None)\n"
+"    return(data)\n"
+"self.old_method_name = new_method_name\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3156
+#, no-wrap
+msgid ""
+"The existing filter code may be observed in the file /bin/qtplasmac_gcode.\n"
+"The file sim/qtplasmac/custom_filter.py has example skeleton code for custom "
+"filtering."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:3157
+#, no-wrap
+msgid "QtPlasmaC Advanced Topics"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3160
+#, no-wrap
+msgid "Custom User Buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3163
+msgid ""
+"The QtPlasmaC GUI offers user buttons that can be customized by adding "
+"commands in the <<plasma:button_entries,USER BUTTON ENTRIES>> section of the "
+"<<plasma:settings-tab,SETTINGS Tab>> in the _<machine_name>_.prefs file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3165
+msgid "The number of user buttons varies by display type and resolution as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3167
+msgid "16:9 and 4:3 - Minimum 8, Maximum 20"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3168
+msgid "9:16 - Minimum 15, Maximum 20"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3170
+msgid ""
+"The user will need to run QtPlasmaC at the desired screen size to determine "
+"how many user buttons are available for use."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3172
+msgid ""
+"All _<machine_name>_.prefs file settings for the buttons are found in the "
+"*[BUTTONS]* section."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3173
+#, no-wrap
+msgid "Button Names"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3176
+msgid "The text that appears on the button is set the following way:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3180
+#, no-wrap
+msgid "n Name = HAL Show\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3183
+msgid "Where _n_ is the button number and *HAL Show* is the text."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3185
+msgid "For text on multiple lines, split the text with a \\ (backslash):"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3189
+#, no-wrap
+msgid "n Name = HAL\\Show\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3192
+msgid ""
+"If an ampersand is required to be displayed as text then two consecutive "
+"ampersands are required:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3196
+#, no-wrap
+msgid "n Name = PIERCE&&CUT\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3198
+#, no-wrap
+msgid "Button Code"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3201
+msgid "Buttons can run the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3203
+msgid "<<plasma:button-cmds,External commands>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3204
+msgid "<<plasma:button-py,External python scripts>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3205
+msgid "<<plasma:button-code,G-code commands>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3206
+msgid "<<plasma:button-dual,Dual code>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3207
+msgid "<<plasma:button-toggle,Toggle a HAL pin>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3208
+msgid "<<plasma:button-laser,Toggle the alignment laser HAL pin>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3209
+msgid "<<plasma:button-pulse,Pulse a HAL pin>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3210
+msgid "<<plasma:button-probe,Probe test>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3211
+msgid "<<plasma:button-ohmic,Ohmic Test>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3212
+msgid "<<plasma:button-cut,Cut Type>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3213
+msgid "<<plasma:button-consumables,Change consumables>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3214
+msgid "<<plasma:button-load,Load a G-code program>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3215
+msgid "<<plasma:button-torch,Pulse the torch on>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3216
+msgid "<<plasma:button-single,Single unidirectional cut>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3217
+msgid "<<plasma:button-framing,Framing a job>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3218
+msgid "<<plasma:button-mancut,Begin/End a manual cut>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3219
+msgid "<<plasma:button-offsets,Display/Hide an offsets viewer>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3220
+msgid ""
+"<<plasma:button-latest,Load the latest modified NGC file found in a "
+"directory>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3221
+msgid "<<plasma:button-umanual,Display/Hide the online HTML user manual>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3222
+msgid "<<plasma:button-joint,Toggle between joint and teleop modes>>"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3224
+#, no-wrap
+msgid "External Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3227
+msgid "To run an external command, the command is preceded by a % character."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3231
+#, no-wrap
+msgid "n Code = %halshow\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3234
+#, no-wrap
+msgid "External Python Scripts"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3238
+msgid ""
+"To run an external Python script, the script name is preceded by a % "
+"character and it also requires a .py extension.  It is valid to use the ~ "
+"character as a shortcut for the user's home directory."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3242
+#, no-wrap
+msgid "n Code = %~/user_script.py\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3245
+#, no-wrap
+msgid "*G-code*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3248
+msgid "To run G-code, just enter the code to be run."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3252
+#, no-wrap
+msgid "n Code = G0 X100\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3255
+msgid "To run an existing subroutine."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3259
+#, no-wrap
+msgid "n Code = o<the_subroutine> call\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3263
+msgid ""
+"_<machine_name>_.ini file variables can be entered by using the standard "
+"LinuxCNC G-code format.  If expressions are included, then they need to be "
+"surrounded by brackets."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3268
+#, no-wrap
+msgid ""
+"n Code = G0 X#<_ini[joint_0]home> Y1\n"
+"n Code = G53 G0 Z[#<_ini[axis_z]max_limit> - 1.001]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3273
+msgid ""
+"_<machine_name>_.prefs file variables and also _<machine_name>_.ini "
+"variables can be entered by enclosing each option in *{}* .  You must put a "
+"space after each *}* if there are any following characters.  If expressions "
+"are included, then they need to be surrounded by brackets."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3279
+#, no-wrap
+msgid ""
+"BUTTON_n_CODE = G0 X{LASER_OFFSET X axis} Y{LASER_OFFSET Y axis}\n"
+"BUTTON_n_CODE = G0 X{JOINT_0 HOME} Y1\n"
+"BUTTON_n_CODE = G53 G0 Z[{AXIS_Z MAX_LIMIT} - 1.001]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3283
+msgid ""
+"Multiple codes can be run by separating the codes with a \"\\\" (backslash) "
+"character.  The exception is the special commands which are required to be a "
+"single command per button."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3287
+#, no-wrap
+msgid "n Code = G0 X0 Y0 \\ G1 X5 \\ G1 Y5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3290
+msgid "External commands and G-code may be mixed on the same button."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3294
+#, no-wrap
+msgid "n Code = %halshow \\ g0x.5y.5 \\ %halmeter\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3297
+#, no-wrap
+msgid "*Dual Code*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3301
+msgid ""
+"Dual Code allows the running of two code snippets alternately each button "
+"press.  The button text may also alternate each button press and the "
+"indicator light may be optionally enabled."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3303
+msgid ""
+"It is mandatory to specify \"dual-code\", the first code, the alternate "
+"button text, and the second code separated by double semicolons."
+msgstr ""
+
+#. type: Labeled list
+#: src/plasma/qtplasmac.adoc:3303
+#, no-wrap
+msgid "If the indicator is required then optionally add \""
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3304
+msgid "true\" at the end."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3308
+#, no-wrap
+msgid "n Code = dual-code ;; code1 ;; name1 ;; code2 ;; true\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3311
+msgid ""
+"On the first button press, code1 will be run, the button text will change to "
+"name1, and if \"true\" is specified the indicator will light."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3313
+msgid ""
+"On the second button press, code2 will be run, the button text will change "
+"to n Name, and the indicator will extinguish if lit."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3315
+msgid ""
+"code1 and code2 both follow the rule of the preceding code explanations, "
+"<<plasma:button-cmds,External commands>>, <<plasma:button-py,Python code>>, "
+"and <<plasma:button-code,G-code>>. Multiple codes as well as mixing codes "
+"are allowed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3317
+msgid ""
+"The following code will allow the user to use a single button to run two "
+"code snippets alternately each button press:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3322
+#, no-wrap
+msgid ""
+"n Name = X+10\n"
+"n Code = dual-code ;; G91\\G0X10\\G90 ;; X-10 ;; G91\\G0X-10\\G90\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3326
+msgid ""
+"The original label will be X+10, when pressed the torch will move positive "
+"10 in the X axis and the label will change to X-10.  When pressed again the "
+"torch will move negative 10 in the X axis and the label will change to X+10."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3327
+#, no-wrap
+msgid "Special Commands"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3330
+msgid ""
+"The following commands must be a single command per user button, and the "
+"button code must start with the special command. The exception is "
+"<<plasma:button-laser,toggle-laser>> which may be appear anywhere in the "
+"code as demonstrated below."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3332
+#, no-wrap
+msgid "*Toggle HAL Pin*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3335
+msgid ""
+"The following code will allow the user to use a button to invert the current "
+"state of a HAL bit pin:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3339
+#, no-wrap
+msgid "n Code = toggle-halpin the-hal-pin-name\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3342 src/plasma/qtplasmac.adoc:3405
+msgid ""
+"This code is required to be used as a single command and may only control "
+"one HAL bit pin per button."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3344 src/plasma/qtplasmac.adoc:3409
+msgid "The button colors will follow the state of the HAL pin."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3347
+msgid ""
+"After setting the code, upon clicking, the button will invert colors, and "
+"the HAL pin will invert pin state.  The button will stay \"latched\" until "
+"the button is clicked again, which will return the button to the original "
+"colors and the HAL pin to the original pin state."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3350
+msgid ""
+"It is also possible for the user to specify alternate text which will "
+"display on the button while ever it is in the latched-on condition.  To "
+"specify the alternate text, use a double semicolon followed by the required "
+"text. This must be the last item in the button code."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3354
+#, no-wrap
+msgid "n Code = toggle-halpin the-hal-pin-name ;; PIN\\TOGGLED\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3359
+msgid ""
+"There are three <<plasma:ext-hal-pin,External HAL Pins>> that are available "
+"to toggle as an output, the pin names are `qtplasmac.ext_out_0`, "
+"`qtplasmac.ext_out_1`, and `qtplasmac.ext_out_2`.  HAL connections to these "
+"HAL pins need to be specified in a postgui HAL file as the HAL pins are not "
+"available until the QtPlasmaC GUI has loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3361
+msgid ""
+"For toggle-halpin buttons, it is possible for the user to mark the "
+"associated HAL pin as being required to be turned \"ON\" before starting a "
+"cut sequence by adding \"cutcritical\" after the HAL pin in the button "
+"code. If *TORCH ENABLE* is checked and *CYCLE START*, *MANUAL CUT*, or "
+"*SINGLE CUT* are initiated while the \"cutcritical\" button is not \"ON\" "
+"then the user will receive a dialog warning them as such and asking to "
+"CONTINUE or CANCEL."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3365
+#, no-wrap
+msgid "n Code = toggle-halpin the-hal-pin-name cutcritical\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3368
+#, no-wrap
+msgid "*Toggle Alignment Laser HAL Pin*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3371
+msgid ""
+"The following code will allow the user to use a button to invert the current "
+"state of the alignment laser HAL bit pin:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3375
+#, no-wrap
+msgid "n Code = toggle-laser\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3378
+msgid ""
+"This code is also able to be used as a multiple command with G-code or "
+"external commands but may control only the alignment laser HAL bit pin."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3380
+msgid "The button colors will follow the state of the alignment laser HAL pin."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3384
+msgid ""
+"After setting the code, upon clicking, the button will invert colors, and "
+"the alignment laser HAL pin will invert pin state.  The button will stay "
+"\"latched\" until the button is clicked again, which will return the button "
+"to the original colors and the alignment laser HAL pin to the original pin "
+"state."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3386
+msgid ""
+"The following code would allow the user to use a button to invert the "
+"current state of the alignment laser HAL bit pin and then move the X and Y "
+"axes to the offset for the alignment laser as specified in the "
+"_<machine_name>_.prefs file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3390
+#, no-wrap
+msgid "n Code = G0 X{LASER_OFFSET X axis} Y{LASER_OFFSET Y axis} \\ toggle-laser\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3393
+msgid ""
+"The position of the \"toggle-laser\" command is not important as it is "
+"always the first command actioned regardless of position."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3395
+#, no-wrap
+msgid "Pulse HAL Pin"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3398
+msgid ""
+"The following code will allow the user to use a button to pulse a HAL bit "
+"pin for a duration of 0.5 seconds:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3402
+#, no-wrap
+msgid "n Code = pulse-halpin the-hal-pin-name 0.5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3407
+msgid ""
+"The pulse duration is specified in seconds, if the pulse duration is not "
+"specified then it will default to one second."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3412
+msgid ""
+"After setting the code, upon clicking the button, the button will invert "
+"colors, the HAL pin will invert pin state, and the time remaining will be "
+"displayed on the button.  The button color and the pin state will stay "
+"inverted until the pulse duration timer has completed, which will return the "
+"button to the original colors, the HAL pin to the original pin state, and "
+"the original button name."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3414
+msgid "An active pulse can be canceled by clicking the button again."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3417
+msgid ""
+"There are three <<plasma:ext-hal-pin,External HAL Pins>> that are available "
+"to pulse as an output, the pin names are qtplasmac.ext_out_0, "
+"qtplasmac.ext_out_1, and qtplasmac.ext_out_2.  HAL connections to these HAL "
+"pins need to be specified in a postgui HAL file as the HAL pins are not "
+"available until the QtPlasmaC GUI has loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3423
+msgid ""
+"QtPlasmaC will begin a probe and when the material is detected, the Z axis "
+"will rise to the Pierce Height currently displayed in the MATERIAL section "
+"of the <<plasma:parameters-tab,PARAMETERS Tab>>.  If the user has \"View "
+"Material\" selected in the GUI SETTINGS section of the "
+"<<plasma:settings-tab,SETTINGS Tab>>, this value will be displayed in the "
+"top left corner of the PREVIEW Window next to *PH:*."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3426
+msgid ""
+"QtPlasmaC will then wait in this state for the time specified (rounded to no "
+"decimal places) before returning the Z axis to the starting position.  An "
+"example of a 6 second delay is below. If there is no time specified, then "
+"the probe time will default to 10 seconds."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3430
+#, no-wrap
+msgid "n Code = probe-test 6\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3434
+msgid ""
+"Enabling a user button as a Probe Test button will add an "
+"<<plasma:ext-hal-pin,external HAL pin>> that may be connected from a pendant "
+"etc. HAL connections to this HAL pin needs to be specified in a postgui HAL "
+"file as the HAL pin is not available until the QtPlasmaC GUI has loaded."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3436 src/plasma/qtplasmac.adoc:3773
+#, no-wrap
+msgid "Ohmic Test"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3440
+msgid ""
+"QtPlasmaC will enable the Ohmic Probe Enable output signal and if the Ohmic "
+"Probe input is sensed, the LED indicator in the SENSOR Panel will light.  "
+"The main purpose of this is to allow a quick test for a shorted torch tip."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3444
+#, no-wrap
+msgid "n Code = ohmic-test\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3449
+msgid ""
+"Enabling a user button as an Ohmic Test button will add an "
+"<<plasma:ext-hal-pin,external HAL pin>> that may be connected from a pendant "
+"etc.  HAL connections to this HAL pin needs to be specified in a postgui HAL "
+"file as the HAL pin is not available until the QtPlasmaC GUI has loaded."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3451
+#, no-wrap
+msgid "Cut Type"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3454
+msgid ""
+"This button if selected will toggle between the two <<plasma:cut-types,cut "
+"types>>, Pierce and Cut (default cutting mode) or Pierce Only."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3458
+#, no-wrap
+msgid "n Code = cut-type\n"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3461 src/plasma/qtplasmac.adoc:3774
+#, no-wrap
+msgid "Change Consumables"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3464
+msgid ""
+"Pressing this button moves the torch to the specified coordinates when the "
+"machine is paused to allow the user easy access to change the torch "
+"consumables."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3466
+msgid ""
+"Valid entries are X__nnn__ Y__nnn__ F__nnn__. At least one of the X or Y "
+"coordinates are required, Feed Rate (F) is optional."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3468
+msgid ""
+"The X and Y coordinates are in absolute machine coordinates. If X or Y are "
+"missing, then the current coordinate for that axis will be used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3470
+msgid ""
+"Feed Rate (F) is optional, if it is missing or invalid then the feed rate of "
+"the current material will be used."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3472
+msgid "There are three methods to return to the previous coordinates:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3474
+msgid ""
+"Press the *Change Consumables* button again - the torch will return to the "
+"original coordinates and the machine will wait in this position for the user "
+"to resume the program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3475
+msgid ""
+"Press *CYCLE RESUME* - the torch will return to the original coordinates and "
+"the program will resume."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3476
+msgid ""
+"Press *CYCLE STOP* - the torch will return to the original coordinates and "
+"the program will abort."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3480
+#, no-wrap
+msgid "n Code = change-consumables X10 Y10 F1000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3485
+msgid ""
+"Enabling a user button as a Change Consumables button will add an "
+"<<plasma:ext-hal-pin,external HAL pin>> that may be connected from a pendant "
+"etc.  HAL connections to this HAL pin needs to be specified in a postgui HAL "
+"file as the HAL pin is not available until the QtPlasmaC GUI has loaded."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3487
+#, no-wrap
+msgid "Load"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3490
+msgid ""
+"Loading a G-code program from the directory specified by the "
+"*PROGRAM_PREFIX* variable in the _<machine_name>_.ini file (usually "
+"~/linuxcnc/nc_files) is possible by using the following format:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3494
+#, no-wrap
+msgid "n Code = load G-code.ngc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3498
+msgid ""
+"If the user's G-code file is located in a sub-directory of the "
+"*PROGRAM_PREFIX* directory, it would be accessed by adding the sub-directory "
+"name to the beginning of the G-code file name.  Example for a sub-directory "
+"named *plasma*:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3502
+#, no-wrap
+msgid "n Code = load plasma/G-code.ngc\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3505
+msgid ""
+"Note that the first \"/\" is not necessary as it will be added "
+"automatically."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3507 src/plasma/qtplasmac.adoc:3772
+#, no-wrap
+msgid "Torch Pulse"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3515
+msgid ""
+"Pulse the torch on for a predetermined time.  The time must be specified in "
+"seconds using up to one decimal place.  The maximum allowable time is 3 "
+"seconds, anything specified above that value will be limited to 3 seconds.  "
+"An example of a 0.5 second pulse is below.  It there is no time specified "
+"then it will default to 1 second.  Pulse times with more than one decimal "
+"place will be rounded to one decimal place."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3518
+msgid ""
+"Pressing the button again during the countdown will cause the torch to be "
+"turned off, as will pressing 'Esc' if keyboard shortcuts are enabled in the "
+"<<plasma:settings-tab,SETTINGS Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3521
+msgid ""
+"If the button is released before the countdown is complete then the torch "
+"will turn off at countdown completion, holding the button on until after the "
+"countdown has completed will cause the torch to remain on until the button "
+"has been released."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3525
+#, no-wrap
+msgid "n Code = torch-pulse 0.5\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3530
+msgid ""
+"Enabling a user button as a Torch Pulse button will add an "
+"<<plasma:ext-hal-pin,external HAL pin>> that may be connected from a pendant "
+"etc.  HAL connections to this HAL pin needs to be specified in a postgui HAL "
+"file as the HAL pin is not available until the QtPlasmaC GUI has loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3535
+msgid ""
+"Run a single unidirectional cut. This utilises the automatic "
+"<<plasma:single-cut,Single Cut>> feature."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3539
+#, no-wrap
+msgid "n Code = single-cut\n"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3542 src/plasma/qtplasmac.adoc:3775
+#, no-wrap
+msgid "Framing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3545
+msgid ""
+"Framing is the ability to move the torch around the perimeter of a rectangle "
+"that encompasses the bounds of the current job."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3550
+msgid ""
+"The laser enable HAL pin (qtplasmac.laser_on) will be turned on during the "
+"framing moves and any X/Y offsets for the laser pointer in the "
+"_<machine_name>_.prefs file will also be applied to the X/Y motion.  After "
+"the framing motion is completed, the torch will move to the X0 Y0 position "
+"to clear any applied laser offsets and qtplasmac.laser_on will be turned "
+"off."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3553
+msgid ""
+"Upon starting a Framing cycle, it is important to note that by default the Z "
+"axis will be moved to a height of [AXIS_Z]MAX_LIMIT - 5 mm (0.2\") before "
+"X/Y motion begins."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3557
+msgid ""
+"The velocity for the XY movements of the Framing motion can be specified so "
+"that Framing motion always occurs at a set velocity.  This can be achieved "
+"by adding the feed rate (F) as the as the last portion of the button code.  "
+"If the feed rate is omitted from the button code, framing motion velocity "
+"will default to the feed rate for the currently selected material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3559
+msgid ""
+"The following GUI buttons and Keyboard Shortcuts (if enabled in the "
+"<<plasma:settings-tab,SETTINGS Tab>>) are valid during Framing motion:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3561
+msgid ""
+"Pressing *CYCLE STOP* or the ESC <<plasma:keyboard-shortcuts,keyboard "
+"shortcut>> - Stops Framing motion."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3562
+msgid ""
+"Pressing *CYCLE PAUSE* or the SPACE BAR <<plasma:keyboard-shortcuts,keyboard "
+"shortcut>>- Pauses Framing motion."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3563
+msgid ""
+"Pressing *CYCLE RESUME* or the CTRL+r <<plasma:keyboard-shortcuts,keyboard "
+"shortcut>>- Resumes paused Framing motion."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3564
+msgid ""
+"Changing the *FEED SLIDER* or any of the CTRL+0-9 "
+"<<plasma:keyboard-shortcuts,keyboard shortcuts>> - Slows the feed rate."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3567
+msgid ""
+"IF THE FEED RATE IS CHANGED FOR THE FRAMING MOTION, IT WILL BE NECESSARY TO "
+"RETURN THE FEED SLIDER TO 100% BEFORE PRESSING CYCLE START AND CUTTING THE "
+"LOADED JOB."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3571
+#, no-wrap
+msgid "n Code = framing\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3574
+msgid ""
+"It is possible for the user to omit the initial default Z movement and run "
+"the framing sequence at the current Z height by adding \"usecurrentzheight\" "
+"after \"framing\"."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3578
+#, no-wrap
+msgid "n Code = framing usecurrentzheight\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3581
+msgid "To specify a feed rate:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3585
+#, no-wrap
+msgid "n Code = framing F100\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3592
+#, no-wrap
+msgid "n Code = framing usecurrentzheight F100\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3596
+msgid ""
+"Enabling a user button as a framing button will add an "
+"<<plasma:ext-hal-pin,external HAL pin>> that may be connected from a pendant "
+"etc.  HAL connections to this HAL pin needs to be specified in a postgui HAL "
+"file as the HAL pin is not available until the QtPlasmaC GUI has loaded."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3598
+#, no-wrap
+msgid "Manual Cut"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3601
+msgid ""
+"Manual Cut functions identically to the *F9* button to begin or end a "
+"<<plasma:manual-single-cut,manual cut>>."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3605
+#, no-wrap
+msgid "n Code = manual-cut\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3608
+#, no-wrap
+msgid "Offset Viewer"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3612
+msgid ""
+"This allows the showing/hiding of an offset viewing screen that displays all "
+"machine offsets.  All relative offsets can be edited and the G54 ~ G59.3 "
+"work system coordinates are able to be given custom names."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3616
+#, no-wrap
+msgid "n Code = offsets-view\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3619
+#, no-wrap
+msgid "Load Latest File"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3623
+msgid ""
+"This allows the loading of the last modified file in a directory.  The "
+"directory name is optional and if omitted will default to the last directory "
+"a file was loaded from."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3627
+#, no-wrap
+msgid "n Code = latest-file /home/me/linuxcnc/nc_files/qtplasmac-test\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3630
+#, no-wrap
+msgid "User Manual"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3634
+msgid ""
+"This allows the showing/hiding of the online HTML user manual specific to "
+"the version of LinuxCNC currently running.  Note that internet access is "
+"required for this functionality."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3638
+#, no-wrap
+msgid "n Code = user-manual\n"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3641
+#, no-wrap
+msgid "Toggle Joint Mode"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3644
+msgid ""
+"This allows the toggling between joint mode and teleop mode. The machine "
+"must be on and homed for this button to be active."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3648
+#, no-wrap
+msgid "n Code = toggle-joint\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3651
+#, no-wrap
+msgid "Peripheral Offsets (Laser, Camera, Scribe, Offset Probe)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3654
+msgid ""
+"Use the following sequence to set the offsets for a laser, camera, scribe, "
+"or offset probe:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3656
+msgid "Place a piece of scrap material under the torch."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3657
+msgid "The machine must be homed and idle before proceeding."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3658
+msgid "Open the <<plasma:settings-tab,SETTINGS tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3659
+msgid "Click the SET OFFSETS button which opens the Set Peripheral Offsets dialog."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:3660
+#, no-wrap
+msgid "images/qtplasmac_peripheral_offsets_set.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3662
+msgid "Click the X0Y0 button to set the torch position to zero."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3663
+msgid "Make a mark on the material by one of:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3664
+msgid ""
+"Jog the torch down to pierce height then pulse the torch on to make a dimple "
+"in the material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3665
+msgid ""
+"Place marking dye on the torch shield then jog the torch down to mark the "
+"material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3666
+msgid "Click the appropriate button to activate the peripheral."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3667
+msgid "The Get Peripheral Offsets dialog will now be showing."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:3668
+#, no-wrap
+msgid "images/qtplasmac_peripheral_offsets_get.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3670
+msgid "Raise the Z axis so the torch and peripheral are clear of the material."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3671
+msgid ""
+"Jog the X/Y axes so that the peripheral is centered in the mark from the "
+"torch."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3672
+msgid ""
+"Click the GET OFFSETS button to get the offsets and a confirmation dialog "
+"will open."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:3673
+#, no-wrap
+msgid "images/qtplasmac_peripheral_offsets_confirm.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3675
+msgid "Click SET OFFSETS and the offsets will now be saved."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3677
+msgid ""
+"Canceling may be done at any stage by pressing the CANCEL button which will "
+"close the dialog, and no changes will be saved."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3680
+msgid ""
+"If CAMERA was selected at item 7 above and more than one camera exists, then "
+"a camera selection dialog will show.  The appropriate camera needs to be "
+"selected before the Get Peripheral Offsets dialog will appear."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:3681
+#, no-wrap
+msgid "images/qtplasmac_peripheral_offsets_cam.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3685
+msgid ""
+"If PROBE was selected at item 7 above, then a delay dialog will show prior "
+"to the confirmation dialog at item 11.  This is for the delay required for "
+"the probe to deploy to its working position."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:3686
+#, no-wrap
+msgid "images/qtplasmac_peripheral_offsets_delay.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3691
+msgid ""
+"It may be necessary to click the preview window to enable jogging.  By "
+"following the above procedure, the offsets are available for use immediately "
+"and no restart of LinuxCNC is required."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3693
+#, no-wrap
+msgid "Keep Z Motion"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3698
+msgid ""
+"By default, QtPlasmaC will remove all Z motion from a loaded G-code file and "
+"add an initial Z movement to bring the torch near the top of travel at the "
+"beginning of the file.  If the user wishes to use their table with a marker, "
+"a drag knife, diamond scribe, etc. mounted in the torch holder, QtPlasmaC "
+"has the ability to retain the Z movements when executing a program by adding "
+"the following command in a G-code file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3702
+#, no-wrap
+msgid "#<keep-z-motion> = 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3706
+msgid ""
+"Omitting this command, or setting this value to anything but 1 will cause "
+"QtPlasmaC to revert to the default behavior of stripping all Z motion from a "
+"loaded G-code file and making an initial Z movement to bring the torch near "
+"the top of travel at the beginning of the file."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3708
+#, no-wrap
+msgid "External HAL Pins"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3711
+msgid ""
+"QtPlasmaC creates some HAL pins that may be used to connect a momentary "
+"external button or pendant etc."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3713
+msgid ""
+"HAL connections to these HAL pins need to be specified in a postgui HAL file "
+"as the HAL pins are not available until the QtPlasmaC GUI has loaded."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3715
+msgid ""
+"The following HAL bit pins are always created. The HAL pin has the identical "
+"behaviour of the related QtPlasmaC GUI button."
+msgstr ""
+
+#. [grid=none,frame=ends]
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3719 src/plasma/qtplasmac.adoc:3770
+#, no-wrap
+msgid "User Button Function"
+msgstr ""
+
+#. [frame=ends,grid=none]
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3719 src/plasma/qtplasmac.adoc:3760
+#: src/plasma/qtplasmac.adoc:3771 src/plasma/qtplasmac.adoc:3784
+#, no-wrap
+msgid "HAL Pin"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3720
+#, no-wrap
+msgid "GUI Function"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3720
+#, no-wrap
+msgid "Toggle machine power"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3720
+#, no-wrap
+msgid "qtplasmac.ext_power"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3721
+#, no-wrap
+msgid "Run the loaded G-code program"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3721
+#, no-wrap
+msgid "qtplasmac.ext_run"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3722
+#, no-wrap
+msgid "Pause/Resume the loaded G-code program"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3722
+#, no-wrap
+msgid "qtplasmac.ext_pause"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3723
+#, no-wrap
+msgid "Abort the loaded G-code program"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3723
+#, no-wrap
+msgid "qtplasmac.ext_abort"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3724
+#, no-wrap
+msgid "Touchoff X & Y axes to zero"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3724
+#, no-wrap
+msgid "qtplasmac.ext_touchoff"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3725
+#, no-wrap
+msgid "X0Y0"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3725
+#, no-wrap
+msgid "Use a laser to set an origin with or without rotation"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3725
+#, no-wrap
+msgid "qtplasmac.ext_laser_touchoff"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3726
+#, no-wrap
+msgid "Toggle qtplasmac.laser_on pin"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3726
+#, no-wrap
+msgid "qtplasmac.ext_laser_toggle"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3727 src/plasma/qtplasmac.adoc:3732
+#, no-wrap
+msgid "N/A"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3727
+#, no-wrap
+msgid "Run/Pause/Resume the loaded G-code program"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3727
+#, no-wrap
+msgid "qtplasmac.ext_run_pause"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3728
+#, no-wrap
+msgid "CYCLE START, CYCLE PAUSE, CYCLE RESUME in sequence"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3728
+#, no-wrap
+msgid "Torch height override plus"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3728
+#, no-wrap
+msgid "qtplasmac.ext_height_ovr_plus"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3729
+#, no-wrap
+msgid "OVERRIDE +"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3729
+#, no-wrap
+msgid "Torch height override minus"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3729
+#, no-wrap
+msgid "qtplasmac.ext_height_ovr_minus"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3730
+#, no-wrap
+msgid "OVERRIDE -"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3730
+#, no-wrap
+msgid "Torch height override reset"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3730
+#, no-wrap
+msgid "qtplasmac.ext_height_ovr_reset"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3731
+#, no-wrap
+msgid "OVERRIDE RESET TO 0.00"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3731
+#, no-wrap
+msgid "Torch height override scale"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3731
+#, no-wrap
+msgid "qtplasmac.ext_height_ovr_scale"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3732
+#, no-wrap
+msgid "Toggle jogging speed between fast and slow"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3732
+#, no-wrap
+msgid "qtplasmac.ext_jog_slow"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3733
+#, no-wrap
+msgid "JOGGING FAST/SLOW"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3733
+#, no-wrap
+msgid "Toggle THC enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3733
+#, no-wrap
+msgid "qtplasmac.ext_thc_enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3734
+#, no-wrap
+msgid "THC ENABLE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3734
+#, no-wrap
+msgid "Toggle torch enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3734
+#, no-wrap
+msgid "qtplasmac.ext_torch_enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3735
+#, no-wrap
+msgid "TORCH ENABLE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3735
+#, no-wrap
+msgid "Toggle corner Lock enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3735
+#, no-wrap
+msgid "qtplasmac.ext_cornerlock_enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3736
+#, no-wrap
+msgid "Toggle voidlock enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3736
+#, no-wrap
+msgid "qtplasmac.ext_voidlock_enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3737
+#, no-wrap
+msgid "Toggle use auto volts"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3737
+#, no-wrap
+msgid "qtplasmac.ext_auto_volts_enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3738
+#, no-wrap
+msgid "Toggle ohmic probe enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3738
+#, no-wrap
+msgid "qtplasmac.ext_ohmic_probe_enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3739
+#, no-wrap
+msgid "OHMIC ENABLE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3739
+#, no-wrap
+msgid "Toggle mesh mode"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3739
+#, no-wrap
+msgid "qtplasmac.ext_mesh_mode"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3740
+#, no-wrap
+msgid "Toggle arc ignore OK"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3740
+#, no-wrap
+msgid "qtplasmac.ext_ignore_arc_ok"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3741
+#, no-wrap
+msgid "Forward along the programmed path"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3741
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_fwd"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3742
+#, no-wrap
+msgid "CUT RECOVERY FWD"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3742
+#, no-wrap
+msgid "Reverse along the programmed path"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3742
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_rev"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3743
+#, no-wrap
+msgid "CUT RECOVERY REV"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3743
+#, no-wrap
+msgid "Cancel any Cut Recovery movement"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3743
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_cancel"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3744
+#, no-wrap
+msgid "CUT RECOVERY CANCEL MOVE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3744
+#, no-wrap
+msgid "Move up"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3744
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_n"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3745
+#, no-wrap
+msgid "CUT RECOVERY arrow up"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3745
+#, no-wrap
+msgid "Move down"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3745
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_s"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3746
+#, no-wrap
+msgid "CUT RECOVERY arrow down"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3746
+#, no-wrap
+msgid "Move right"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3746
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_e"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3747
+#, no-wrap
+msgid "CUT RECOVERY arrow right"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3747
+#, no-wrap
+msgid "Move left"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3747
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_w"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3748
+#, no-wrap
+msgid "CUT RECOVERY arrow left"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3748
+#, no-wrap
+msgid "Move up-right"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3748
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_ne"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3749
+#, no-wrap
+msgid "CUT RECOVERY arrow up-right"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3749
+#, no-wrap
+msgid "Move up-left"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3749
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_nw"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3750
+#, no-wrap
+msgid "CUT RECOVERY arrow up-left"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3750
+#, no-wrap
+msgid "Move down-right"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3750
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_se"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3751
+#, no-wrap
+msgid "CUT RECOVERY arrow down-right"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3751
+#, no-wrap
+msgid "Move down-left"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3751
+#, no-wrap
+msgid "qtplasmac.ext_cutrec_sw"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3752
+#, no-wrap
+msgid "CUT RECOVERY arrow down-left"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3755
+msgid ""
+"The following HAL pins which allow the use of an MPG to control height "
+"override are always created."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3760
+#, no-wrap
+msgid "Enable MPG height control"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3761
+#, no-wrap
+msgid "qtplasmac.ext_height_ovr_count_enable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3761
+#, no-wrap
+msgid "MPG height change"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3762
+#, no-wrap
+msgid "qtplasmac.ext_height_ovr_counts"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3766
+msgid ""
+"The following HAL bit pins are only created if the function is specified in "
+"a <<plasma:custom-user-buttons,custom user button>>.  The HAL pin has the "
+"identical behaviour of the related custom user button."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3772
+#, no-wrap
+msgid "qtplasmac.ext_probe"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3773
+#, no-wrap
+msgid "qtplasmac.ext_pulse"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3774
+#, no-wrap
+msgid "qtplasmac.ext_ohmic"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3775
+#, no-wrap
+msgid "qtplasmac.ext_consumables"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3776
+#, no-wrap
+msgid "qtplasmac.ext_frame_job"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3779
+msgid ""
+"The following HAL bit output pins are always created and can be used by "
+"either the <<plasma:button-toggle,Toggle HAL Pin>> or "
+"<<plasma:button-pulse,Pulse HAL Pin>> custom user buttons to change the "
+"state of an output."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3785
+#, no-wrap
+msgid "qtplasmac.ext_out_0"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3786
+#, no-wrap
+msgid "qtplasmac.ext_out_1"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3787
+#, no-wrap
+msgid "qtplasmac.ext_out_2"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3789
+#, no-wrap
+msgid "Hide Program Buttons"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3793
+msgid ""
+"If the user has external buttons and/or a pendant that emulates any of the "
+"program buttons, CYCLE START, CYCLE PAUSE, or CYCLE STOP then it is possible "
+"to hide any or all of these GUI program buttons by adding the following "
+"options to the *[GUI_OPTIONS]* section of the _<machine_name>_.prefs file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3799
+#, no-wrap
+msgid ""
+"Hide run = True\n"
+"Hide pause = True\n"
+"Hide abort = True\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3802
+msgid ""
+"For the 16:9 or 4:3 GUIs, the hiding of each of these GUI buttons will "
+"expose two more custom user buttons in the GUI."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3804
+#, no-wrap
+msgid "Tuning Mode 0 Arc OK"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3810
+msgid ""
+"Mode 0 Arc OK relies on the arc voltage to set the Arc OK signal.  This is "
+"accomplished by sampling the arc voltage every servo thread cycle.  There "
+"needs to be a specified number of consecutive samples, all within a "
+"specified threshold for the Arc OK signal to be set.  These voltages are "
+"also required to be within a specified range."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3812
+msgid ""
+"There are two settings in the <<plasma:parameters-tab,PARAMETERS Tab>> for "
+"setting the range, these are:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3814
+#, no-wrap
+msgid ""
+"*OK High Volts* which is the upper value of the voltage range. The default "
+"is 250 V.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3816
+#, no-wrap
+msgid ""
+"*OK Low Volts* which is the lower value of the voltage range. The default is "
+"60 V.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3818
+msgid ""
+"Both of these values may be changed by direct entry or by the use of the "
+"increment/decrement buttons."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3820
+msgid ""
+"There are also two HAL pins that have been provided to allow the user to "
+"tune the set point. These HAL pins are:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3822
+msgid ""
+"`plasmac.arc-ok-counts` which is the number of consecutive readings within "
+"the threshold that are required to set the Arc OK signal. The default is 10."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3824
+msgid ""
+"`plasmac.arc-ok-threshold` which is the maximum voltage deviation that is "
+"allowed for a valid voltage to set the Arc OK signal. The default is 10."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3826
+msgid ""
+"The following example would set the number of valid consecutive readings "
+"required to 6:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3830
+#, no-wrap
+msgid "setp plasmac.arc-ok-counts 6\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3833 src/plasma/qtplasmac.adoc:3888
+msgid ""
+"These settings if used should be in the custom.hal file of the "
+"configuration."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3834
+#, no-wrap
+msgid "Lost Arc Delay"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3837
+msgid ""
+"Some plasma power sources/machine configurations may lose the Arc OK signal "
+"either momentarily during a cut, or permanently near the end of a cut "
+"causing QtPlasmaC to pause the program and report a \"valid arc lost\" "
+"error."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3839
+msgid ""
+"There is a HAL pin named `plasmac.arc-lost-delay` that may be used to set a "
+"delay (in seconds) that will prevent a paused program/error if the lost Arc "
+"OK signal is regained, or the *M5* command is reached before the set delay "
+"period expires."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3841
+msgid ""
+"It is important to note that the THC will be disabled and locked at the "
+"cutting height at the time the Arc OK signal was lost."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3843
+msgid "The following code would set a delay of 0.1 seconds:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3847
+#, no-wrap
+msgid "setp plasmac.arc-lost-delay 0.1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3850
+msgid "It is recommended that the user set this pin in the custom.hal file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3853
+msgid ""
+"This setting should only be used if the user experiences the above "
+"symptoms.  It should also be noted that the user could use the appropriate "
+"<<plasma:ignore-ok,Ignore Arc OK>> G-code commands to achieve a similar "
+"result."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3854
+#, no-wrap
+msgid "Zero Window"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3857
+msgid ""
+"Small fluctuations in the arc voltage displayed while the machine is at idle "
+"are possible depending on many different variables (electrical noise, "
+"incorrect THCAD tuning, etc.)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3859
+msgid ""
+"After all contributing factors have been mitigated, if a small fluctuation "
+"still exists it is possible to eliminate it by widening the voltage window "
+"for which QtPlasmaC will display 0 V."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3861
+msgid ""
+"The pin for adjusting this value is named plasmac.zero-window and the "
+"default value is set to 0.1. To change this value, add the pin and the "
+"required value to the custom.hal file."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3863
+msgid ""
+"The following example would set the voltage window to be displayed as 0 V "
+"from -5 V to +5 V:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3867
+#, no-wrap
+msgid "setp plasmac.zero-window 5\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3869
+#, no-wrap
+msgid "Tuning Void Sensing"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3873
+msgid ""
+"In addition to the *Void Slope* setting in the "
+"<<plasma:parameters-tab,PARAMETERS Tab>> there are two HAL pins to aid in "
+"the fine tuning of void anti-dive.  These HAL pins are:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3875
+#, no-wrap
+msgid ""
+"*plasmac.void-on-cycles* which is the number of times the slope rate needs "
+"to be exceeded to activate void anti-dive. The default is 2.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3876
+#, no-wrap
+msgid ""
+"*plasmac.void-off-cycles* which is the number of cycles without the slope "
+"rate being exceeded to deactivate void anti-dive. The default is 10.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3878
+msgid "The following example would set the number of on cycles required to 3:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3882
+#, no-wrap
+msgid "setp plasmac.void-on-cycles 3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3886
+msgid ""
+"The objective is to have as low a value of Void Slope as possible without "
+"any false triggering then adjust on and off cycles to ensure clean "
+"activation and deactivation of void anti-dive.  In most cases it should not "
+"be necessary to change on and off cycles from the default value."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3889
+#, no-wrap
+msgid "Max Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3892
+msgid ""
+"Max Offset is the distance (in millimeters) away from the Z MAX_LIMIT that "
+"QtPlasmaC will allow the Z axis to travel while under machine control."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3896
+msgid ""
+"The pin for adjusting this value is named plasmac.max-offset and the default "
+"value (in millimeters) is set to 5.  To change this value, add the pin and "
+"the required value to the custom.hal file.  It is not recommended to use "
+"values less than 5 mm as offset overrun may cause unforeseen issues."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3898
+msgid "The following example would set the distance from Z MAX_LIMIT to 10 mm:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3902
+#, no-wrap
+msgid "setp plasmac.max-offset 10\n"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3904
+#, no-wrap
+msgid "Enable Tabs During Automated Motion"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3908
+msgid ""
+"By default, all tabs except the <<plasma:main-tab,MAIN Tab>> are disabled "
+"during automated motion.  It is possible for every tab but the "
+"<<plasma:conversational-tab,CONVERSATIONAL Tab>> to be enabled during "
+"automated motion by setting the following HAL pin True:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3912
+#, no-wrap
+msgid "setp qtplasmac.tabs_always_enabled 1\n"
+msgstr ""
+
+#. type: delimited block =
+#: src/plasma/qtplasmac.adoc:3918
+msgid ""
+"It is the responsibility of the operator to ensure that the machine is "
+"equipped with a suitable, working hardware E-stop.  If using only a "
+"touchscreen to navigate the QtPlasmaC GUI, there is no way to stop automated "
+"machine motion on any tab but the MAIN tab."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3920
+#, no-wrap
+msgid "Override Jog Inhibit Via Z+ Jog"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3923
+msgid ""
+"It is possible to override the jog inhibit by using the GUI or keyboard to "
+"jog in the Z+ direction rather than checking the Override Jog box on the "
+"<<plasma:settings-tab,SETTINGS Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3926
+#, no-wrap
+msgid ""
+"This is done by changing the following option to *True* in the "
+"*[GUI_OPTIONS]* of the _<machine_name>_.prefs file in the _<machine_name>_ "
+"folder:\n"
+"`Override jog inhibit via Z+`"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3927
+#, no-wrap
+msgid "QtPlasmaC State Outputs"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3930
+msgid ""
+"The plasmac HAL component has a HAL pin named *plasmac.state-out* which can "
+"be used to interface with user-coded components to provide the current state "
+"of the component."
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:3931
+#, no-wrap
+msgid "Different states QtPlasmaC could encounter"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3936
+#, no-wrap
+msgid "IDLE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3937
+#, no-wrap
+msgid "idle and waiting for a start command"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3937
+#, no-wrap
+msgid "PROBE_HEIGHT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3938
+#, no-wrap
+msgid "move down to probe height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3938
+#, no-wrap
+msgid "PROBE_DOWN"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3939
+#, no-wrap
+msgid "probe down until material sensed"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3939
+#, no-wrap
+msgid "PROBE_UP"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3940
+#, no-wrap
+msgid "probe up until material not sensed, this sets the zero height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3940
+#, no-wrap
+msgid "ZERO_HEIGHT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3941
+#, no-wrap
+msgid "not used at present"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3942
+#, no-wrap
+msgid "move up to pierce height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3942
+#, no-wrap
+msgid "TORCH_ON"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3943
+#, no-wrap
+msgid "turn the torch on"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3943
+#, no-wrap
+msgid "ARC_OK"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3944
+#, no-wrap
+msgid "wait until arc ok detected"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3945
+#, no-wrap
+msgid "wait for pierce delay time"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3945
+#, no-wrap
+msgid "PUDDLE_JUMP"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3946
+#, no-wrap
+msgid "xy motion begins, move to puddle jump height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3947
+#, no-wrap
+msgid "move to cut height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3947
+#, no-wrap
+msgid "CUT_MODE_01"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3948
+#, no-wrap
+msgid "cutting in either mode 0 or mode 1"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3948
+#, no-wrap
+msgid "CUT_MODE_2"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3949
+#, no-wrap
+msgid "cutting in mode 2"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3950
+#, no-wrap
+msgid "pause motion at end of cut"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3950
+#, no-wrap
+msgid "SAFE_HEIGHT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3951
+#, no-wrap
+msgid "move to safe height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3951
+#, no-wrap
+msgid "MAX_HEIGHT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3952
+#, no-wrap
+msgid "move to maximum height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3952
+#, no-wrap
+msgid "END_CUT"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3953
+#, no-wrap
+msgid "end the current cut"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3953
+#, no-wrap
+msgid "END_JOB"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3954
+#, no-wrap
+msgid "end the current job"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3954
+#, no-wrap
+msgid "TORCHPULSE"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3955
+#, no-wrap
+msgid "a torch pulse is active"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3955
+#, no-wrap
+msgid "PAUSED_MOTION"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3956
+#, no-wrap
+msgid "cut recovery motion is active while paused"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3956
+#, no-wrap
+msgid "OHMIC_TEST"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3957
+#, no-wrap
+msgid "an ohmic test is active"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3957
+#, no-wrap
+msgid "PROBE_TEST"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3958
+#, no-wrap
+msgid "a probe test is active"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3958
+#, no-wrap
+msgid "SCRIBING"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3959
+#, no-wrap
+msgid "a scribing job is active"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3959
+#, no-wrap
+msgid "CONSUMABLE_CHANGE_ON"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3960
+#, no-wrap
+msgid "move to consumable change coordinates"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3960
+#, no-wrap
+msgid "CONSUMABLE_CHANGE_OFF"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3961
+#, no-wrap
+msgid "return from consumable change coordinates"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3961
+#, no-wrap
+msgid "CUT_RECOVERY_ON"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3962
+#, no-wrap
+msgid "cut recovery is active"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3962
+#, no-wrap
+msgid "CUT_RECOVERY_OFF"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:3963
+#, no-wrap
+msgid "cut recovery is deactivated"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3967
+msgid ""
+"The DEBUG state is for testing purposes only and will not normally be "
+"encountered."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3968
+#, no-wrap
+msgid "QtPlasmaC Debug Print"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3971
+msgid ""
+"The plasmac HAL component has a HAL pin named *plasmac.debug-print* which if "
+"set to 1 (true) will print to terminal every state change as a debug aid."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:3973
+#, no-wrap
+msgid "Hypertherm PowerMax Communications"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3978
+msgid ""
+"Communications can be established with a Hypertherm PowerMax plasma cutter "
+"that has a RS485 port.  This feature enables the setting of *Cut Mode*, "
+"*Cutting Amperage* and *Gas Pressure* automatically from the *Cut "
+"Parameters* of the material file.  In addition, the user will be able to "
+"view the PowerMax's *Arc On Time* in hh:mm:ss format on the "
+"<<plasma:statistics-tab,STATISTICS Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3980
+msgid ""
+"If *Gas Pressure* is set to zero, then the PowerMax will automatically "
+"calculate the required pressure from the *Cut Mode*, *Cut Current*, torch "
+"type, and torch length."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3982
+msgid ""
+"Changing the cutting mode will set the gas pressure to zero causing the "
+"machine to use its automatic gas pressure mode."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3985
+msgid ""
+"The maximum and minimum values of these parameters are read from the plasma "
+"cutter and the related spin-buttons in the Cut Parameters are then limited "
+"by these values.  Gas pressure cannot be changed from zero until "
+"communications have been established."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3988
+msgid ""
+"This feature is enabled by setting the correct port name for the PM_PORT "
+"option in the *[POWERMAX]* section of the _<machine_name>_.prefs file.  If "
+"the PM_PORT option is not set in the _<machine_name>_.prefs file then the "
+"widgets associated with this feature will not be visible."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3990
+msgid "Example showing enabling the Hypertherm PowerMax Communications on USB0:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:3995
+#, no-wrap
+msgid ""
+"[POWERMAX]\n"
+"Port = /dev/ttyusb0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:3999
+msgid ""
+"If the user is unsure of the name of the port, there is a Python script in "
+"the configuration directory that will show all available ports and can also "
+"be used to test communications with the plasma unit prior to enabling this "
+"feature in the QtPlasmaC GUI."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4001
+msgid "To use the test script, follow these instructions:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4005
+#, no-wrap
+msgid "pmx485-test\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4011
+#, no-wrap
+msgid ""
+"source ~/linuxcnc-dev/scripts/rip-environment\n"
+"pmx485-test\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4015
+msgid ""
+"The gas pressure units display (psi or bar) is determined by the data "
+"received during initial setup of the communication link and is then shown "
+"next to the Gas Pressure setting in the MATERIAL section of the "
+"<<plasma:parameters-tab,PARAMETERS Tab>>."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4018
+msgid ""
+"The PowerMax machine will go into remote mode after communications have been "
+"established and may only be controlled remotely (via the QtPlasmaC GUI) at "
+"this point.  The connection can be validated by observing the PowerMax "
+"display."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4020
+msgid "To switch the PowerMax back to local mode the user can either:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4022
+msgid "Disable PowerMax Comms from the <<plasma:main-tab, MAIN Tab>>"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4023
+msgid "Close LinuxCNC which will put the PowerMax into local mode during shutdown."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4024
+msgid "Turn the PowerMax off for 30 seconds and then power it back on."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4026
+msgid ""
+"If PowerMax communications is active then selecting <<plasma:mesh-mode,Mesh "
+"Mode>> will automatically select CPA mode on the PowerMax unit."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4030
+#, no-wrap
+msgid ""
+"To use the PowerMax communications feature it is necessary to have the "
+"Python pyserial module installed.\n"
+"If pyserial is not installed an error message will be displayed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4032
+msgid "To install pyserial, enter the following command into a terminal window:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4034
+#, no-wrap
+msgid "sudo apt install python3-serial\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4037
+msgid ""
+"A typical <<plasma:rs485_connections,connection diagram>> is shown in the "
+"appendix of this document as well as confirmed working interfaces."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4039
+#, no-wrap
+msgid "Moving Pierce"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4042
+msgid ""
+"A moving pierce allows the torch to move during the pierce delay "
+"period. This has an advantage in that it allows for thicker materials to be "
+"pierced than can be achieved with a stationary pierce. It may also support "
+"longer consumable life by allowing a style of motion that helps prevent "
+"molten material being sprayed up into the torch nozzle."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4044
+msgid "Through the use of M159 a moving pierce can be configured."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4046
+msgid "The syntax for the M159 command is as follows: +"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4049
+#, no-wrap
+msgid "M159 Pn Qn\n"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4053
+#, no-wrap
+msgid "Action Code (P)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4054
+#, no-wrap
+msgid "Value (Q)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4054
+#, no-wrap
+msgid "601"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4054
+#, no-wrap
+msgid "Pierce Type"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4054
+#, no-wrap
+msgid "0=Normal, 1=Wiggle, 2=Ramp"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4055
+#, no-wrap
+msgid "0,1,2"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4055
+#, no-wrap
+msgid "602"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4055
+#, no-wrap
+msgid "Pierce Motion Delay"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4056
+#, no-wrap
+msgid ""
+"Delay before Z motion starts to Pierce End Height. +\n"
+"Expressed as a % of Pierce Delay."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4057
+#, no-wrap
+msgid "Integer 0 to 100"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4057
+#, no-wrap
+msgid "603"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4057
+#, no-wrap
+msgid "Pierce End Height"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4058
+#, no-wrap
+msgid ""
+"Target pierce height at end of Pierce Delay. Normally lower than Pierce "
+"Height. +\n"
+"Expressed in machine units."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4059
+#, no-wrap
+msgid "604"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4059
+#, no-wrap
+msgid "Cut Height Delay"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4060
+#, no-wrap
+msgid ""
+"Delay at the end of transition to Pierce End Height before transition to Cut "
+"Height. +\n"
+"Expressed in seconds."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4061
+#, no-wrap
+msgid "605"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4061
+#, no-wrap
+msgid "Gouge Speed"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4062
+#, no-wrap
+msgid ""
+"Velocity of gouge. +\n"
+"Expressed in machine units/min."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4063
+#, no-wrap
+msgid "606"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4063
+#, no-wrap
+msgid "Gouge Distance"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4064
+#, no-wrap
+msgid ""
+"Length of gouge. +\n"
+"Expressed in machine units."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4065
+#, no-wrap
+msgid "607"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4065
+#, no-wrap
+msgid "Creep Speed"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4066
+#, no-wrap
+msgid ""
+"Velocity of creep which takes effect after gouge has finished. +\n"
+"Expressed in machine units."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4067
+#, no-wrap
+msgid "608"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4067
+#, no-wrap
+msgid "Creep Distance"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4068
+#, no-wrap
+msgid ""
+"Length of creep. +\n"
+"Expressed in machine units."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4069
+#, no-wrap
+msgid "609"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4069 man/man9/oneshot.9:35
+#, no-wrap
+msgid "Reset"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4069
+#, no-wrap
+msgid ""
+"Resets the values for action codes 601-608 back to 0, returning to default "
+"behaviour."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4070
+#, no-wrap
+msgid "Not Required"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4074
+msgid "The available moving pierce models are as follows:"
+msgstr ""
+
+#. type: Title ====
+#: src/plasma/qtplasmac.adoc:4075
+#, no-wrap
+msgid "Wiggle Pierce"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4078
+msgid ""
+"The model supported is the same as that created by Sheetcam's wiggle "
+"pierce. Given a straight leadin to the main cut the wiggle pierce is "
+"expected to move back and forth for some distance along the leadin. Strictly "
+"speaking this straight movement is arbitrary. Technically any X/Y motion is "
+"available during the pierce delay, and it is up the CAM tooling or the user "
+"to program."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4080
+msgid ""
+"The constraint is that this motion is expected to be completed during the "
+"pierce delay value. If not then the torch will transition to normal cut "
+"height on completion of pierce delay and potentially before the wiggle "
+"motion is completed."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4082
+msgid ""
+"Therefore, the length of the wiggle and the feedrate need to be considered "
+"in calculating the pierce delay, or the size of the wiggle constrained based "
+"on feedrate and pierce delay."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4086
+msgid "A feed rate of 1080 mm/min (18 mm/s)"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4087
+msgid "A wiggle movement of 4mm for 3 oscillations"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4089
+msgid ""
+"This means that the length of the wiggle is 4 x 3 = 12mm. At the 18 mm/s "
+"feedrate, the pierce delay needs to be approx 0.7 seconds to support the "
+"wiggle distance at pierce height."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4091
+msgid "The G-code needed invoke this behaviour is: +"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4094
+#, no-wrap
+msgid "M159 P601 Q1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4097
+msgid "The G-code needed to reset to standard behaviour is: +"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4100
+#, no-wrap
+msgid "M159 P609\n"
+msgstr ""
+
+#. type: Title ====
+#: src/plasma/qtplasmac.adoc:4103
+#, no-wrap
+msgid "Ramp Pierce"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4106
+msgid ""
+"A ramping pierce combines a range of parameters so as to generate a sloped "
+"trough that causes the molten material to be evacuated. The resulting "
+"evacuation of material is sometimes likened to a \"rooster tail\" as it is "
+"very directional. Careful consideration of the leadin can allow evacuation "
+"of material in a safe direction for workers and machine components."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4108
+msgid ""
+"As the elements combine to drive the shape of the ramping pierce it is key "
+"that all of these elements are carefully considered when designing the ramp "
+"pierce and the parameters that set it. Inevitably there will need to be "
+"experimentation to build recipes that work with the plasma power source "
+"being used in conjunction with the material to be cut."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4110
+msgid "Items to consider:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4112
+msgid ""
+"The gouge and creep speeds and distances in relation to the sum of Pierce "
+"Delay from the material and the Cut Height Delay action."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4113
+msgid ""
+"Pierce height from the material and the End Pierce Height action in relation "
+"to Pierce Delay from the material and the speeds in effect over the various "
+"distances during the Pierce Delay time."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4114
+msgid ""
+"The plasma source manufacturer's cut charts for the material type and "
+"thickness."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:4116
+#, no-wrap
+msgid "images/qtplasmac_ramp_pierce_chart.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4119
+msgid ""
+"As with wiggle pierce it is up the CAM tooling or the user to program a "
+"ramping pierce."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4121
+msgid "Below is a sample of code to setup a ramp pierce: +"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4125
+#, no-wrap
+msgid "(o=0,kw=2, ph=4, pd=1, ch=1.5, fr=490, th=1, cv=99, pe=0.3, jh=0, jd=0)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4134
+#, no-wrap
+msgid ""
+"M159 P601 Q2\n"
+"M159 P602 Q50\n"
+"M159 P603 Q2.5\n"
+"M159 P604 Q1\n"
+"M159 P605 Q980\n"
+"M159 P606 Q5\n"
+"M159 P607 Q245\n"
+"M159 P608 Q3\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4137
+msgid "This code shows us the following information in order:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4139
+msgid "Material magic comment."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4140
+msgid "Pierce Height is 4 mm."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4141
+msgid "Pierce Delay is 1 second."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4142
+msgid "Cut Height is 1.5 mm."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4143
+msgid "Cut Feed Rate is 490 mm/min."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4144
+msgid "Mode is set to 2 which is ramp pierce."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4145
+msgid "Pierce Motion Delay is 50% of Pierce Delay (0.5 seconds)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4146
+msgid "Pierce End Height is 2.5 mm"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4147
+msgid "Cut Height Delay is 1 second."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4148
+msgid "Gouge Speed is 980 mm/min."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4149
+msgid "Gouge Distance is 5 mm"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4150
+msgid "Creep Speed is 245 mm/min."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4151
+msgid "Creep Distance is 3 mm."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4153
+msgid "With this information the following behavior can be described:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4155
+msgid ""
+"It is important to note that accelerations and decelerations are omitted "
+"from the following calculations."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4157
+msgid ""
+"The torch will start at Pierce Height (4 mm from the material) and start "
+"traveling at a Gouge Speed of 980 mm/min (16.3 mm/s) for a Gouge Distance of "
+"5 mm which will consume 0.3 seconds (5 mm / 16.3 mm/s = 0.3 s) of the 0.5 s "
+"Pierce Motion Delay."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4159
+msgid ""
+"When the Gouge Distance is reached, the torch speed is set to a Creep Speed "
+"of 245 mm/min (4 mm/s) for a Creep Distance of 3 mm. The Creep Distance will "
+"take roughly 0.7 seconds to complete (3 mm / 4 mm/s = 0.7 s)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4161
+msgid ""
+"The torch height will remain at 4 mm for another 0.2 seconds (0.5 s (Pierce "
+"Motion Delay) - 0.3 s (Gouge Distance at Gouge Speed) = 0.2 s) after which "
+"the torch will begin descending to a Pierce End Height of 2.5 mm over the "
+"remaining 0.5 seconds of the material's Pierce Delay. Since there are 0.5 "
+"seconds of the material's Pierce Delay remaining, as well as 0.5 seconds "
+"left at Creep Speed, the Creep Distance will be covered at the same time the "
+"Pierce End Height is reached."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4163
+msgid ""
+"When the Creep Distance has been reached, the torch speed will be set to the "
+"material's Cut Feed Rate of 490 mm/min. Since there is a 1 second Cut Height "
+"Delay that started at the end of the material's Pierce Delay the transition "
+"to a Cut Height of 1.5 mm will occur after the remaining 1 second Cut Height "
+"Delay has expired."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4165
+msgid ""
+"The above text should demonstrate that there is quite a bit of configuration "
+"and subtlety can be achieved through experimentation and the careful use of "
+"different parameter combinations."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4169
+msgid ""
+"It is possible to create translation files for QtPlasmaC to display in the "
+"language of the current locale."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4175
+msgid ""
+"All language files are kept in "
+"~/linuxcnc-dev/share/screens/qtplasmac/languages."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4177
+msgid ""
+"The qtplasmac.py file is a Python version of the GUI file used for "
+"translation purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4186
+msgid ""
+"The language is determined by an underscore plus the first two letters of "
+"the locale.  For example, if an Italian translation was being done then it "
+"would be `_it`.  It will be referred to as `_xx` in this document, so "
+"`qtplasmac_xx.ts` in this document would actually be `qtplasmac_it.ts` for "
+"an Italian translation."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4188
+msgid ""
+"The default locale for QtPlasmaC is `_en` which means that any translation "
+"files created as `qtplasmac_en.*` will not be used for translations."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4197
+#, no-wrap
+msgid "cd ~/linuxcnc-dev/share/qtvcp/screens/qtplasmac/languages\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4202
+#, no-wrap
+msgid "pyuic5 ../qtplasmac.ui > qtplasmac.py\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4207
+msgid ""
+"The user can either create a new translation source file for a non-existing "
+"language translation or modify an existing translation source file due to "
+"changes being made to some text in a QtPlasmaC source file.  If modifying an "
+"existing translation that has had no source file changes then this step is "
+"not required."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4215
+msgid ""
+"this command is a script which runs the following: $ pylupdate5 *.py ../*.py "
+"../../../../../lib/python/qtvcp/lib/qtplasmac/*.py -ts qtplasmac_xx.ts"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4225
+msgid ""
+"It is not necessary to provide a translation for every text string, if no "
+"translation is specified for a string, then the original string will be used "
+"in the application.  The user needs to be careful with the length of strings "
+"that appear on widgets as space is limited. If possible try, to make the "
+"translation no longer than the original."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4235
+msgid "Then create links to the compiled .qm file for the other QtPlasmaC GUIs."
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4238
+#, no-wrap
+msgid ""
+"$ ln -s qtplasmac_en.qm ../../qtplasmac_4x3/languages/\n"
+"$ ln -s qtplasmac_en.qm ../../qtplasmac_9x16/languages/\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4241
+msgid ""
+"QtPlasmaC will be translated to the language of the current locale on the "
+"next start so long as a .qm file exists in that language."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4245
+msgid ""
+"Users are welcome to submit translation files for inclusion into QtPlasmaC.  "
+"The preferred method is to submit a pull request from the users GitHub "
+"account as described in the "
+"https://www.linuxcnc.org/docs/html/code/contributing-to-linuxcnc.html[contributing "
+"to LinuxCNC] documentation.  The only files required to be committed are "
+"qtplasmac_xx.ts and qtplasmac_xx.qm."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:4246
+#, no-wrap
+msgid "Appendix"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4251
+msgid ""
+"There are example configuration files which use the QtPlasmaC GUI to "
+"simulate plasma cutting machines."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4253
+msgid ""
+"They can be found in the LinuxCNC chooser under: Sample Configurations -> "
+"sim -> qtplasmac"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4255
+msgid "Three versions are available in both metric and imperial units:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4257
+msgid "qtplasmac_l - 16:9 format, minimum resolution 1366x768"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4258
+msgid "qtplasmac_p - 9:16 format, minimum resolution 786x1366"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4259
+msgid "qtplasmac_s - 4:3 format, minimum resolution 1024x768"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4261
+msgid ""
+"Each sample configuration includes a popup control panel to simulate various "
+"inputs to the GUI such as:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4263
+msgid "ARC VOLTAGE"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4264
+msgid "OHMIC SENSE"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4265
+msgid "FLOAT SWITCH"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4266
+msgid "BREAKAWAY SWITCH"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4268
+#, no-wrap
+msgid "NGC Samples"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4271
+msgid ""
+"There are some sample G-code files in the "
+"~/linuxcnc/nc_files/examples/plasmac directory."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4272
+#, no-wrap
+msgid "QtPlasmaC Specific G-codes"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4278
+#, no-wrap
+msgid "Begin <<plasma:multi-tool,cut>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4279
+#, no-wrap
+msgid "M3 $0 S1"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4279
+#, no-wrap
+msgid "End <<plasma:multi-tool,cut>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4280
+#, no-wrap
+msgid "M5 $0"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4280
+#, no-wrap
+msgid "Begin <<plasma:scribe,scribe>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4281
+#, no-wrap
+msgid "M3 $1 S1"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4281
+#, no-wrap
+msgid "End <<plasma:scribe,scribe>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4282
+#, no-wrap
+msgid "M5 $1"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4282
+#, no-wrap
+msgid "Begin <<plasma:spotting,center spot>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4283
+#, no-wrap
+msgid "M3 $2 S1"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4283
+#, no-wrap
+msgid "End <<plasma:spotting,center spot>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4284
+#, no-wrap
+msgid "M5 $2"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4284
+#, no-wrap
+msgid "End all the above."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4285
+#, no-wrap
+msgid "M5 $-1"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4285
+#, no-wrap
+msgid "Select a <<plasma:material-handling,material>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4287
+#, no-wrap
+msgid ""
+"`M190 P`__n__ +\n"
+"_n_ denotes the material number."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4287
+#, no-wrap
+msgid "Wait for <<plasma:material-handling,material>> change confirmation."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4290
+#, no-wrap
+msgid ""
+"`M66 P3 L3 Q`__n __+\n"
+"_n_ is delay time (in seconds).\n"
+"This value may need to be increased for very large material files."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4290
+#, no-wrap
+msgid "Set feed rate from <<plasma:material-handling,material>>."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4291
+#, no-wrap
+msgid "F#<_hal[plasmac.cut-feed-rate]>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4291
+#, no-wrap
+msgid "Enable <<plasma:ignore-ok,Ignore Arc OK>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4293
+#, no-wrap
+msgid ""
+"`M62 P1` (synchronized with motion) +\n"
+"`M64 P1` (immediate)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4293
+#, no-wrap
+msgid "Disable <<plasma:ignore-ok,Ignore Arc OK>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4295
+#, no-wrap
+msgid ""
+"`M63 P1` (synchronized with motion) +\n"
+"`M65 P1` (immediate)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4295
+#, no-wrap
+msgid "Disable <<plasma:thc,THC>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4297
+#, no-wrap
+msgid ""
+"`M62 P2` (synchronized with motion) +\n"
+"`M64 P2` (immediate)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4297
+#, no-wrap
+msgid "Enable <<plasma:thc,THC>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4299
+#, no-wrap
+msgid ""
+"`M63 P2` (synchronized with motion) +\n"
+"`M65 P2` (immediate)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4299
+#, no-wrap
+msgid "Disable <<plasma:overcut,Torch>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4301
+#, no-wrap
+msgid ""
+"`M62 P3` (synchronized with motion) +\n"
+"`M64 P3` (immediate)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4301
+#, no-wrap
+msgid "Enable <<plasma:overcut,Torch>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4303
+#, no-wrap
+msgid ""
+"`M63 P3` (synchronized with motion) +\n"
+"`M65 P3` (immediate)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4303
+#, no-wrap
+msgid "Set <<plasma:velocity_thc,velocity>> to a percentage of feed rate."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4309
+#, no-wrap
+msgid ""
+"`M67 E3 Q`__n__ (synchronized with motion) +\n"
+"`M68 E3 Q`__n__ (immediate) +\n"
+"_n_ is the percentage to set +\n"
+"10 is the minimum, below this will be set to 100% +\n"
+"100 is the maximum, above this will be set to 100% +\n"
+"*It is recommended to have M68 E3 Q0 in both the preamble and postamble.*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4309
+#, no-wrap
+msgid "Cutter <<plasma:cutter-compensation,compensation>> - left of path"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4310
+#, no-wrap
+msgid "G41.1 D#<_hal[plasmac.kerf-width]>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4310
+#, no-wrap
+msgid "Cutter <<plasma:cutter-compensation,compensation>> - right of path"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4311
+#, no-wrap
+msgid "G42.1 D#<_hal[plasmac.kerf-width]>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4311
+#, no-wrap
+msgid "Cutter <<plasma:cutter-compensation,compensation>> off"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4313
+#, no-wrap
+msgid ""
+"`G40` +\n"
+"*Note that M62 through M68 are invalid while cutter compensation is on.*"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4313
+#, no-wrap
+msgid "Cut <<plasma:hole-cutting,holes>> at 60% feed rate"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4315
+#, no-wrap
+msgid ""
+"`#<holes> = 1` +\n"
+"for holes less than 32 mm (1.26\") diameter"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4315
+#, no-wrap
+msgid ""
+"Cut <<plasma:hole-cutting,holes>> at 60% feed rate, turn torch off at hole "
+"end, continue hole path for over cut."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4318
+#, no-wrap
+msgid ""
+"`#<holes> = 2` +\n"
+"for holes less than 32 mm (1.26\") diameter +\n"
+"over cut length = 4 mm (0.157\")"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4318
+#, no-wrap
+msgid "Cut <<plasma:hole-cutting,holes>> and arcs at 60% feed rate."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4321
+#, no-wrap
+msgid ""
+"`#<holes> = 3` +\n"
+"for holes less than 32 mm (1.26\") diameter +\n"
+"for arcs less than 16 mm (0.63\") radius"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4321
+#, no-wrap
+msgid ""
+"Cut <<plasma:hole-cutting,holes>> and arcs at 60% feed rate, turn torch off "
+"at hole end, continue hole path for over cut."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4325
+#, no-wrap
+msgid ""
+"`#<holes> = 4` +\n"
+"for holes less than 32 mm (1.26\") diameter +\n"
+"for arcs less than 16 mm (0.63\") radius +\n"
+"over cut length = 4 mm (0.157\")"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4326
+#, no-wrap
+msgid ""
+"Specify <<plasma:hole-cutting,hole>> diameter for +\n"
+" #<holes> = 1-4."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4328
+#, no-wrap
+msgid ""
+"`#<h_diameter> =` _n_ +\n"
+"(_n_ is the diameter, use the same units system as the rest of the G-code "
+"file)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4329
+#, no-wrap
+msgid ""
+"Specify <<plasma:hole-cutting,hole>> velocity for +\n"
+" #<holes> = 1-4."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4331
+#, no-wrap
+msgid ""
+"`#<h_velocity> =` _n_ +\n"
+"(_n_ is the percentage, set the percentage of the current feed rate)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4331
+#, no-wrap
+msgid "Specify <<plasma:overcut,over cut>> length."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4333
+#, no-wrap
+msgid ""
+"`#<oclength> =` _n_ +\n"
+"(_n_ is the length, use the same units system as the rest of the G-code "
+"file)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4333
+#, no-wrap
+msgid "Specify <<plasma:cut-types,pierce-only>> mode."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4335
+#, no-wrap
+msgid ""
+"`#<pierce-only> =` _n_ +\n"
+"(_n_ is the mode, 0=normal cut mode, 1=pierce only mode)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4339
+#, no-wrap
+msgid ""
+"Create or edit materials. +\n"
+"Options: +\n"
+"0 - Create temporary default +\n"
+"1 - Add if not existing +\n"
+"2 - Overwrite if existing else add new"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4343
+#, no-wrap
+msgid ""
+"mandatory parameters: +\n"
+"(o=<__option__>, nu=<__nn__>, na=<__ll__>, ph=<__nn__>, pd=<__nn__>, "
+"ch=<__nn__>, fr=<__nn__>) +\n"
+"optional parameters: +\n"
+"(kw=<__nn__>, th=<__nn__>, ca=<__nn__>, cv=<__nn__>, pe=<__nn__>, "
+"gp=<__nn__>, cm=<__nn__>, jh=<__nn__>, jd=<__nn__>)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4343
+#, no-wrap
+msgid "<<plasma:magic-comments,Keep Z Motion>>"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4344
+#, no-wrap
+msgid "#<keep-z-motion> = 1"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4346
+#, no-wrap
+msgid "QtPlasmaC G-code Examples"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4352
+#, no-wrap
+msgid "Select material and do a normal cut"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4359
+#, no-wrap
+msgid ""
+"M190 P3 +\n"
+"M66 P3 L3 Q1 +\n"
+"F#<_hal[plasmac.cut-feed-rate]> +\n"
+"M3 $0 S1 +\n"
+". +\n"
+". +\n"
+"M5 $0"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4359
+#, no-wrap
+msgid "Set velocity to 100% of CutFeedRate"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4360
+#, no-wrap
+msgid "M67 E3 Q0 or M67 E3 Q100"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4360
+#, no-wrap
+msgid "Set velocity to 60% of CutFeedRate"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4361
+#, no-wrap
+msgid "M67 E3 Q60"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4361
+#, no-wrap
+msgid "Set velocity to 40% of CutFeedRate"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4362
+#, no-wrap
+msgid "M67 E3 Q40"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4362
+#, no-wrap
+msgid "Cut a hole with 60% reduced speed using velocity setting"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4375
+#, no-wrap
+msgid ""
+"G21 (metric) +\n"
+"G64 P0.05 +\n"
+"M52 P1 (allow paused motion) +\n"
+"F#<_hal[plasmac.cut-feed-rate]> +\n"
+"G0 X10 Y10 +\n"
+"M3 $0 S1 (start cut) +\n"
+"G1 X0 +\n"
+"M67 E3 Q60 (reduce feed rate to 60%) +\n"
+"G3 I10 (the hole) +\n"
+"M67 E3 Q100 (restore feed rate to 100%) +\n"
+"M5 $0 (end cut) +\n"
+"G0 X0 Y0 +\n"
+"M2 (end job)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4375
+#, no-wrap
+msgid "Cut a hole with 60% reduced speed using the #<holes> command"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4387
+#, no-wrap
+msgid ""
+"G21 (metric) +\n"
+"G64 P0.05 +\n"
+"M52 P1 (allow paused motion) +\n"
+"\\#<holes> = 1 (velocity reduction for holes) +\n"
+"F#<_hal[plasmac.cut-feed-rate]> +\n"
+"G0 X10 Y10 +\n"
+"M3 $0 S1 (start cut) +\n"
+"G1 X0 +\n"
+"G3 I10 (the hole) +\n"
+"M5 $0 (end cut) +\n"
+"G0 X0 Y0 +\n"
+"M2 (end job)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4387
+#, no-wrap
+msgid "Cut a hole with over cut using torch disable"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4403
+#, no-wrap
+msgid ""
+"G21 (metric) +\n"
+"G64 P0.05 +\n"
+"M52 P1 (allow paused motion) +\n"
+"F#<_hal[plasmac.cut-feed-rate]> +\n"
+"G0 X10 Y10 +\n"
+"M3 $0 S1 (start cut) +\n"
+"G1 X0 +\n"
+"M67 E3 Q60 (reduce feed rate to 60%) +\n"
+"G3 I10 (the hole) +\n"
+"M62 P3 (turn torch off) +\n"
+"G3 X0.8 Y6.081 I10 (continue motion for 4 mm) +\n"
+"M63 P3 (allow torch to be turned on) +\n"
+"M67 E3 Q0 (restore feed rate to 100%) +\n"
+"M5 $0 (end cut) +\n"
+"G0 X0 Y0 +\n"
+"M2 (end job)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4403
+#, no-wrap
+msgid "Cut a hole with over cut using the #<holes> command"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4415
+#, no-wrap
+msgid ""
+"G21 (metric) +\n"
+"G64 P0.05 +\n"
+"M52 P1 (allow paused motion) +\n"
+"\\#<holes> = 2 (over cut for holes) +\n"
+"F#<_hal[plasmac.cut-feed-rate]> +\n"
+"G0 X10 Y10 +\n"
+"M3 $0 S1 (start cut) +\n"
+"G1 X0 +\n"
+"G3 I10 (the hole) +\n"
+"M5 $0 (end cut) +\n"
+"G0 X0 Y0 +\n"
+"M2 (end job) +"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4415
+#, no-wrap
+msgid "Cut a hole with 6.5 mm over cut using the #<holes> command"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4428
+#, no-wrap
+msgid ""
+"G21 (metric) +\n"
+"G64 P0.05 +\n"
+"M52 P1 (allow paused motion) +\n"
+"\\#<holes> = 2 (over cut for holes) +\n"
+"#<oclength> = 6.5 (6.5 mm over cut length) +\n"
+"F#<_hal[plasmac.cut-feed-rate]> +\n"
+"G0 X10 Y10 +\n"
+"M3 $0 S1 (start cut) +\n"
+"G1 X0 +\n"
+"G3 I10 (the hole) +\n"
+"M5 $0 (end cut) +\n"
+"G0 X0 Y0 +\n"
+"M2 (end job)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4428
+#, no-wrap
+msgid "Select scribe and select torch at end of scribing"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4441
+#, no-wrap
+msgid ""
+". +\n"
+". +\n"
+"M52 P1 (paused motion on) +\n"
+"F#<_hal[plasmac.cut-feed-rate]> +\n"
+"T1 M6 (select scribe) +\n"
+"G43 H0 (apply offsets) +\n"
+"M3 $1 S1 (start plasmac with scribe) +\n"
+". +\n"
+". +\n"
+"T0 M6 (select torch) +\n"
+"G43 H0 (apply offsets) +\n"
+"G0 X0 Y0 (parking position) +\n"
+"M5 $1 (end)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4441
+#, no-wrap
+msgid "Hole center spotting."
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4453
+#, no-wrap
+msgid ""
+"(Requires a small motion command or nothing happens) +\n"
+"G21 (metric) +\n"
+"F99999 (high feed rate) +\n"
+"G0 X10 Y10 +\n"
+"M3 $2 S1 (spotting on) +\n"
+"G91 (relative distance mode) +\n"
+"G1 X0.000001 +\n"
+"G90 (absolute distance mode) +\n"
+"M5 $2 (spotting off) +\n"
+"G0 X0 Y0 +\n"
+"G90 +\n"
+"M2"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4453
+#, no-wrap
+msgid "Create temporary default material"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4454
+#, no-wrap
+msgid "(o=0, nu=2, na=5mm Mild Steel 40A, ph=3.1, pd=0.1, ch=0.75, fr=3000)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4454
+#, no-wrap
+msgid "Edit material, if not existing create a new one"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4455
+#, no-wrap
+msgid "(o=2, nu=2, na=5mm Mild Steel 40A, ph=3.1, pd=0.1, ch=0.75, fr=3000, kw=1.0)"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4458
+#, no-wrap
+msgid "Mesa THCAD"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4463
+msgid ""
+"The Mesa THCAD is a common way of obtaining the arc voltage from a plasma "
+"cutter and is also useful for ohmic sensing of the material during probing.  "
+"The THCAD may be used for parallel port configurations as well as "
+"configurations using Mesa Electronics hardware.  The THCAD is available in "
+"three different models, THCAD-5, THCAD-10, and THCAD-300."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4465
+msgid "There is a mode jumper on each THCAD card which should be set to *UNIPOLAR*"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4467
+msgid ""
+"There is a frequency divider jumper on each THCAD card which should be set "
+"according to the hardware type:"
+msgstr ""
+
+#. [grid=none,frame=ends]
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4471
+#, no-wrap
+msgid "Input Device"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4472
+#, no-wrap
+msgid "Recommended Setting"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4472
+#, no-wrap
+msgid "Parallel Port with very low latency"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4473 src/plasma/qtplasmac.adoc:4476
+#, no-wrap
+msgid "F/32"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4473
+#, no-wrap
+msgid "Parallel Port recommended starting point"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4474
+#, no-wrap
+msgid "F/64"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4474
+#, no-wrap
+msgid "Parallel Port with higher latency, or when cutting thick material"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4475
+#, no-wrap
+msgid "F/128"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4475
+#, no-wrap
+msgid "Mesa Card"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4479
+msgid "This value is required to be entered into PnCconf during installation."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4483
+msgid ""
+"If using a parallel port it may be necessary for the user to adjust the "
+"jumper setting and the subsequent scaling values on the "
+"<<plasma:parameters-tab,Parameters Tab>> to achieve optimal results.  "
+"Symptoms may include random torch raises or dives during otherwise stable "
+"cutting. Halscope plots may be useful in diagnosing these issues."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4486
+msgid "Located on the rear of the THCAD is a calibration sticker showing:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4489
+#, no-wrap
+msgid "    THCAD-nnn\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4492
+#, no-wrap
+msgid ""
+" 0V  121.1 kHz\n"
+" 5V  925.3 kHz\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4495
+msgid ""
+"or similar values, these values are required to be entered into PnCconf "
+"during installation."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4498
+msgid ""
+"PnCconf has entries for all required THCAD parameters and will calculate and "
+"configure any required settings.  The calculations used are as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4503
+#, no-wrap
+msgid "vs = r / ((f - z) / d / v)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4509
+#, no-wrap
+msgid "vo = z / d\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4512
+msgid "_r_ = divider ratio (see below)."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4514
+msgid "_f_ = full scale value from calibration sticker."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4516
+msgid "_z_ = 0 V value from calibration sticker."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4518
+msgid "_d_ = value from jumper above."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4520
+msgid "_v_ = full scale voltage of THCAD"
+msgstr ""
+
+#. type: Block title
+#: src/plasma/qtplasmac.adoc:4521
+#, no-wrap
+msgid "Divider Ratio"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4524
+msgid "_THCAD-5 or THCAD-10_"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4526
+msgid ""
+"If connecting to a plasma CNC port, then the divider ratio is selected from "
+"the plasma machine. A common ratio used is 20:1."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4530
+msgid ""
+"If connecting to the plasma machines full arc voltage, then a common setup "
+"for a THCAD-10 is to use a 1 MΩ resistor from arc negative to THCAD negative "
+"and a 1 MΩ resistor from arc positive to THCAD positive.  The divider ratio "
+"is obtained by:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4533
+#, no-wrap
+msgid "r = (total_resistance + 100000) / 100000\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4536
+msgid "_THCAD-300_"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4539
+#, no-wrap
+msgid "r = 1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4542
+msgid ""
+"IF THE USER IS USING A HF START PLASMA POWER SUPPLY, THEN EACH OF THESE "
+"RESISTANCES SHOULD BE MADE UP OF SEVERAL HIGH VOLTAGE RESISTORS."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4544
+msgid ""
+"IF THE USER IS USING A HF START PLASMA POWER SUPPLY, THEN OHMIC SENSING IS "
+"NOT RECOMMENDED."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4547
+msgid ""
+"These values can be calculated by using "
+"https://jscalc.io/calc/NTr5QDX6WgMThBVb[this online calculator]."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4550
+msgid ""
+"There is a <<plasma:lowpass,lowpass filter>> available which may be useful "
+"if using a THCAD and there is a lot of noise on the returned arc voltage."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4552
+#, no-wrap
+msgid "RS485 Connections"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4555
+msgid ""
+"Hypertherm RS485 Wiring Diagram (wire colors inside the Hypertherm in "
+"parentheses):"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4558
+#, no-wrap
+msgid "Connection at Machine Pin #"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4559
+#, no-wrap
+msgid "Connection at Breakout Board"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4559
+#, no-wrap
+msgid "*1* - Tx+ (Red)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4560
+#, no-wrap
+msgid "->RXD+"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4560
+#, no-wrap
+msgid "*2* - Tx- (Black)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4561
+#, no-wrap
+msgid "->RXD-"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4561
+#, no-wrap
+msgid "*3* - Rx+ (Brown)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4562
+#, no-wrap
+msgid "->T/R+"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4562
+#, no-wrap
+msgid "*4* - Rx- (White)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4563
+#, no-wrap
+msgid "->T/R-"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4563
+#, no-wrap
+msgid "*5* - GND (Green)"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4564
+#, no-wrap
+msgid "->GND"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:4566
+#, no-wrap
+msgid "images/qtplasmac_rs485_pmx.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4569
+msgid "RS485 interfaces that are known to work:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4571
+msgid "DTECH DT-5019 USB to RS-485 converter adapter:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:4572
+#, no-wrap
+msgid "images/qtplasmac_rs485_dtech.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4575
+msgid ""
+"The following is necessary to convert a motherboard Serial connection or "
+"Serial card (RS232) to RS485:"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4577
+msgid "DTECH RS-232 to RS-485 converter:"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:4578
+#, no-wrap
+msgid "images/qtplasmac_rs485_converter.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4581
+msgid "Serial card example (Sunnix SER5037A PCI Card shown with Breakout Board):"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:4582
+#, no-wrap
+msgid "images/qtplasmac_rs485_sunnix.png"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4585
+#, no-wrap
+msgid "Arc OK With A Reed Relay"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4589
+msgid ""
+"An effective and very reliable method of obtaining an Arc OK signal from a "
+"plasma power supply without a CNC port is to mount a reed relay inside a "
+"non-conductive tube and wrap and secure three turns of the work lead around "
+"the tube."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4591
+msgid ""
+"This assembly will now act as a relay that will switch on when current is "
+"flowing through the work lead which only occurs when a cutting arc has been "
+"established."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4594
+msgid ""
+"This will require that QtPlasmaC be operated in Mode 1 rather than Mode 0.  "
+"See the <<plasma:modes,QtPlasmaC Modes>> sections for more information."
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:4595
+#, no-wrap
+msgid "images/qtplasmac_reed_arc_ok.png"
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4598
+#, no-wrap
+msgid "Contact Load Schematics"
+msgstr ""
+
+#. type: Target for macro image
+#: src/plasma/qtplasmac.adoc:4600
+#, no-wrap
+msgid "images/qtplasmac_relay_contact.png"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4603
+msgid "A full description is at <<plasma:qt-contact-load,Contact Load>>."
+msgstr ""
+
+#. type: Title ===
+#: src/plasma/qtplasmac.adoc:4606
+#, no-wrap
+msgid "Keyboard Jogging"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4614
+msgid ""
+"There is a known issue with some combinations of hardware and keyboards that "
+"may affect the autorepeat feature of the keyboard and will then affect "
+"keyboard jogging by intermittent stopping and starting during jogging.  This "
+"issue can be prevented by disabling the Operating System's autorepeat "
+"feature for all keys.  QtPlasmaC uses this disabling feature by default for "
+"all keys only when the <<plasma:main-tab,MAIN Tab>> is visible, with the "
+"following exceptions when autorepeat is allowed with the "
+"<<plasma:main-tab,MAIN Tab>> visible: G-code editor is active, MDI is "
+"active. When QtPlasmaC is shut down, the Operating System's autorepeat "
+"feature will be enabled for all keys."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4617
+msgid ""
+"If the user wishes to prevent QtPlasmaC from changing the Operating System's "
+"autorepeat settings, enter the following option in the *[GUI_OPTIONS]* "
+"section of the _<machine_name>_.prefs file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/plasma/qtplasmac.adoc:4621
+#, no-wrap
+msgid "Autorepeat all == True\n"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4624
+msgid "This issue does not affect any jogging using the GUI jog buttons."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4628
+msgid ""
+"Disconnecting and reconnecting a keyboard during an active QtPlasmaC session "
+"will cause the autorepeat feature to re-enable itself automatically which "
+"may cause intermittent stopping and starting during jogging.  The user must "
+"restart QtPlasmaC to disable the autorepeat feature again."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:4629
+#, no-wrap
+msgid "Contributing Code To QtPlasmaC"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4636
+msgid ""
+"Bugfixes and enhancements to QtPlasmaC are always welcome.  The preferred "
+"method to contribute code is to submit a pull request (PR) comprised of a "
+"single commit to the LinuxCNC GitHub repository.  For more information on "
+"creating a PR, see the "
+"http://linuxcnc.org/docs/html/code/contributing-to-linuxcnc.html[LinuxCNC "
+"documentation], the only pre-requisite is that you https://github.com/[sign "
+"up] for a GitHub account.  All PR's are verified and then committed by one "
+"of the developers.  If you are uncomfortable with submitting a PR then "
+"attaching the code changes on a https://forum.linuxcnc.org/plasmac[LinuxCNC "
+"Forum] thread is an acceptable method."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4639
+msgid ""
+"Bugfixes are accepted for both the latest released branch and master "
+"branch.  If a bugfix applies to both branches, then it is only necessary to "
+"submit a PR for the latest released branch as it will be merged into master "
+"branch by a developer."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4641
+msgid "Enhancements are accepted for master branch only."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4644
+msgid ""
+"Every PR, except for changes to the QtPlasmaC documentation only, requires "
+"that the appropriate version number is incremented and also that the version "
+"history is updated.  Version numbers are located in the following locations:"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4647
+#, no-wrap
+msgid "Location"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4647
+#, no-wrap
+msgid "Format"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4648
+#, no-wrap
+msgid "Incremented when"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4648
+#, no-wrap
+msgid "src/hal/components/plasmac.comp"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4648
+#, no-wrap
+msgid "nnn"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4649
+#, no-wrap
+msgid "component code changes"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4649
+#, no-wrap
+msgid "share/qtvcp/screens/qtplasmac/qtplasmac_handler.py"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4649
+#, no-wrap
+msgid "nnn._nnn_"
+msgstr ""
+
+#. type: Table
+#: src/plasma/qtplasmac.adoc:4651
+#, no-wrap
+msgid ""
+"component code changes +\n"
+"                                                                _GUI code "
+"changes_"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4654
+msgid ""
+"The version history is located at "
+"share/qtvcp/screens/qtplasmac/versions.html."
+msgstr ""
+
+#. type: Title ==
+#: src/plasma/qtplasmac.adoc:4655
+#, no-wrap
+msgid "Support"
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4658
+msgid ""
+"Online help and support is available from the "
+"https://forum.linuxcnc.org/plasmac[PlasmaC section] of the "
+"https://forum.linuxcnc.org/[LinuxCNC Forum]."
+msgstr ""
+
+#. type: Plain text
+#: src/plasma/qtplasmac.adoc:4661
+msgid ""
+"The user can create a compressed file containing the complete machine "
+"configuration to aid in fault diagnosis by pressing following the directions "
+"in the <<plasma:backup,backup>> section.  The resulting file is suitable for "
+"attaching to a post on the LinuxCNC Forum to help the community diagnose "
+"specific issues."
+msgstr ""
+
+#. type: Title =
+#: src/remap/remap.adoc:5
+#, no-wrap
+msgid "Remap Extending G-code"
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:11
+#, no-wrap
+msgid "Introduction: Extending the RS274NGC Interpreter by Remapping Codes"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:13
+#, no-wrap
+msgid "A Definition: Remapping Codes"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:16
+msgid "By 'remapping codes' we mean one of the following:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:18
+msgid "Define the semantics of new - that is, currently unallocated - M- or G-codes"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:19
+msgid "Redefine the semantics of a - currently limited - set of existing codes."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:20
+#, no-wrap
+msgid "Why would you want to extend the RS274NGC Interpreter?"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:23
+msgid ""
+"The set of codes (M,G,T,S,F) currently understood by the RS274NGC "
+"interpreter is fixed and cannot be extended by configuration options."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:28
+msgid ""
+"In particular, some of these codes implement a fixed sequence of steps to be "
+"executed.  While some of these, like M6, can be moderately configured by "
+"activating or skipping some of these steps through INI file options, overall "
+"the behavior is fairly rigid.  So - if your are happy with this situation, "
+"then this manual section is not for you."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:35
+msgid ""
+"In many cases, this means that supporting a non 'out of the box' "
+"configuration or machine is either cumbersome or impossible, or requires "
+"resorting to changes at the 'C/C\\+\\+' language level.  The latter is "
+"unpopular for good reasons - changing internals requires in-depth "
+"understanding of interpreter internals, and moreover brings its own set of "
+"support issues.  While it is conceivable that certain patches might make "
+"their way into the main LinuxCNC distribution, the result of this approach "
+"is a hodge-podge of special-case solutions."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:40
+msgid ""
+"A good example for this deficiency is tool change support in LinuxCNC: While "
+"random tool changers are well supported, it is next to impossible to "
+"reasonably define a configuration for a manual-tool change machine with, for "
+"example, an automatic tool length offset switch being visited after a tool "
+"change, and offsets set accordingly.  Also, while a patch for a very "
+"specific rack tool changer exists, it has not found its way back into the "
+"main code base."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:45
+msgid ""
+"However, many of these things may be fixed by using an O-word procedure "
+"instead of a built in code - whenever the - insufficient - built in code is "
+"to be executed, call the O-word procedure instead.  While possible, it is "
+"cumbersome - it requires source-editing of NGC programs, replacing all calls "
+"to the deficient code by a an O-word procedure call."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:48
+msgid ""
+"In its simplest form, a remapped code isn't much more than a spontaneous "
+"call to an O-word procedure.  This happens behind the scenes - the procedure "
+"is visible at the configuration level, but not at the NGC program level."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:50
+msgid ""
+"Generally, the behavior of a remapped code may be defined in the following "
+"ways:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:52
+msgid "You define a O-word subroutine which implements the desired behavior"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:53
+msgid ""
+"Alternatively, you may employ a Python function which extends the "
+"interpreter's behavior."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:54
+#, no-wrap
+msgid "How to glue things together"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:56
+msgid ""
+"M- and G-codes, and O-words subroutine calls have some fairly different "
+"syntax."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:58
+msgid ""
+"O-word procedures, for example, take positional parameters with a specific "
+"syntax like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:62
+#, no-wrap
+msgid "o<test> call [1.234] [4.65]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:66
+msgid ""
+"whereas M- or G-codes typically take required or optional 'word' "
+"parameters.  For instance, G76 (threading) requires the P,Z,I,J and K words, "
+"and optionally takes the R,Q,H, E and L words."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:70
+msgid ""
+"So it isn't simply enough to say 'whenever you encounter code X, please call "
+"procedure Y' - at least some checking and conversion of parameters needs to "
+"happen.  This calls for some 'glue code' between the new code, and its "
+"corresponding NGC procedure to execute before passing control to the NGC "
+"procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:74
+msgid ""
+"This glue code is impossible to write as an O-word procedure itself, since "
+"the RS274NGC language lacks the introspective capabilities and access into "
+"interpreter internal data structures to achieve the required effect.  Doing "
+"the glue code in - again - 'C/C\\+\\+' would be an inflexible and therefore "
+"unsatisfactory solution."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:75
+#, no-wrap
+msgid "How Embedded Python fits in"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:78
+msgid ""
+"To make a simple situation easy and a complex situation solvable, the glue "
+"issue is addressed as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:81
+msgid ""
+"For simple situations, a built-in glue procedure (`argspec`) covers most "
+"common parameter passing requirements."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:82
+msgid ""
+"For remapping T,M6,M61,S,F there is some standard Python glue which should "
+"cover most situations, see <<remap:standard-glue,Standard Glue>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:83
+msgid ""
+"For more complex situations, one can write your own Python glue to implement "
+"new behavior."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:87
+msgid ""
+"Embedded Python functions in the Interpreter started out as glue code, but "
+"turned out very useful well beyond that.  Users familiar with Python will "
+"likely find it easier to write remapped codes, glue, O-word procedures, "
+"etc. in pure Python, without resorting to the somewhat cumbersome RS274NGC "
+"language at all."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:88
+#, no-wrap
+msgid "A Word on Embedded Python"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:94
+msgid ""
+"Many people are familiar with 'extending' the Python interpreter by "
+"'C/C\\+\\+' modules, and this is heavily used in LinuxCNC to access Task, "
+"HAL and Interpreter internals from Python scripts.  'Extending Python' "
+"basically means: Your Python script executes as 'it is in the driver seat', "
+"and may access non-Python code by importing and using extension modules "
+"written in 'C/C\\+\\+'.  Examples for this are the LinuxCNC `hal`, `gcode` "
+"and `emc` modules."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:99
+msgid ""
+"Embedded Python is a bit different and less commonly known: The main program "
+"is written in C/C++ and may use Python like a subroutine.  This is powerful "
+"extension mechanism and the basis for the 'scripting extensions' found in "
+"many successful software packages.  Embedded Python code may access "
+"'C/C\\+\\+' variables and functions through a similar extension module "
+"method."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:101
+#, no-wrap
+msgid "Getting started"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:104
+msgid "Defining a code involves the following steps:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:106
+msgid "Pick a code - either use an unallocated code, or redefine an existing code."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:107
+msgid "Decide how parameters are handled."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:108
+msgid "Decide if and how results are handled."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:109
+msgid "Decide about the execution sequence."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:111
+#, no-wrap
+msgid "Builtin Remaps"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:117
+msgid ""
+"Please note that currently only some existing codes can be redefined, while "
+"there are many 'free' codes that may be available for remapping.  When "
+"developing redefined existing code, it is a good idea to start with an "
+"unassigned G- or M- code, so that you can use both an existing behavior as "
+"well as a new one.  When you're done, redefine the existing code to use your "
+"remapping configuration."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:119
+msgid ""
+"The current set of unused M-codes, available for user definition, can be "
+"found in the <<remap:unallocated-m-codes,unallocated M-codes section>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:120
+msgid "For G-codes, see the <<remap:unallocated-g-codes,unallocated G-codes list>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:121
+msgid ""
+"Existing codes that can be reassigned are listed in the "
+"<<remap:remappable-codes,remappable codes>> section."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:123
+msgid ""
+"There are currently two complete Python-only remaps that are available in "
+"stdglue.py:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:125
+msgid "ignore_m6"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:126
+msgid "index_lathe_tool_with_wear"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:129
+msgid ""
+"These are meant for use with lathe.  Lathes don't use M6 to index the tools, "
+"they use the T command."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:132
+msgid ""
+"This remap also adds wear offsets to the tool offset, e.g. T201 would index "
+"to tool 2 (with tool 2's tool offset) and adds wear offset 1.  In the tool "
+"table, tools numbers above 10000 are wear offsets, e.g. in the tool table, "
+"tool 10001 would be wear offset 1."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:134
+msgid "Here is what you need in the INI to use them:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:140
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"REMAP=T python=index_lathe_tool_with_wear\n"
+"REMAP=M6 python=ignore_m6\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:143
+#, no-wrap
+msgid ""
+"[PYTHON]\n"
+"# where to find the Python code:\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:146
+#, no-wrap
+msgid ""
+"# code specific for this configuration\n"
+"PATH_PREPEND=./\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:149
+#, no-wrap
+msgid ""
+"# generic support code - make sure this actually points to Python-stdglue\n"
+"PATH_APPEND=../../nc_files/remap_lib/python-stdglue/\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:152
+#, no-wrap
+msgid ""
+"# import the following Python module\n"
+"TOPLEVEL=toplevel.py\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:155
+#, no-wrap
+msgid ""
+"# the higher the more verbose tracing of the Python plugin\n"
+"LOG_LEVEL = 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:158
+msgid "You must also add the required Python file in your configuration folder."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:160
+msgid "<<remap:upgrading-an-existing,Upgrade an existing configuration>>"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:161
+#, no-wrap
+msgid "Picking a code"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:167
+msgid ""
+"Note that currently only a few existing codes may be redefined, whereas "
+"there are many 'free' codes which might be made available by remapping.  "
+"When developing a redefined existing code, it might be a good idea to start "
+"with an unallocated G- or M-code, so both the existing and new behavior can "
+"be exercised.  When done, redefine the existing code to use your remapping "
+"setup."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:169
+msgid ""
+"The current set of unused M-codes open to user definition can be found "
+"<<remap:unallocated-m-codes,here>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:170
+msgid "Unallocated G-codes are listed <<remap:unallocated-g-codes,here>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:171
+msgid ""
+"Existing codes which may be remapped are listed "
+"<<remap:remappable-codes,here>>."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:173
+#, no-wrap
+msgid "Parameter handling"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:177
+msgid ""
+"Let's assume the new code will be defined by an NGC procedure, and needs "
+"some parameters, some of which might be required, others might be optional.  "
+"We have the following options to feed values to the procedure:"
+msgstr ""
+
+#.  . <<remap:extracting-words,extracting words from the current block>>
+#. type: Plain text
+#: src/remap/remap.adoc:180
+msgid ""
+"Extracting words from the current block and pass them to the procedure as "
+"parameters (like `X22.34` or `P47`),"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:181
+msgid "referring to <<gcode:ini-hal-params,INI file variables>>,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:182
+msgid ""
+"referring to global variables (like `#2200 = 47.11` or `#<_global_param> = "
+"315.2`)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:187
+msgid ""
+"The first method is preferred for parameters of dynamic nature, like "
+"positions.  You need to define which words on the current block have any "
+"meaning for your new code, and specify how that is passed to the NGC "
+"procedure.  Any easy way is to use the <<sub:argspec-parameter,argspec "
+"statement>>.  A custom prolog might provide better error messages."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:191
+msgid ""
+"Using to INI file variables is most useful for referring to setup "
+"information for your machine, for instance a fixed position like a "
+"tool-length sensor position.  The advantage of this method is that the "
+"parameters are fixed for your configuration, regardless which NGC file "
+"you're currently executing."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:193
+msgid ""
+"Referring to global variables is always possible, but they are easily "
+"overlooked."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:196
+msgid ""
+"Note there's a limited supply of words which may be used as parameters, so "
+"one might need to fall back to the second and third methods if many "
+"parameters are needed."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:198
+#, no-wrap
+msgid "Handling results"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:202
+msgid ""
+"Your new code might succeed or fail, for instance if passed an invalid "
+"parameter combination.  Or you might choose to 'just execute' the procedure "
+"and disregard results, in which case there isn't much work to do."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:204
+msgid ""
+"Epilog handlers help in processing results of remap procedures - see the "
+"reference section."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:206
+#, no-wrap
+msgid "Execution sequencing"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:209
+msgid ""
+"Executable G-code words are classified into <<gcode:modal-groups,modal "
+"groups>>, which also defines their relative execution behavior."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:212
+msgid ""
+"If a G-code block contains several executable words on a line, these words "
+"are executed in a predefined <<gcode:order-of-execution,order of "
+"execution>>, not in the order they appear in block."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:215
+msgid ""
+"When you define a new executable code, the interpreter does not yet know "
+"where your code fits into this scheme.  For this reason, you need to choose "
+"an appropriate modal group for your code to execute in."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:216
+#, no-wrap
+msgid "An minimal example remapped code"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:220
+msgid ""
+"To give you an idea how the pieces fit together, let's explore a fairly "
+"minimal but complete remapped code definition.  We choose an unallocated "
+"M-code and add the following option to the INI file:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:225
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"REMAP=M400  modalgroup=10 argspec=Pq ngc=myprocedure\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:228
+msgid "In a nutshell, this means:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:232
+msgid ""
+"The `M400` code takes a required parameter `P` and an optional parameter "
+"`Q`.  Other words in the current block are ignored with respect to the "
+"`M400` code.  If the `P` word is not present, fail execution with an error."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:234
+msgid ""
+"When an `M400` code is encountered, execute `myprocedure.ngc` along the "
+"other <<gcode:modal-groups,modal group>> 10 M-codes as per "
+"<<gcode:order-of-execution,order of execution>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:237
+msgid ""
+"The value of `P`, and `Q` are available in the procedure as local named "
+"parameters.  The may be referred to as `#<P>` and `#<Q>`.  The procedure may "
+"test whether the `Q` word was present with the <<gcode:functions,`EXISTS`>> "
+"built in function."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:239
+msgid ""
+"The file `myprocedure.ngc` is expected to exists in the `[DISPLAY]NC_FILES` "
+"or `[RS274NGC]SUBROUTINE_PATH` directory."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:241
+msgid ""
+"A detailed discussion of REMAP parameters is found in the reference section "
+"below."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:242
+#, no-wrap
+msgid "Configuring Remapping"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:245
+#, no-wrap
+msgid "The REMAP statement"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:249
+msgid ""
+"To remap a code, define it using the `REMAP` option in `RS274NG` section of "
+"your INI file.  Use one `REMAP` line per remapped code."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:251
+msgid "The syntax of the `REMAP` is:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:252
+#, no-wrap
+msgid "`REMAP=`_<code>_ _<options>_"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:255
+msgid ""
+"where _<code>_ may be one of `T`,`M6`,`M61`,`S`,`F` (existing codes)  or any "
+"of the unallocated <<remap:unallocated-m-codes,M-codes>> or "
+"<<remap:unallocated-g-codes,G-codes>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:257
+msgid "It is an error to omit the _<code>_ parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:260
+msgid ""
+"The options of the REMAP statement are separated by whitespace.  The options "
+"are keyword-value pairs and currently are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:261
+#, no-wrap
+msgid "`modalgroup=`__<modal group>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:264
+msgid ""
+"the only currently supported modal group is 1, which is also the default "
+"value if no group is given.  Group 1 means 'execute alongside other "
+"G-codes'."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:266
+msgid ""
+"Currently supported modal groups are: 5,6,7,8,9,10. If no modalgroup is "
+"give, it defaults to 10 ('execute after all other words in the block')."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:267
+#, no-wrap
+msgid "T,S,F"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:268
+msgid "for these the modal group is fixed and any `modalgroup=` option is ignored."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:269
+#, no-wrap
+msgid "`argspec=`__<argspec>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:271
+msgid ""
+"See <<sub:argspec-parameter,description of the argspec parameter "
+"options>>. Optional."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:272
+#, no-wrap
+msgid "`ngc=`__<ngc_basename>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:277
+msgid ""
+"Basename of an O-word subroutine file name.  Do not specify an .ngc "
+"extension.  Searched for in the directories specified in the directory "
+"specified in `[DISPLAY]PROGRAM_PREFIX`, then in "
+"`[RS274NGC]SUBROUTINE_PATH`.  Mutually exclusive with `python=`. It is an "
+"error to omit both `ngc=` and `python=`."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:278
+#, no-wrap
+msgid "`python=`__<Python function name>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:282
+msgid ""
+"Instead of calling an ngc O-word procedure call a Python function.  The "
+"function is expected to be defined in the `module_basename.oword` module.  "
+"Mutually exclusive with `ngc=`."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:283
+#, no-wrap
+msgid "`prolog=`__<Python function name>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:287
+msgid ""
+"Before executing an ngc procedure, call this Python function.  The function "
+"is expected to be defined in the `module_basename.remap` module.  Optional."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:288
+#, no-wrap
+msgid "`epilog=`__<Python function name>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:292
+msgid ""
+"After executing an ngc procedure, call this Python function.  The function "
+"is expected to be defined in the `module_basename.remap` module.  Optional."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:295
+msgid ""
+"The `python`, `prolog` and `epilog` options require the Python Interpreter "
+"plugin to be <<remap:embedded-python,configured>>, and appropriate Python "
+"functions to be defined there so they can be referred to with these options."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:297
+msgid ""
+"The syntax for defining a new code, and redefining an existing code is "
+"identical."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:298
+#, no-wrap
+msgid "Useful REMAP option combinations"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:301
+msgid ""
+"Note that while many combinations of argspec options are possible, not all "
+"of them make sense. The following combinations are useful idioms:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:302
+#, no-wrap
+msgid "`argspec=`__<words>__ `ngc=`__<procname>__ `modalgroup=`___<group>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:305
+msgid ""
+"The recommended way to call an NGC procedure with a standard argspec "
+"parameter conversion.  Used if argspec is good enough. Note, it is not good "
+"enough for remapping the `Tx` and `M6`/`M61` tool change codes."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:306
+#, no-wrap
+msgid ""
+"`prolog=`__<pythonprolog>__ `ngc=`__<procname>__ `epilog=`__<pythonepilog>__ "
+"`modalgroup=`__<group>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:312
+msgid ""
+"Call a Python prolog function to take any preliminary steps, then call the "
+"NGC procedure.  When done, call the Python epilog function to do any cleanup "
+"or result extraction work which cannot be handled in G-code.  The most "
+"flexible way of remapping a code to an NGC procedure, since almost all of "
+"the Interpreter internal variables, and some internal functions may be "
+"accessed from the prolog and epilog handlers.  Also, a longer rope to hang "
+"yourselves."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:313
+#, no-wrap
+msgid "`python=`__<pythonfunction>__ `modalgroup=`__<group>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:317
+msgid ""
+"Directly call to a Python function without any argument conversion.  The "
+"most powerful way of remapping a code and going straight to Python.  Use "
+"this if you do not need an NGC procedure, or NGC is just getting in your "
+"way."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:318
+#, no-wrap
+msgid "`argspec=`__<words>__ `python=`__<pythonfunction>__ `modalgroup=`__<group>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:321
+msgid ""
+"Convert the argspec words and pass them to a Python function as keyword "
+"argument dictionary.  Use it when you're too lazy to investigate words "
+"passed on the block yourself."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:324
+msgid ""
+"Note that if all you want to achieve is to call some Python code from "
+"G-code, there is the somewhat easier way of "
+"<<remap:python-o-word-procs,calling Python functions like O-word "
+"procedures>>."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:326
+#, no-wrap
+msgid "The argspec parameter"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:330
+msgid ""
+"The argument specification (keyword `argspec`) describes required and "
+"optional words to be passed to an ngc procedure, as well as optional "
+"preconditions for that code to execute."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:333
+msgid ""
+"An argspec consists of 0 or more characters of the class "
+"`[@A-KMNP-Za-kmnp-z^>]`.  It can by empty (like `argspec=`)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:336
+msgid ""
+"An empty argspec, or no argspec argument at all implies the remapped code "
+"does not receive any parameters from the block.  It will ignore any extra "
+"parameters present."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:338
+msgid ""
+"Note that RS274NGC rules still apply - for instance you may use axis words "
+"(e.g., `X`, `Y`, `Z`) only in the context of a G-code."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:341
+msgid ""
+"Axis words may also only be used if the axis is enabled.  If only XYZ are "
+"enabled, ABCUVW will not be available to be used in argspec."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:345
+msgid ""
+"Words `F`, `S` and `T` (short `FST`) will have the normal functions but will "
+"be available as variables in the remapped function.  `F` will set feedrate, "
+"`S` will set spindle RPM, `T` will trigger the tool prepare function.  Words "
+"`FST` should not be used if this behavior is not desired."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:347
+msgid ""
+"Words `DEIJKPQR` have no predefined function and are recommended for use as "
+"argspec parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:348
+#, no-wrap
+msgid "`ABCDEFHIJKPQRSTUVWXYZ`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:352
+msgid ""
+"Defines a required word parameter: an uppercase letter specifies that the "
+"corresponding word *must* be present in the current block.  The word`s value "
+"will be passed as a local named parameter with a corresponding name.  If the "
+"`@` character is present in the argspec, it will be passed as positional "
+"parameter, see below."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:353
+#, no-wrap
+msgid "`abcdefhijkpqrstuvwxyz`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:357
+msgid ""
+"Defines an optional word parameter: a lowercase letter specifies that the "
+"corresponding word *may* be present in the current block.  If the word is "
+"present, the word's value will be passed as a local named parameter.  If the "
+"`@` character is present in the argspec, it will be passed as positional "
+"parameter, see below."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:358
+#, no-wrap
+msgid "`@`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:361
+msgid ""
+"The `@` (at-sign) tells argspec to pass words as positional parameters, in "
+"the order defined following the `@` option.  Note that when using positional "
+"parameter passing, a procedure cannot tell whether a word was present or "
+"not, see example below."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:365
+msgid ""
+"this helps with packaging existing NGC procedures as remapped codes.  "
+"Existing procedures do expect positional parameters.  With the `@` option, "
+"you can avoid rewriting them to refer to local named parameters."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:366
+#, no-wrap
+msgid "`^`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:369
+msgid ""
+"The `^` (caret) character specifies that the current spindle speed must be "
+"greater than zero (spindle running), otherwise the code fails with an "
+"appropriate error message."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:370
+#, no-wrap
+msgid "`>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:373
+msgid ""
+"The `>` (greater-than) character specifies that the current feed must be "
+"greater than zero, otherwise the code fails with an appropriate error "
+"message."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:374
+#, no-wrap
+msgid "`n`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:376
+msgid ""
+"The `n` (greater-than) character specifies to pass the current line number "
+"in the `n`local named parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:380
+msgid ""
+"By default, parameters are passed as local named parameter to an NGC "
+"procedure.  These local parameters appear as 'already set' when the "
+"procedure starts executing, which is different from existing semantics "
+"(local variables start out with value 0.0 and need to be explicitly assigned "
+"a value)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:382
+msgid ""
+"Optional word parameters may be tested for presence by the `EXISTS(#<word>)` "
+"idiom."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:383
+#, no-wrap
+msgid "Example for named parameter passing to NGC procedures"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:386 src/remap/remap.adoc:411 src/remap/remap.adoc:436
+msgid "Assume the code is defined as"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:388
+msgid "`REMAP=M400 modalgroup=10 argspec=Pq ngc=m400`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:390
+msgid "and `m400.ngc` looks as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:402
+#, no-wrap
+msgid ""
+"o<m400> sub\n"
+"(P is required since it is uppercase in the argspec)\n"
+"(debug, P word=#<P>)\n"
+"(the q argspec is optional since its lowercase in the argspec. Use as "
+"follows:)\n"
+"o100 if [EXISTS[#<q>]]\n"
+"    (debug, Q word set: #<q>)\n"
+"o100 endif\n"
+"o<m400> endsub\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:405
+msgid "Executing `M400` will fail with the message `user-defined M400: missing: P`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:406
+msgid "Executing `M400 P123` will display `P word=123.000000`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:407
+msgid ""
+"Executing `M400 P123 Q456` will display `P word=123.000000` and `Q word set: "
+"456.000000`."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:408
+#, no-wrap
+msgid "Example for positional parameter passing to NGC procedures"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:413
+msgid "`REMAP=M410 modalgroup=10 argspec=@PQr ngc=m410`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:415
+msgid "and `m410.ngc` looks as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:422
+#, no-wrap
+msgid ""
+"o<m410> sub\n"
+"(debug, [1]=#1 [2]=#2 [3]=#3)\n"
+"o<m410> endsub\n"
+"M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:425
+msgid "Executing `M410 P10` will display `m410.ngc: [1]=10.000000 [2]=0.000000`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:426
+msgid ""
+"Executing `M410 P10 Q20` will display `m410.ngc: [1]=10.000000 "
+"[2]=20.000000`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:429
+msgid ""
+"you lose the capability to distinguish more than one optional parameter "
+"word, and you cannot tell whether an optional parameter was present but had "
+"the value 0, or was not present at all."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:430
+#, no-wrap
+msgid "Simple example for named parameter passing to a Python function"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:434
+msgid ""
+"It's possible to define new codes _without_ any NGC procedure.  Here's a "
+"simple first example, a more complex one can be found in the next section."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:438
+msgid "`REMAP=G88.6 modalgroup=1 argspec=XYZp python=g886`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:440
+msgid ""
+"This instructs the interpreter to execute the Python function `g886` in the "
+"`module_basename.remap` module, which might look like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:445
+#, no-wrap
+msgid ""
+"from interpreter import INTERP_OK\n"
+"from emccanon import MESSAGE\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:453
+#, no-wrap
+msgid ""
+"def g886(self, **words):\n"
+"    for key in words:\n"
+"        MESSAGE(\"word '%s' = %f\" % (key, words[key]))\n"
+"    if words.has_key('p'):\n"
+"        MESSAGE(\"the P word was present\")\n"
+"    MESSAGE(\"comment on this line: '%s'\" % "
+"(self.blocks[self.remap_level].comment))\n"
+"    return INTERP_OK\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:458
+#, no-wrap
+msgid ""
+"Try this with out with:\n"
+"  g88.6 x1 y2 z3\n"
+"  g88.6 x1 y2 z3 p33 (a comment here)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:462
+msgid ""
+"You'll notice the gradual introduction of the embedded Python environment - "
+"see <<remap:programming-embedded-python,here>> for details.  Note that with "
+"Python remapping functions, it make no sense to have Python prolog or epilog "
+"functions since it is executing a Python function in the first place."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:463
+#, no-wrap
+msgid "Advanced example: Remapped codes in pure Python"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:467
+msgid ""
+"The `interpreter` and `emccanon` modules expose most of the Interpreter and "
+"some Canon internals, so many things which so far required coding in "
+"'C/C\\+\\+' can be now be done in Python."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:470
+msgid ""
+"The following example is based on the `nc_files/involute.py` script - but "
+"canned as a G-code with some parameter extraction and checking.  It also "
+"demonstrates calling the interpreter recursively (see `self.execute()`)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:472
+msgid "Assuming a definition like so (NB: this does not use argspec):"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:474
+msgid "`REMAP=G88.1 modalgroup=1 py=involute`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:478
+msgid ""
+"The `involute` function in `python/remap.py` listed below does all word "
+"extraction from the current block directly.  Note that interpreter errors "
+"can be translated to Python exceptions.  Remember this is 'readahead time' - "
+"execution time errors cannot be trapped this way."
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:484
+#, no-wrap
+msgid ""
+"import sys\n"
+"import traceback\n"
+"from math import sin,cos\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:490
+#, no-wrap
+msgid ""
+"from interpreter import *\n"
+"from emccanon import MESSAGE\n"
+"from util import lineno, call_pydevd\n"
+"# raises InterpreterException if execute() or read() fails\n"
+"throw_exceptions = 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:493
+#, no-wrap
+msgid ""
+"def involute(self, **words):\n"
+"    \"\"\" remap function with raw access to Interpreter internals \"\"\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:495
+#, no-wrap
+msgid "    if self.debugmask & 0x20000000: call_pydevd() # USER2 debug flag\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:498
+#, no-wrap
+msgid ""
+"    if equal(self.feed_rate,0.0):\n"
+"        return \"feedrate > 0 required\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:501
+#, no-wrap
+msgid ""
+"    if equal(self.speed[0], 0.0):\n"
+"        return \"spindle speed > 0 required\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:503
+#, no-wrap
+msgid "    plunge = 0.1 # if Z word was given, plunge - with reduced feed\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:510
+#, no-wrap
+msgid ""
+"    # inspect controlling block for relevant words\n"
+"    c = self.blocks[self.remap_level]\n"
+"    x0 = c.x_number if c.x_flag else 0\n"
+"    y0 = c.y_number if c.y_flag else 0\n"
+"    a  = c.p_number if c.p_flag else 10\n"
+"    old_z = self.current_z\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:513
+#, no-wrap
+msgid ""
+"    if self.debugmask & 0x10000000:\n"
+"        print(\"x0=%f y0=%f a=%f old_z=%f\" % (x0,y0,a,old_z))\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:519
+#, no-wrap
+msgid ""
+"    try:\n"
+"        #self.execute(\"G3456\")  # would raise InterpreterException\n"
+"        self.execute(\"G21\",lineno())\n"
+"        self.execute(\"G64 P0.001\",lineno())\n"
+"        self.execute(\"G0 X%f Y%f\" % (x0,y0),lineno())\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:524
+#, no-wrap
+msgid ""
+"        if c.z_flag:\n"
+"            feed = self.feed_rate\n"
+"            self.execute(\"F%f G1 Z%f\" % (feed * plunge, "
+"c.z_number),lineno())\n"
+"            self.execute(\"F%f\" % (feed),lineno())\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:530
+#, no-wrap
+msgid ""
+"        for i in range(100):\n"
+"            t = i/10.\n"
+"            x = x0 + a * (cos(t) + t * sin(t))\n"
+"            y = y0 + a * (sin(t) - t * cos(t))\n"
+"            self.execute(\"G1 X%f Y%f\" % (x,y),lineno())\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:533
+#, no-wrap
+msgid ""
+"        if c.z_flag: # retract to starting height\n"
+"            self.execute(\"G0 Z%f\" % (old_z),lineno())\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:537
+#, no-wrap
+msgid ""
+"    except InterpreterException,e:\n"
+"        msg = \"%d: '%s' - %s\" % (e.line_number,e.line_text, "
+"e.error_message)\n"
+"  return msg\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:539
+#, no-wrap
+msgid "    return INTERP_OK\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:542
+msgid ""
+"The examples described so far can be found in "
+"'configs/sim/axis/remap/getting-started' with complete working "
+"configurations."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:544
+#, no-wrap
+msgid "Upgrading an existing configuration for remapping"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:547
+msgid "The minimal prerequisites for using `REMAP` statements are as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:549
+msgid ""
+"The Python plug in must be activated by specifying a "
+"`[PYTHON]TOPLEVEL=<path-to-toplevel-script>` in the INI file."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:550
+msgid ""
+"The toplevel script needs to import the `remap` module, which can be "
+"initially empty, but the import needs to be in place."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:552
+msgid ""
+"The Python interpreter needs to find the remap.py module above, so the path "
+"to the directory where your Python modules live needs to be added with "
+"`[PYTHON]PATH_APPEND=<path-to-your-local-Python-directory>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:555
+msgid ""
+"Recommended: import the `stdglue` handlers in the `remap` module.  In this "
+"case Python also needs to find `stdglue.py` - we just copy it from the "
+"distribution so you can make local changes as needed.  Depending on your "
+"installation the path to `stdglue.py` might vary."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:557
+msgid ""
+"Assuming your configuration lives under `/home/user/xxx` and the INI file is "
+"`/home/user/xxx/xxx.ini`, execute the following commands."
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:566
+#, no-wrap
+msgid ""
+"$ cd /home/user/xxx\n"
+"$ mkdir python\n"
+"$ cd python\n"
+"$ cp /usr/share/linuxcnc/ncfiles/remap_lib/python-stdglue/stdglue.py .\n"
+"$ echo 'from stdglue import *' >remap.py\n"
+"$ echo 'import remap' >toplevel.py\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:569
+msgid "Now edit ``/home/user/``__xxx__``/``__xxx__``.ini`` and add the following:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:575
+#, no-wrap
+msgid ""
+"[PYTHON]\n"
+"TOPLEVEL=/home/user/xxx/python/toplevel.py\n"
+"PATH_APPEND=/home/user/xxx/python\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:578
+msgid ""
+"Now verify that LinuxCNC comes up with no error messages - from a terminal "
+"window execute:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:583
+#, no-wrap
+msgid ""
+"$ cd /home/user/xxx\n"
+"$ linuxcnc xxx.ini\n"
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:585
+#, no-wrap
+msgid "Remapping tool change-related codes: T, M6, M61"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:591
+msgid ""
+"If you are unfamiliar with LinuxCNC internals, first read the "
+"<<remap:how-tool-change-currently-works,How tool change currently works>> "
+"section (dire but necessary)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:594
+msgid ""
+"Note than when remapping an existing code, we completely disable "
+"<<remap:interpreter-action-on-m6,this codes' built-in functionality>> of the "
+"interpreter."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:597
+msgid ""
+"So our remapped code will need to do a bit more than just generating some "
+"commands to move the machine as we like - it will also need to replicate "
+"those steps from this sequence which are needed to keep the interpreter and "
+"`task` happy."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:600
+msgid ""
+"However, this does *not* affect the processing of tool change-related "
+"commands in `task` and `iocontrol`.  This means when we execute "
+"<<remap:send-tool-load-msg,step 6b>> this will still cause "
+"<<remap:iocontrol-action-on-load,iocontrol to do its thing>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:602
+msgid "Decisions, decisions:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:604
+msgid "Do we want to use an O-word procedure or do it all in Python code?"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:606
+msgid ""
+"Is the `iocontrol` HAL sequence (tool-prepare/tool-prepared and "
+"tool-change/tool-changed pins) good enough or do we need a different kind of "
+"HAL interaction for our tool changer (for example: more HAL pins involved "
+"with a different interaction sequence)?"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:608
+msgid "Depending on the answer, we have four different scenarios:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:610
+msgid "When using an O-word procedure, we need prolog and epilog functions."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:611
+msgid ""
+"If using all Python code and no O-word procedure, a Python function is "
+"enough."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:612
+msgid ""
+"When using the `iocontrol` pins, our O-word procedure or Python code will "
+"contain mostly moves."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:614
+msgid ""
+"When we need a more complex interaction than offered by `iocontrol`, we need "
+"to completely define our own interaction, using `motion.digital*` and "
+"`motion.analog*` pins, and essentially ignore the `iocontrol` pins by "
+"looping them."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:618
+msgid ""
+"If you hate O-word procedures and love Python, you are free to do it all in "
+"Python, in which case you would just have a `python=`__<function>__ spec in "
+"the REMAP statement.  But assuming most folks would be interested in using "
+"O-word procedures because they are more familiar with that, we'll do that as "
+"the first example."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:620
+msgid "So the overall approach for our first example will be:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:624
+msgid ""
+"We'd like to do as much as possible with G-code in an O-word procedure for "
+"flexibility.  That includes all HAL interaction which would normally be "
+"handled by `iocontrol` - because we rather would want to do clever things "
+"with moves, probes, HAL pin I/O and so forth."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:627
+msgid ""
+"We'll try to minimize Python code to the extent needed to keep the "
+"interpreter happy, and cause `task` to actually do anything.  That will go "
+"into the `prolog` and `epilog` Python functions."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:628
+#, no-wrap
+msgid "Understanding the role of `iocontrol` with remapped tool change codes"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:631
+msgid ""
+"`iocontrol` provides two HAL interaction sequences we might or might not "
+"use:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:635
+msgid ""
+"When the NML message queued by a SELECT_TOOL() canon command is executed, "
+"this triggers the \"raise tool-prepare and wait for tool-prepared to become "
+"high\" HAL sequence in `iocontrol`, besides setting the _XXXX_ pins"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:638
+msgid ""
+"When the NML message queued by the CHANGE_TOOL() canon command is executed, "
+"this triggers the \"raise tool-change and wait for tool-changed to become "
+"high\" HAL sequence in `iocontrol`, besides setting the _XXXX_ pins"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:642
+msgid ""
+"What you need to decide is whether the existing `iocontrol` HAL sequences "
+"are sufficient to drive your changer.  Maybe you need a different "
+"interaction sequence - for instance more HAL pins, or maybe a more complex "
+"interaction.  Depending on the answer, we might continue to use the existing "
+"`iocontrol` HAL sequences, or define our own ones."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:646
+msgid ""
+"For the sake of documentation, we'll disable these `iocontrol` sequences, "
+"and roll our own - the result will look and feel like the existing "
+"interaction, but now we have complete control over them because they are "
+"executed in our own O-word procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:652
+msgid ""
+"So what we'll do is use some `motion.digital-*` and `motion.analog-*` pins, "
+"and the associated `M62` .. `M68` commands to do our own HAL interaction in "
+"our O-word procedure, and those will effectively replace the `iocontrol` "
+"'tool-prepare/tool-prepared' and 'tool-change/tool-changed' sequences.  So "
+"we'll define our pins replacing existing `iocontrol` pins functionally, and "
+"go ahead and make the `iocontrol` interactions a loop.  We'll use the "
+"following correspondence in our example:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:654
+msgid "`iocontrol` pin correspondence in the examples"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:659
+#, no-wrap
+msgid "`iocontrol.0` pin"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:660
+#, no-wrap
+msgid "`motion` pin"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:660
+#, no-wrap
+msgid "tool-prepare"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:661
+#, no-wrap
+msgid "digital-out-00"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:661
+#, no-wrap
+msgid "tool-prepared"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:662
+#, no-wrap
+msgid "digital-in-00"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:662
+#, no-wrap
+msgid "tool-change"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:663
+#, no-wrap
+msgid "digital-out-01"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:663
+#, no-wrap
+msgid "tool-changed"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:664
+#, no-wrap
+msgid "digital-in-01"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:664
+#, no-wrap
+msgid "tool-prep-number"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:665
+#, no-wrap
+msgid "analog-out-00"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:665
+#, no-wrap
+msgid "tool-prep-pocket"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:666
+#, no-wrap
+msgid "analog-out-01"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:666
+#, no-wrap
+msgid "tool-number"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:667
+#, no-wrap
+msgid "analog-out-02"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:671
+msgid ""
+"Let us assume you want to redefine the M6 command, and replace it by an "
+"O-word procedure, but other than that things 'should continue to work'."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:675
+msgid ""
+"So what our O-word procedure would do is to replace the steps "
+"<<remap:interpreter-action-on-m6,outlined here>>.  Looking through these "
+"steps you'll find that NGC code can be used for most of them, but not all.  "
+"So the stuff NGC can't handle will be done in Python prolog and epilog "
+"functions."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:676
+#, no-wrap
+msgid "Specifying the M6 replacement"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:680
+msgid ""
+"To convey the idea, we just replace the built in M6 semantics with our own.  "
+"Once that works, you may go ahead and place any actions you see fit into the "
+"O-word procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:682
+msgid "Going through the <<remap:interpreter-action-on-m6,steps>>, we find:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:684
+msgid "check for T command already executed - *execute in Python prolog*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:685
+msgid "check for cutter compensation being active - *execute in Python prolog*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:686
+msgid "stop the spindle if needed - *can be done in NGC*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:687
+msgid "quill up - *can be done in NGC*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:688 src/remap/remap.adoc:2181
+msgid "if TOOL_CHANGE_AT_G30 was set:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:689
+msgid "move the A, B and C indexers if applicable - *can be done in NGC*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:690
+msgid "generate rapid move to the G30 position - *can be done in NGC*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:691
+msgid "send a CHANGE_TOOL Canon command to `task` - *execute in Python epilog*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:692
+msgid ""
+"set the numberer parameters 5400-5413 according to the new tool - *execute "
+"in Python epilog*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:693
+msgid ""
+"signal to `task` to stop calling the interpreter for readahead until tool "
+"change complete - *execute in Python epilog*"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:696
+msgid ""
+"So we need a prolog, and an epilog.  Lets assume our INI file incantation of "
+"the M6 remap looks as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:699
+#, no-wrap
+msgid ""
+"REMAP=M6   modalgroup=6  prolog=change_prolog ngc=change "
+"epilog=change_epilog\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:704
+msgid ""
+"So the prolog covering steps 1 and 2 would look like so - we decide to pass "
+"a few variables to the remap procedure which can be inspected and changed "
+"there, or used in a message.  Those are: `tool_in_spindle`, `selected_tool` "
+"(tool numbers) and their respective tooldata indices `current_pocket` and "
+"`selected_pocket`:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:715
+#, no-wrap
+msgid ""
+"def change_prolog(self, **words):\n"
+"    try:\n"
+"        if self.selected_pocket < 0:\n"
+"            return \"M6: no tool prepared\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:718
+#, no-wrap
+msgid ""
+"        if self.cutter_comp_side:\n"
+"            return \"Cannot change tools with cutter radius compensation "
+"on\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:726
+#, no-wrap
+msgid ""
+"        self.params[\"tool_in_spindle\"] = self.current_tool\n"
+"        self.params[\"selected_tool\"] = self.selected_tool\n"
+"        self.params[\"current_pocket\"] = self.current_pocket\n"
+"        self.params[\"selected_pocket\"] = self.selected_pocket\n"
+"        return INTERP_OK\n"
+"    except Exception as e:\n"
+"        return \"M6/change_prolog: {}\".format(e)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:729
+msgid "You will find that most prolog functions look very similar:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:731
+msgid "First test that all preconditions for executing the code hold, then"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:732
+msgid ""
+"prepare the environment - inject variables and/or do any preparatory "
+"processing steps which cannot easily be done in NGC code;"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:733
+msgid "then hand off to the NGC procedure by returning INTERP_OK."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:736
+msgid ""
+"Our first iteration of the O-word procedure is unexciting - just verify we "
+"got parameters right, and signal success by returning a positive value; "
+"steps 3-5 would eventually be covered here (see "
+"<<gcode:ini-hal-params,here>> for the variables referring to INI file "
+"settings):"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:748
+#, no-wrap
+msgid ""
+"O<change> sub\n"
+"(debug, change: current_tool=#<current_tool>)\n"
+"(debug, change: selected_pocket=#<selected_pocket>)\n"
+";\n"
+"; insert any G-code which you see fit here, e.g.:\n"
+"; G0  #<_ini[setup]tc_x>  #<_ini[setup]tc_y>  #<_ini[setup]tc_z>\n"
+";\n"
+"O<change> endsub [1]\n"
+"m2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:751
+msgid "Assuming success of `change.ngc`, we need to mop up steps 6-8:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:766
+#, no-wrap
+msgid ""
+"def change_epilog(self, **words):\n"
+"    try:\n"
+"        if self.return_value > 0.0:\n"
+"            # commit change\n"
+"            self.selected_pocket =  int(self.params[\"selected_pocket\"])\n"
+"            emccanon.CHANGE_TOOL(self.selected_pocket)\n"
+"            # cause a sync()\n"
+"            self.tool_change_flag = True\n"
+"            self.set_tool_parameters()\n"
+"            return INTERP_OK\n"
+"        else:\n"
+"            return \"M6 aborted (return code %.1f)\" % (self.return_value)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:769
+#, no-wrap
+msgid ""
+"    except Exception, e:\n"
+"        return \"M6/change_epilog: %s\" % (e)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:772
+msgid ""
+"This replacement M6 is compatible with the built in code, except steps 3-5 "
+"need to be filled in with your NGC code."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:774
+msgid "Again, most epilogs have a common scheme:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:776
+msgid "First, determine whether things went right in the remap procedure,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:777
+msgid "then do any commit and cleanup actions which can't be done in NGC code."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:778
+#, no-wrap
+msgid "Configuring `iocontrol` with a remapped M6"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:784
+msgid ""
+"Note that the sequence of operations has changed: we do everything required "
+"in the O-word procedure - including any HAL pin setting/reading to get a "
+"changer going, and to acknowledge a tool change - likely with "
+"`motion.digital-*` and `motion-analog-*` IO pins.  When we finally execute "
+"the `CHANGE_TOOL()` command, all movements and HAL interactions are already "
+"completed."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:787
+msgid ""
+"Normally only now `iocontrol` would do its thing as outlined "
+"<<remap:iocontrol-action-on-load,here>>.  However, we don't need the HAL pin "
+"wiggling anymore - all `iocontrol` is left to do is to accept we're done "
+"with prepare and change."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:790
+msgid ""
+"This means that the corresponding `iocontrol` pins have no function any "
+"more.  Therefore, we configure `iocontrol` to immediately acknowledge a "
+"change by configuring like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:795
+#, no-wrap
+msgid ""
+"# loop change signals when remapping M6\n"
+"net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:797
+msgid ""
+"If you for some reason want to remap `Tx` (prepare), the corresponding "
+"`iocontrol` pins need to be looped as well."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:798
+#, no-wrap
+msgid "Writing the change and prepare O-word procedures"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:801
+msgid ""
+"The standard prologs and epilogs found in "
+"`ncfiles/remap_lib/python-stdglue/stdglue.py` pass a few 'exposed "
+"parameters' to the remap procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:807
+msgid ""
+"An 'exposed parameter' is a named local variable visible in a remap "
+"procedure which corresponds to interpreter-internal variable, which is "
+"relevant for the current remap.  Exposed parameters are set up in the "
+"respective prolog, and inspected in the epilog.  They can be changed in the "
+"remap procedure and the change will be picked up in the epilog.  The exposed "
+"parameters for remappable built in codes are:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:809
+msgid "`T` (prepare_prolog): `#<tool>` , `#<pocket>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:810
+msgid ""
+"`M6` (change_prolog): `#<tool_in_spindle>`, `#<selected_tool>`, "
+"`#<current_pocket>`, `#<selected_pocket>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:811
+msgid "`M61` (settool_prolog): `#<tool>` , `#<pocket>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:812
+msgid "`S` (setspeed_prolog): `#<speed>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:813
+msgid "`F` (setfeed_prolog): `#<feed>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:816
+msgid ""
+"If you have specific needs for extra parameters to be made visible, that can "
+"simply be added to the prolog - practically all of the interpreter internals "
+"are visible to Python."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:817
+#, no-wrap
+msgid "Making minimal changes to the built in codes, including `M6`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:820
+msgid ""
+"Remember that normally remapping a code completely disables all internal "
+"processing for that code."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:823
+msgid ""
+"However, in some situations it might be sufficient to add a few codes around "
+"the existing `M6` built in implementation, like a tool length probe, but "
+"other than that retain the behavior of the built in `M6`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:828
+msgid ""
+"Since this might be a common scenario, the built in behavior of remapped "
+"codes has been made available within the remap procedure.  The interpreter "
+"detects that you are referring to a remapped code within the procedure which "
+"is supposed to redefine its behavior.  In this case, the built in behavior "
+"is used - this currently is enabled for the set: `M6`, `M61`,`T`, `S`, `F`.  "
+"Note that otherwise referring to a code within its own remap procedure would "
+"be a error - a `remapping recursion`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:830
+msgid "Slightly twisting a built in would look like so (in the case of `M6`):"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:833
+#, no-wrap
+msgid "REMAP=M6   modalgroup=6  ngc=mychange\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:842
+#, no-wrap
+msgid ""
+"o<mychange> sub\n"
+"M6 (use built in M6 behavior)\n"
+"(.. move to tool length switch, probe and set tool length..)\n"
+"o<mychange> endsub\n"
+"m2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:845
+msgid ""
+"When redefining a built-in code, *do not specify any leading zeroes in G- or "
+"M-codes* - for example, say `REMAP=M1 ..`, not `REMAP=M01 ...`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:848
+msgid ""
+"See the `configs/sim/axis/remap/extend-builtins` directory for a complete "
+"configuration, which is the recommended starting point for own work when "
+"extending built in codes."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:849
+#, no-wrap
+msgid "Specifying the T (prepare) replacement"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:853
+msgid ""
+"If you're confident with the <<remap:interpreter-action-on-t,default "
+"implementation>>, you wouldn't need to do this.  But remapping is also a way "
+"to work around deficiencies in the current implementation, for instance to "
+"not block until the \"tool-prepared\" pin is set."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:855
+msgid "What you could do, for instance, is:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:856
+msgid ""
+"In a remapped T, just set the equivalent of the `tool-prepare` pin, but "
+"*not* wait for `tool-prepared` here."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:857
+msgid ""
+"In the corresponding remapped M6, wait for the `tool-prepared` at the very "
+"beginning of the O-word procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:859
+msgid ""
+"Again, the `iocontrol` tool-prepare/tool-prepared pins would be unused and "
+"replaced by `motion.*` pins, so those would pins must be looped:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:864
+#, no-wrap
+msgid ""
+"# loop prepare signals when remapping T\n"
+"net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:867
+msgid "So, here's the setup for a remapped T:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:870
+#, no-wrap
+msgid "REMAP=T  prolog=prepare_prolog epilog=prepare_epilog ngc=prepare\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:879
+#, no-wrap
+msgid ""
+"def prepare_prolog(self,**words):\n"
+"    try:\n"
+"        cblock = self.blocks[self.remap_level]\n"
+"        if not cblock.t_flag:\n"
+"            return \"T requires a tool number\"\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:887
+#, no-wrap
+msgid ""
+"        tool  = cblock.t_number\n"
+"        if tool:\n"
+"            (status, pocket) = self.find_tool_pocket(tool)\n"
+"            if status != INTERP_OK:\n"
+"                return \"T%d: pocket not found\" % (tool)\n"
+"        else:\n"
+"            pocket = -1 # this is a T0 - tool unload\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:894
+#, no-wrap
+msgid ""
+"        # these variables will be visible in the ngc O-word sub\n"
+"        # as #<tool> and #<pocket> local variables, and can be\n"
+"        # modified there - the epilog will retrieve the changed\n"
+"        # values\n"
+"        self.params[\"tool\"] = tool\n"
+"        self.params[\"pocket\"] = pocket\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:898
+#, no-wrap
+msgid ""
+"        return INTERP_OK\n"
+"    except Exception, e:\n"
+"        return \"T%d/prepare_prolog: %s\" % (int(words['t']), e)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:902
+msgid "The minimal ngc prepare procedure again looks like so:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:909
+#, no-wrap
+msgid ""
+"o<prepare> sub\n"
+"; returning a positive value to commit:\n"
+"o<prepare> endsub [1]\n"
+"m2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:912
+msgid "And the epilog:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:924
+#, no-wrap
+msgid ""
+"def prepare_epilog(self, **words):\n"
+"    try:\n"
+"        if self.return_value > 0:\n"
+"            self.selected_tool = int(self.params[\"tool\"])\n"
+"            self.selected_pocket = int(self.params[\"pocket\"])\n"
+"            emccanon.SELECT_TOOL(self.selected_tool)\n"
+"            return INTERP_OK\n"
+"        else:\n"
+"            return \"T%d: aborted (return code %.1f)\" % "
+"(int(self.params[\"tool\"]),self.return_value)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:927
+#, no-wrap
+msgid ""
+"    except Exception, e:\n"
+"        return \"T%d/prepare_epilog: %s\" % (tool,e)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:932
+msgid ""
+"The functions 'prepare_prolog' and 'prepare_epilog' are part of the "
+"_standard glue_ provided by 'nc_files/remap_lib/python-stdglue/stdglue.py'.  "
+"This module is intended to cover most standard remapping situations in a "
+"common way."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:934
+#, no-wrap
+msgid "Error handling: dealing with abort"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:942
+msgid ""
+"The built in tool change procedure has some precautions for dealing with a "
+"program abort, e.g., by hitting escape in AXIS during a change.  Your "
+"remapped function has none of this, therefore some explicit cleanup might be "
+"needed if a remapped code is aborted.  In particular, a remap procedure "
+"might establish modal settings which are undesirable to have active after an "
+"abort.  For instance, if your remap procedure has motion codes (G0,G1,G38..) "
+"and the remap is aborted, then the last modal code will remain active.  "
+"However, you very likely want to have any modal motion canceled when the "
+"remap is aborted."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:947
+msgid ""
+"The way to do this is by using the `[RS274NGC]ON_ABORT_COMMAND` feature.  "
+"This INI option specifies a O-word procedure call which is executed if "
+"`task` for some reason aborts program execution.  `on_abort` receives a "
+"single parameter indicating the cause for calling the abort procedure, which "
+"might be used for conditional cleanup."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:949
+msgid "The reasons are defined in nml_intf/emc.hh"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:963
+#, no-wrap
+msgid ""
+"EMC_ABORT_TASK_EXEC_ERROR = 1,\n"
+"EMC_ABORT_AUX_ESTOP = 2,\n"
+"EMC_ABORT_MOTION_OR_IO_RCS_ERROR = 3,\n"
+"EMC_ABORT_TASK_STATE_OFF = 4,\n"
+"EMC_ABORT_TASK_STATE_ESTOP_RESET = 5,\n"
+"EMC_ABORT_TASK_STATE_ESTOP = 6,\n"
+"EMC_ABORT_TASK_STATE_NOT_ON = 7,\n"
+"EMC_ABORT_TASK_ABORT = 8,\n"
+"EMC_ABORT_INTERPRETER_ERROR = 9,\t// interpreter failed during readahead\n"
+"EMC_ABORT_INTERPRETER_ERROR_MDI = 10,\t// interpreter failed during MDI "
+"execution\n"
+"EMC_ABORT_USER = 100  // user-defined abort codes start here\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:969
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"ON_ABORT_COMMAND=O <on_abort> call\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:972
+msgid "The suggested on_abort procedure would look like so (adapt to your needs):"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:986
+#, no-wrap
+msgid ""
+"G54 (origin offsets are set to the default)\n"
+"G17 (select XY plane)\n"
+"G90 (absolute)\n"
+"G94 (feed mode: units/minute)\n"
+"M48 (set feed and speed overrides)\n"
+"G40 (cutter compensation off)\n"
+"M5  (spindle off)\n"
+"G80 (cancel modal motion)\n"
+"M9  (mist and coolant off)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:998
+#, no-wrap
+msgid ""
+"o100 if [#1 eq 5]\n"
+"    (machine on)\n"
+"o100 elseif [#1 eq 6]\n"
+"    (machine off)\n"
+"o100 elseif [#1 eq 7]\n"
+"    (estopped)\n"
+"o100 elseif [#1 eq 8]\n"
+"    (msg, abort pressed)\n"
+"o100 else\n"
+"    (DEBUG, error parameter is [#1])\n"
+"o100 endif\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1007
+msgid ""
+"Never use an `M2` in a O-word subroutine, including this one.  It will cause "
+"hard-to-find errors.  For instance, using an `M2` in a subroutine will not "
+"end the subroutine properly and will leave the subroutine NGC file open, not "
+"your main program."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1010
+msgid ""
+"Make sure `on_abort.ngc` is along the interpreter search path (recommended "
+"location: `SUBROUTINE_PATH` so as not to clutter your `NC_FILES` directory "
+"with internal procedures)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1013
+msgid ""
+"Statements in that procedure typically would assure that post-abort any "
+"state has been cleaned up, like HAL pins properly reset.  For an example, "
+"see `configs/sim/axis/remap/rack-toolchange`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1015
+msgid ""
+"Note that terminating a remapped code by returning INTERP_ERROR from the "
+"epilog (see previous section) will also cause the `on_abort` procedure to be "
+"called."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1016
+#, no-wrap
+msgid "Error handling: failing a remapped code NGC procedure"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1019
+msgid ""
+"If you determine in your handler procedure that some error condition "
+"occurred, do not use `M2` to end your handler - see above:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1023
+msgid ""
+"If displaying an operator error message and stopping the current program is "
+"good enough, use the `(abort, `__<message>__`)` feature to terminate the "
+"handler with an error message.  Note that you can substitute numbered, "
+"named, INI and HAL parameters in the text like in this example (see also "
+"`tests/interp/abort-hot-comment/test.ngc`):"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1029
+#, no-wrap
+msgid ""
+"o100 if [..] (some error condition)\n"
+"     (abort, Bad Things! p42=#42 q=#<q> INI=#<_ini[a]x> "
+"pin=#<_hal[component.pin])\n"
+"o100 endif\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1032
+msgid ""
+"INI and HAL variable expansion is optional and can be disabled in the "
+"<<sub:ini:sec:rs274ngc,INI file>>"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1034
+msgid ""
+"If more fine grained recovery action is needed, use the idiom laid out in "
+"the previous example:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1036
+msgid "Define an epilog function, even if it is just to signal an error condition,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1037
+msgid "pass a negative value from the handler to signal the error,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1038
+msgid "inspect the return value in the epilog function,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1039
+msgid "take any recovery action needed,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1040
+msgid ""
+"return the error message string from the handler, which will set the "
+"interpreter error message and abort the program (pretty much like `abort, "
+"message=`)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1042
+msgid ""
+"This error message will be displayed in the UI, and returning INTERP_ERROR "
+"will cause this error handled like any other runtime error."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1044
+msgid ""
+"Note that both `(abort,` __<msg>__ `)` and returning INTERP_ERROR from an "
+"epilog will cause any ON_ABORT handler to be called as well if defined (see "
+"previous section)."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1045
+#, no-wrap
+msgid "Remapping other existing codes: S, M0, M1, M60"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1047
+#, no-wrap
+msgid "Automatic gear selection be remapping  S (set spindle speed)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1051
+msgid ""
+"A potential use for a remapped S code would be 'automatic gear selection' "
+"depending on speed.  In the remap procedure one would test for the desired "
+"speed attainable given the current gear setting, and change gears "
+"appropriately if not."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1052
+#, no-wrap
+msgid "Adjusting the behavior of M0, M1, M60"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1057
+msgid ""
+"A use case for remapping M0/M1 would be to customize the behavior of the "
+"existing code.  For instance, it could be desirable to turn off the spindle, "
+"mist and flood during an M0 or M1 program pause, and turn these settings "
+"back on when the program is resumed."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1059
+msgid ""
+"For a complete example doing just that, see "
+"`configs/sim/axis/remap/extend-builtins/`, which adapts M1 as laid out "
+"above."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1060
+#, no-wrap
+msgid "Creating new G-code cycles"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1063
+msgid "A G-code cycle as used here is meant to behave as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1065
+msgid ""
+"On first invocation, the associated words are collected and the G-code cycle "
+"is executed."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1067
+msgid ""
+"If subsequent lines just continue parameter words applicable to this code, "
+"but no new G-code, the previous G-code is re-executed with the parameters "
+"changed accordingly."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1070
+msgid ""
+"An example: Assume you have `G84.3` defined as remapped G-code cycle with "
+"the following INI segment (see <<remap:cycle-stdglue,here>> for a detailed "
+"description of +cycle_prolog+ and +cycle_epilog+):"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1076
+#, no-wrap
+msgid ""
+"[RS274NGC]\n"
+"# A cycle with an O-word procedure: G84.3 <X- Y- Z- Q- P->\n"
+"REMAP=G84.3 argspec=xyzabcuvwpr prolog=cycle_prolog ngc=g843 "
+"epilog=cycle_epilog modalgroup=1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1079
+msgid "Executing the following lines:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1087
+#, no-wrap
+msgid ""
+"g17\n"
+"(1)   g84.3 x1 y2 z3  r1\n"
+"(2)   x3 y4 p2\n"
+"(3)   x6 y7 z5\n"
+"(4)   G80\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1090
+msgid ""
+"causes the following (note 'R' is sticky, and 'Z' is sticky since the plane "
+"is 'XY'):"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1092
+msgid "`g843.ngc` is called with words x=1, y=2, z=3, r=1"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1093
+msgid "`g843.ngc` is called with words x=3, y=4, z=3, p=2, r=1"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1094
+msgid "`g843.ngc` is called with words x=6, y=7, z=3, r=1"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1095
+msgid "The `G84.3` cycle is canceled."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1099
+msgid ""
+"Besides creating new cycles, this provides an easy method for repackaging "
+"existing G-codes which do not behave as cycles.  For instance, the `G33.1` "
+"Rigid Tapping code does not behave as a cycle.  With such a wrapper, a new "
+"code can be easily created which uses `G33.1` but behaves as a cycle."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1102
+msgid ""
+"See 'configs/sim/axis/remap/cycle' for a complete example of this feature.  "
+"It contains two cycles, one with an NGC procedure like above, and a cycle "
+"example using just Python."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1104
+#, no-wrap
+msgid "Configuring  Embedded Python"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1107
+msgid ""
+"The Python plugin serves both the interpreter, and `task` if so configured, "
+"and hence has its own section `PYTHON` in the INI file."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1108
+#, no-wrap
+msgid "Python plugin : INI file configuration"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1110
+#, no-wrap
+msgid "`[PYTHON]`"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1111
+#, no-wrap
+msgid "`TOPLEVEL =` __<filename>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1114
+#, no-wrap
+msgid ""
+"Filename of the initial Python script to execute on startup.\n"
+"This script is responsible for setting up the package name structure, see "
+"below.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1114
+#, no-wrap
+msgid "`PATH_PREPEND =` __<directory>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1116
+#, no-wrap
+msgid "Prepend this directory to `PYTHON_PATH`. A repeating group.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1116
+#, no-wrap
+msgid "`PATH_APPEND =` __<directory>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1118
+#, no-wrap
+msgid "Append this directory to `PYTHON_PATH`. A repeating group.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1118
+#, no-wrap
+msgid "`LOG_LEVEL =` __<integer>__"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1121
+#, no-wrap
+msgid ""
+"Log level of plugin-related actions. Increase this if you suspect "
+"problems.\n"
+"Can be very verbose.\n"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1121
+#, no-wrap
+msgid "`RELOAD_ON_CHANGE =` [0|1]"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1125
+#, no-wrap
+msgid ""
+"Reload the 'TOPLEVEL' script if the file was changed.\n"
+"Handy for debugging but currently incurs some runtime overhead.\n"
+"Turn this off for production configurations.\n"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1127
+#, no-wrap
+msgid "Executing Python statements from the interpreter"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1132
+msgid ""
+"For ad-hoc execution of commands the Python 'hot comment' has been added.  "
+"Python output by default goes to stdout, so you need to start LinuxCNC from "
+"a terminal window to see results.  Example for the MDI window:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1135
+#, no-wrap
+msgid ";py,print(2*3)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1138
+msgid ""
+"Note that the interpreter instance is available here as `self`, so you could "
+"also run:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1141
+#, no-wrap
+msgid ";py,print(self.tool_table[0].toolno)\n"
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1144
+#, no-wrap
+msgid "Programming Embedded Python in the RS274NGC Interpreter"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1146
+#, no-wrap
+msgid "The Python plugin namespace"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1149
+msgid "The namespace is expected to be laid out as follows:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1150
+#, no-wrap
+msgid "`oword`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1154
+msgid ""
+"Any callables in this module are candidates for Python O-word procedures.  "
+"Note that the Python `oword` module is checked *before* testing for a NGC "
+"procedure with the same name - in effect names in `oword` will hide NGC "
+"files of the same basename."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1155
+#, no-wrap
+msgid "`remap`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1157
+msgid ""
+"Python callables referenced in an argspec `prolog`,`epilog` or `python` "
+"option are expected to be found here."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1158
+#, no-wrap
+msgid "`namedparams`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1161
+msgid ""
+"Python functions in this module extend or redefine the namespace of "
+"predefined named parameters, see "
+"<<remap:adding-predefined-named-parameters,adding predefined parameters>>."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1162
+#, no-wrap
+msgid "The Interpreter as seen from Python"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1168
+msgid ""
+"The interpreter is an existing C++ class ('Interp') defined in "
+"'src/emc/rs274ngc'.  Conceptually all `oword.<function>` and "
+"`remap.<function>` Python calls are methods of this Interp class, although "
+"there is no explicit Python definition of this class (it is a 'Boost.Python' "
+"wrapper instance)  and hence receive the as the first parameter `self` which "
+"can be used to access internals."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1169
+#, no-wrap
+msgid "The Interpreter `__init__` and `__delete__` functions"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1173
+msgid ""
+"If the `TOPLEVEL` module defines a function `__init__`, it will be called "
+"once the interpreter is fully configured (INI file read, and state "
+"synchronized with the world model)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1176
+msgid ""
+"If the `TOPLEVEL` module defines a function `__delete__`, it will be called "
+"once before the interpreter is shutdown and after the persistent parameters "
+"have been saved to the `PARAMETER_FILE`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1179
+msgid ""
+"Note_ at this time, the `__delete__` handler does not work for interpreter "
+"instances created by importing the `gcode` module.  If you need an "
+"equivalent functionality there (which is quite unlikely), please consider "
+"the Python `atexit` module."
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1183
+#, no-wrap
+msgid "# this would be defined in the TOPLEVEL module\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1192
+#, no-wrap
+msgid ""
+"def __init__(self):\n"
+"    # add any one-time initialization here\n"
+"    if self.task:\n"
+"  # this is the milltask instance of interp\n"
+"  pass\n"
+"    else:\n"
+"  # this is a non-milltask instance of interp\n"
+"        pass\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1199
+#, no-wrap
+msgid ""
+"def __delete__(self):\n"
+"    # add any cleanup/state saving actions here\n"
+"    if self.task: # as above\n"
+"  pass\n"
+"    else:\n"
+"        pass\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1203
+msgid ""
+"This function may be used to initialize any Python-side attributes which "
+"might be needed later, for instance in remap or O-word functions, and save "
+"or restore state beyond what `PARAMETER_FILE` provides."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1207
+msgid ""
+"If there are setup or cleanup actions which are to happen only in the "
+"milltask Interpreter instance (as opposed to the interpreter instance which "
+"sits in the `gcode` Python module and serves preview/progress display "
+"purposes but nothing else), this can be tested for by "
+"<<remap:axis-preview-and-remapped-code-execution,evaluating 'self.task'>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1210
+msgid ""
+"An example use of `__init__` and `__delete__` can be found in "
+"`configs/sim/axis/remap/cycle/python/toplevel.py` initialising attributes, "
+"needed to handle cycles in `ncfiles/remap_lib/python-stdglue/stdglue.py` "
+"(and imported into `configs/sim/axis/remap/cycle/python/remap.py`)."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1211
+#, no-wrap
+msgid "Calling conventions: NGC to Python"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1214
+msgid "Python code is called from NGC in the following situations:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1216
+msgid "during normal program execution:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1217
+msgid ""
+"when an O-word call like `O<proc> call` is executed and the name "
+"`oword.proc` is defined and callable"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1218
+msgid ""
+"when a comment like `;py,<Python statement>` is executed - during execution "
+"of a remapped code: any `prolog=`, `python=` and `epilog=` handlers."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1220
+#, no-wrap
+msgid "Calling O-word Python subroutines"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1223
+msgid "Arguments:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1224 src/remap/remap.adoc:1264
+#: src/remap/remap.adoc:1295
+#, no-wrap
+msgid "`self`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1225 src/remap/remap.adoc:1265
+#: src/remap/remap.adoc:1296
+msgid "The interpreter instance."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1226
+#, no-wrap
+msgid "`*args`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1228
+msgid ""
+"The list of actual positional parameters.  Since the number of actual "
+"parameters may vary, it is best to use this style of declaration:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1236
+#, no-wrap
+msgid ""
+"# this would be defined in the oword module\n"
+"def mysub(self, *args):\n"
+"    print(\"number of parameters passed:\", len(args))\n"
+"    for a in args:\n"
+"        print(a)\n"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1238
+#, no-wrap
+msgid "Return values of O-word Python subroutines"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1241
+msgid ""
+"Just as NGC procedures may return values, so do O-word Python subroutines.  "
+"They are expected to either return"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1243
+msgid "no value (no `return` statement or the value `None`),"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1244
+msgid "a float or int value,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1245
+msgid ""
+"a string, this means 'this is an error message, abort the program'. Works "
+"like `(abort, msg)`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1247
+msgid "Any other return value type will raise a Python exception."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1249
+msgid ""
+"In a calling NGC environment, the following predefined named parameters are "
+"available:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1250
+#, no-wrap
+msgid "`#<value>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1253
+msgid ""
+"Value returned by the last procedure called.  Initialized to 0.0 on "
+"startup. Exposed in Interp as `self.return_value` (float)."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1254
+#, no-wrap
+msgid "`#<value_returned>`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1257
+msgid ""
+"Indicates the last procedure called did `return` or `endsub` with an "
+"explicit value.  1.0 if true. Set to 0.0 on each `call`. Exposed in Interp "
+"was `self.value_returned` (int)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1259
+msgid "See also `tests/interp/value-returned` for an example."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1260
+#, no-wrap
+msgid "Calling conventions for 'prolog=' and 'epilog=' subroutines"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1263 src/remap/remap.adoc:1294
+msgid "Arguments are:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1266 src/remap/remap.adoc:1297
+#, no-wrap
+msgid "`words`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1271
+msgid ""
+"Keyword parameter dictionary.  If an argspec was present, words are "
+"collected from the current block accordingly and passed in the dictionary "
+"for convenience (the words could as well be retrieved directly from the "
+"calling block, but this requires more knowledge of interpreter internals).  "
+"If no argspec was passed, or only optional values were specified and none of "
+"these was present in the calling block, this dict is empty.  Word names are "
+"converted to lowercase."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1273
+msgid "Example call:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1283
+#, no-wrap
+msgid ""
+"def minimal_prolog(self, **words): # in remap module\n"
+"    print(len(words),\" words passed\")\n"
+"    for w in words:\n"
+"        print(\"%s: %s\" % (w, words[w]))\n"
+"    if words['p'] < 78: # NB: could raise an exception if p were optional\n"
+"       return \"failing miserably\"\n"
+"    return INTERP_OK\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1286 src/remap/remap.adoc:1308
+msgid "Return values:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1287 src/remap/remap.adoc:1309
+#, no-wrap
+msgid "`INTERP_OK`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1288
+msgid "Return this on success. You need to import this from `interpreter`."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1289 src/remap/remap.adoc:1312
+#, no-wrap
+msgid "_a message text_"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1290
+msgid ""
+"Returning a string from a handler means 'this is an error message, abort the "
+"program'. Works like `(abort,` __<msg>__ `)`."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1291
+#, no-wrap
+msgid "Calling conventions for 'python=' subroutines"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1298
+msgid ""
+"Keyword parameter dictionary. The same kwargs dictionary as prologs and "
+"epilogs (see above)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1300
+msgid "The minimum `python=` function example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1305
+#, no-wrap
+msgid ""
+"def useless(self,  **words): # in remap module\n"
+"    return INTERP_OK\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1311
+msgid "Return this on success"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1315
+msgid ""
+"Returning a string from a handler means 'this is an error message, abort the "
+"program'.  Works like `(abort,` __<msg>__ `)`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1317
+msgid ""
+"If the handler needs to execute a 'queuebuster operation' (tool change, "
+"probe, HAL pin reading) then it is supposed to suspend execution with the "
+"following statement:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1318
+#, no-wrap
+msgid "`yield INTERP_EXECUTE_FINISH`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1322
+msgid ""
+"This signals `task` to stop read ahead, execute all queued operations, "
+"execute the 'queue-buster' operation, synchronize interpreter state with "
+"machine state, and then signal the interpreter to continue.  At this point "
+"the function is resumed at the statement following the `yield ..` statement."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1323
+#, no-wrap
+msgid "Dealing with queue-buster: Probe, Tool change and waiting for a HAL pin"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1328
+msgid ""
+"Queue busters interrupt a procedure at the point where such an operation is "
+"called, hence the procedure needs to be restarted after the interpreter "
+"synch().  When this happens the procedure needs to know if it is restarted, "
+"and where to continue.  The Python generator method is used to deal with "
+"procedure restart."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1330
+msgid "This demonstrates call continuation with a single point-of-restart:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1341
+#, no-wrap
+msgid ""
+"def read_pin(self,*args):\n"
+"    # wait 5secs for digital-input 00 to go high\n"
+"    emccanon.WAIT(0,1,2,5.0)\n"
+"    # cede control after executing the queue buster:\n"
+"    yield INTERP_EXECUTE_FINISH\n"
+"    # post-sync() execution resumes here:\n"
+"    pin_status = emccanon.GET_EXTERNAL_DIGITAL_INPUT(0,0);\n"
+"    print(\"pin status=\",pin_status)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1344
+msgid ""
+"The 'yield' feature is fragile. The following restrictions apply to the "
+"usage of 'yield INTERP_EXECUTE_FINISH':"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1346
+msgid ""
+"Python code executing a 'yield INTERP_EXECUTE_FINISH' must be part of a "
+"remap procedure. Yield does not work in a Python oword procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1347
+msgid ""
+"A Python remap subroutine containing 'yield INTERP_EXECUTE_FINISH' statement "
+"may not return a value, as with normal Python yield statements."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1349
+msgid ""
+"Code following a yield may not recursively call the interpreter, like with "
+"`self.execute(\"<mdi command>\")`.  This is an architectural restriction of "
+"the interpreter and is not fixable without a major redesign."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1350
+#, no-wrap
+msgid "Calling conventions: Python to NGC"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1353
+msgid "NGC code is executed from Python when"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1355
+msgid "the method `self.execute(<NGC code>[,<line number>])` is executed, or"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1356
+msgid ""
+"during execution of a remapped code, if a `prolog=` function is defined, the "
+"NGC procedure given in `ngc=` is executed immediately thereafter."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1358
+msgid ""
+"The prolog handler does not call the handler, but it prepares its call "
+"environment, for instance by setting up predefined local parameters."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1359
+#, no-wrap
+msgid "Inserting parameters in a prolog, and retrieving them in an epilog"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1363
+msgid ""
+"Conceptually a prolog and an epilog execute at the same call level like the "
+"O-word procedure, that is after the subroutine call is set up, and before "
+"the subroutine endsub or return."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1366
+msgid ""
+"This means that any local variable created in a prolog will be a local "
+"variable in the O-word procedure, and any local variables created in the "
+"O-word procedure are still accessible when the epilog executes."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1371
+msgid ""
+"The `self.params` array handles reading and setting numbered and named "
+"parameters.  If a named parameter begins with `_` (underscore), it is "
+"assumed to be a global parameter; if not, it is local to the calling "
+"procedure.  Also, numbered parameters in the range 1..30 are treated like "
+"local variables; their original values are restored on return/endsub from an "
+"O-word procedure."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1373
+msgid ""
+"Here is an example remapped code demonstrating insertion and extraction of "
+"parameters into/from the O-word procedure:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1376
+#, no-wrap
+msgid ""
+"REMAP=m300 prolog=insert_param ngc=testparam epilog=retrieve_param "
+"modalgroup=10\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1386
+#, no-wrap
+msgid ""
+"def insert_param(self, **words): # in the remap module\n"
+"    print(\"insert_param call level=\",self.call_level)\n"
+"    self.params[\"myname\"] = 123\n"
+"    self.params[1] = 345\n"
+"    self.params[2] = 678\n"
+"    return INTERP_OK\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1396
+#, no-wrap
+msgid ""
+"def retrieve_param(self, **words):\n"
+"    print(\"retrieve_param call level=\",self.call_level)\n"
+"    print(\"#1=\", self.params[1])\n"
+"    print(\"#2=\", self.params[2])\n"
+"    try:\n"
+"        print(\"result=\", self.params[\"result\"])\n"
+"    except Exception,e:\n"
+"  return \"testparam forgot to assign #<result>\"\n"
+"    return INTERP_OK\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1408
+#, no-wrap
+msgid ""
+"o<testparam> sub\n"
+"(debug, call_level=#<_call_level> myname=#<myname>)\n"
+"; try commenting out the next line and run again\n"
+"#<result> = [#<myname> * 3]\n"
+"#1 = [#1 * 5]\n"
+"#2 = [#2 * 3]\n"
+"o<testparam> endsub\n"
+"m2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1412
+msgid ""
+"`self.params()` returns a list of all variable names currently defined.  "
+"Since `myname` is local, it goes away after the epilog finishes."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1413
+#, no-wrap
+msgid "Calling the interpreter from Python"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1416
+msgid "You can recursively call the interpreter from Python code as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1419
+#, no-wrap
+msgid "self.execute(<NGC code>[,<line number>])\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1427
+#, no-wrap
+msgid ""
+"  self.execute(\"G1 X%f Y%f\" % (x,y))\n"
+"  self.execute(\"O <myprocedure> call\", currentline)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1431
+msgid ""
+"You might want to test for the return value being `< INTERP_MIN_ERROR`.  If "
+"you are using lots of execute() statements, it is probably easier to trap "
+"InterpreterException as shown below."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1433
+msgid "CAUTION:"
+msgstr ""
+
+#. type: delimited block =
+#: src/remap/remap.adoc:1436
+msgid ""
+"The parameter insertion/retrieval method described in the previous section "
+"does not work in this case.  It is good enough for just"
+msgstr ""
+
+#. type: delimited block =
+#: src/remap/remap.adoc:1438
+msgid "executing simple NGC commands or a procedure call and"
+msgstr ""
+
+#. type: delimited block =
+#: src/remap/remap.adoc:1439
+msgid "advanced introspection into the procedure, and"
+msgstr ""
+
+#. type: delimited block =
+#: src/remap/remap.adoc:1440
+msgid "passing of local named parameters is not needed."
+msgstr ""
+
+#. type: delimited block =
+#: src/remap/remap.adoc:1442
+msgid "The recursive call feature is fragile."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1444
+#, no-wrap
+msgid "Interpreter Exception during execute()"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1448
+msgid ""
+"if `interpreter.throw_exceptions` is nonzero (default 1), and self.execute() "
+"returns an error, the exception `InterpreterException` is raised.  "
+"InterpreterException has the following attributes:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1449
+#, no-wrap
+msgid "`line_number`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1450
+msgid "where the error occurred"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1450
+#, no-wrap
+msgid "`line_text`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1451
+msgid "the NGC statement causing the error"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1451
+#, no-wrap
+msgid "`error_message`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1452
+msgid "the interpreter's error message"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1454
+msgid "Errors can be trapped in the following Pythonic way:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1462
+#, no-wrap
+msgid ""
+"import interpreter\n"
+"interpreter.throw_exceptions = 1\n"
+"   ...\n"
+"   try:\n"
+"        self.execute(\"G3456\")  #  raise InterpreterException\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1466
+#, no-wrap
+msgid ""
+"   except InterpreterException,e:\n"
+"        msg = \"%d: '%s' - %s\" % (e.line_number,e.line_text, "
+"e.error_message)\n"
+"        return msg  # replace builtin error message\n"
+msgstr ""
+
+#.  NOTE: to iterate is human, to recurse: divine.
+#. type: Block title
+#: src/remap/remap.adoc:1470
+#, no-wrap
+msgid "Canon"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1474
+msgid "The canon layer is practically all free functions.  Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1484
+#, no-wrap
+msgid ""
+"import emccanon\n"
+"def example(self,*args):\n"
+"    ....\n"
+"    emccanon.STRAIGHT_TRAVERSE(line,x0,y0,z0,0,0,0,0,0,0)\n"
+"    emccanon.STRAIGHT_FEED(line,x1,y1,z1,0,0,0,0,0,0)\n"
+"    ...\n"
+"    return INTERP_OK\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1488
+msgid ""
+"The actual canon functions are declared in `src/emc/nml_intf/canon.hh` and "
+"implemented in `src/emc/task/emccanon.cc`.  The implementation of the Python "
+"functions can be found in `src/emc/rs274ncg/canonmodule.cc`."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1489
+#, no-wrap
+msgid "Built in modules"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1492
+msgid "The following modules are built in:"
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1493
+#, no-wrap
+msgid "`interpreter`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1496
+msgid ""
+"Exposes internals of the Interp class.  See "
+"`src/emc/rs274ngc/interpmodule.cc`, and the `tests/remap/introspect` "
+"regression test."
+msgstr ""
+
+#. type: Labeled list
+#: src/remap/remap.adoc:1497
+#, no-wrap
+msgid "`emccanon`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1499
+msgid "Exposes most calls of `src/emc/task/emccanon.cc`."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1501
+#, no-wrap
+msgid "Adding Predefined Named Parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1505
+msgid ""
+"The interpreter comes with a set of predefined named parameters for "
+"accessing internal state from the NGC language level.  These parameters are "
+"read-only and global, and hence cannot be assigned to."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1508
+msgid ""
+"Additional parameters may be added by defining a function in the "
+"`namedparams` module.  The name of the function defines the name of the new "
+"predefined named parameter, which now can be referenced in arbitrary "
+"expressions."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1510
+msgid "To add or redefine a named parameter:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1512
+msgid "Add a `namedparams` module so it can be found by the interpreter,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1515
+msgid ""
+"define new parameters by functions (see below).  These functions receive "
+"`self` (the interpreter instance) as parameter and so can access arbitrary "
+"state.  Arbitrary Python capabilities can be used to return a value."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1516
+msgid "Import that module from the `TOPLEVEL` script."
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1523
+#, no-wrap
+msgid ""
+"# namedparams.py\n"
+"# trivial example\n"
+"def _pi(self):\n"
+"    return 3.1415926535\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1528
+#, no-wrap
+msgid "#<circumference> = [2 * #<radius> * #<_pi>]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1532
+msgid ""
+"Functions in `namedparams.py` are expected to return a float or int value.  "
+"If a string is returned, this sets the interpreter error message and aborts "
+"execution."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1534
+msgid ""
+"Ònly functions with a leading underscore are added as parameters, since this "
+"is the RS274NGC convention for globals."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1537
+msgid ""
+"It is possible to redefine an existing predefined parameter by adding a "
+"Python function of the same name to the `namedparams` module.  In this case, "
+"a warning is generated during startup."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1540
+msgid ""
+"While the above example isn't terribly useful, note that pretty much all of "
+"the interpreter internal state is accessible from Python, so arbitrary "
+"predicates may be defined this way.  For a slightly more advanced example, "
+"see `tests/remap/predefined-named-params`."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1542
+#, no-wrap
+msgid "Standard Glue routines"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1546
+msgid ""
+"Since many remapping tasks are very similar, I've started collecting working "
+"prolog and epilog routines in a single Python module.  These can currently "
+"be found in 'ncfiles/remap_lib/python-stdglue/stdglue.py' and provide the "
+"following routines:"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1547
+#, no-wrap
+msgid "T: +prepare_prolog+ and +prepare_epilog+"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1550
+msgid "These wrap a NGC procedure for T__x__ Tool Prepare."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1551
+#, no-wrap
+msgid "Actions of +prepare_prolog+"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1554
+msgid "The following parameters are made visible to the NGC procedure:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1556
+msgid "`#<tool>` - the parameter of the `T` word"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1557
+msgid "`#<pocket>` - the corresponding pocket"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1559
+msgid ""
+"If tool number zero is requested (meaning Tool unload), the corresponding "
+"pocket is passed as -1."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1563
+msgid "No tool number is given as T parameter,"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1564
+msgid "the tool cannot be found in the tool table."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1567
+msgid ""
+"Note that unless you set the `[EMCIO] RANDOM_TOOLCHANGER=1` parameter, tool "
+"and pocket number are identical, and the pocket number from the tool table "
+"is ignored.  This is currently a restriction."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1568
+#, no-wrap
+msgid "Actions of +prepare_epilog+"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1571 src/remap/remap.adoc:1600
+msgid ""
+"The NGC procedure is expected to return a positive value, otherwise an error "
+"message containing the return value is given and the interpreter aborts."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1573
+msgid ""
+"In case the NGC procedure executed the T command (which then refers to the "
+"built in T behavior), no further action is taken.  This can be used for "
+"instance to minimally adjust the built in behavior be preceding or following "
+"it with some other statements."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1575
+msgid ""
+"Otherwise, the `#<tool>` and `#<pocket>` parameters are extracted from the "
+"subroutine's parameter space.  This means that the NGC procedure could "
+"change these values, and the epilog takes the changed values in account."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1576
+msgid "Then, the Canon command `SELECT_TOOL(#<tool>)` is executed."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1577
+#, no-wrap
+msgid "M6: +change_prolog+ and +change_epilog+"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1580
+msgid "These wrap a NGC procedure for M6 Tool Change."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1581
+#, no-wrap
+msgid "Actions of +change_prolog+"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1584
+msgid ""
+"The following three steps are applicable only if the `iocontrol-v2` "
+"component is used:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1585
+msgid ""
+"If parameter 5600 (fault indicator) is greater than zero, this indicates a "
+"Toolchanger fault, which is handled as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1586
+msgid ""
+"if parameter 5601 (error code) is negative, this indicates a hard fault and "
+"the prolog aborts with an error message."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1588
+msgid ""
+"if parameter 5601 (error code) is greater equal zero, this indicates a soft "
+"fault.  An informational message is displayed and the prolog continues."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1589
+msgid ""
+"If there was no preceding T command which caused a pocket to be selected, "
+"the prolog aborts with an error message."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1590
+msgid ""
+"If cutter radius compensation is on, the prolog aborts with an error "
+"message."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1592
+msgid "Then, the following parameters are exported to the NGC procedure:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1594
+msgid "`#<tool_in_spindle>` : the tool number of the currently loaded tool"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1595
+msgid "`#<selected_tool>` : the tool number selected"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1596
+msgid "`#<selected_pocket>` : the selected tool's tooldata index"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1597
+#, no-wrap
+msgid "Actions of +change_epilog"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1601
+msgid ""
+"If parameter 5600 (fault indicator) is greater than zero, this indicates a "
+"Toolchanger fault, which is handled as follows (`iocontrol-v2`-only):"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1602
+msgid ""
+"If parameter 5601 (error code) is negative, this indicates a hard fault and "
+"the epilog aborts with an error message."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1604
+msgid ""
+"If parameter 5601 (error code) is greater equal zero, this indicates a soft "
+"fault.  An informational message is displayed and the epilog continues."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1606
+msgid ""
+"In case the NGC procedure executed the M6 command (which then refers to the "
+"built in M6 behavior), no further action is taken.  This can be used for "
+"instance to minimally adjust the built in behavior be preceding or following "
+"it with some other statements."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1608
+msgid ""
+"Otherwise, the `#<selected_pocket>` parameter is extracted from the "
+"subroutine's parameter space, and used to set the interpreter's "
+"`current_pocket` variable.  Again, the procedure could change this value, "
+"and the epilog takes the changed value in account."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1609
+msgid "Then, the Canon command `CHANGE_TOOL(#<selected_pocket>)` is executed."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1610
+msgid "The new tool parameters (offsets, diameter etc) are set."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1612
+#, no-wrap
+msgid "G-code Cycles: +cycle_prolog+ and +cycle_epilog+"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1617
+msgid ""
+"These wrap a NGC procedure so it can act as a cycle, meaning the motion code "
+"is retained after finishing execution.  If the next line just contains "
+"parameter words (e.g. new X,Y values), the code is executed again with the "
+"new parameter words merged into the set of the parameters given in the first "
+"invocation."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1621
+msgid ""
+"These routines are designed to work in conjunction with an "
+"<<sub:argspec-parameter,`argspec=<words>` parameter>>.  While this is easy "
+"to use, in a realistic scenario you would avoid argspec and do a more "
+"thorough investigation of the block manually in order to give better error "
+"messages."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1623
+msgid "The suggested argspec is as follows:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:1627
+#, no-wrap
+msgid ""
+"REMAP=G<somecode> argspec=xyzabcuvwqplr prolog=cycle_prolog ngc=<ngc "
+"procedure> epilog=cycle_epilog modalgroup=1\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1630
+msgid ""
+"This will permit +cycle_prolog+ to determine the compatibility of any axis "
+"words give in the block, see below."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1631
+#, no-wrap
+msgid "Actions of +cycle_prolog+"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1633
+msgid ""
+"Determine whether the words passed in from the current block fulfill the "
+"conditions outlined under <<gcode:canned-cycle-errors,Canned Cycle Errors>>."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1634
+msgid ""
+"Export the axis words as +<x>+, +#<y>+ etc; fail if axis words from "
+"different groups (XYZ) (UVW) are used together, or any of (ABC) is given."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1635
+msgid "Export 'L-' as +#<l>+; default to 1 if not given."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1636
+msgid "Export 'P-' as +#<p>+; fail if p less than 0."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1637
+msgid "Export 'R-' as +#<r>+; fail if r not given, or less equal 0 if given."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1638
+msgid ""
+"Fail if feed rate is zero, or inverse time feed or cutter compensation is "
+"on."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1639
+msgid "Determine whether this is the first invocation of a cycle G-code, if so:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1640
+msgid ""
+"Add the words passed in (as per argspec) into a set of sticky parameters, "
+"which is retained across several invocations."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1641
+msgid "If not (a continuation line with new parameters) then"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1642
+msgid "merge the words passed in into the existing set of sticky parameters."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1643
+msgid "Export the set of sticky parameters to the NGC procedure."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1644
+#, no-wrap
+msgid "Actions of +cycle_epilog+"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1646
+msgid "Determine if the current code was in fact a cycle, if so, then"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1647
+msgid ""
+"retain the current motion mode so a continuation line without a motion code "
+"will execute the same motion code."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1648
+#, no-wrap
+msgid "S (Set Speed) : +setspeed_prolog+ and +setspeed_epilog+"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1652
+#, no-wrap
+msgid "F (Set Feed) : +setfeed_prolog+ and +setfeed_epilog+"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1656
+#, no-wrap
+msgid "M61 Set tool number : +settool_prolog+ and +settool_epilog+"
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1660
+#, no-wrap
+msgid "Remapped code execution"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1662
+#, no-wrap
+msgid "NGC procedure call environment during remaps"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1667
+msgid ""
+"Normally, an O-word procedure is called with positional parameters.  This "
+"scheme is very limiting in particular in the presence of optional "
+"parameters.  Therefore, the calling convention has been extended to use "
+"something remotely similar to the Python keyword arguments model."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1669
+msgid "See LINKTO G-code/main Subroutines: sub, endsub, return, call."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1670
+#, no-wrap
+msgid "Nested remapped codes"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1674
+msgid ""
+"Remapped codes may be nested just like procedure calls - that is, a remapped "
+"code whose NGC procedure refers to some other remapped code will execute "
+"properly."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1676
+msgid "The maximum nesting level remaps is currently 10."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1677
+#, no-wrap
+msgid "Sequence number  during remaps"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1681
+msgid ""
+"Sequence numbers are propagated and restored like with O-word calls.  See "
+"`tests/remap/nested-remaps/word` for the regression test, which shows "
+"sequence number tracking during nested remaps three levels deep."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1682
+#, no-wrap
+msgid "Debugging flags"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1685
+msgid ""
+"The following flags are relevant for remapping and Python - related "
+"execution:"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1687
+#, no-wrap
+msgid "EMC_DEBUG_OWORD"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1688
+#, no-wrap
+msgid "traces execution of O-word subroutines"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1688
+#, no-wrap
+msgid "EMC_DEBUG_REMAP"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1689
+#, no-wrap
+msgid "traces execution of remap-related code"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1689
+#, no-wrap
+msgid "EMC_DEBUG_PYTHON"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1690
+#, no-wrap
+msgid "calls to the Python plug in"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1690
+#, no-wrap
+msgid "EMC_DEBUG_NAMEDPARAM"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1691
+#, no-wrap
+msgid "trace named parameter access"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1691
+#, no-wrap
+msgid "EMC_DEBUG_USER1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1691
+#, no-wrap
+msgid "0x10000000"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1692 src/remap/remap.adoc:1693
+#, no-wrap
+msgid "user-defined - not interpreted by LinuxCNC"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1692
+#, no-wrap
+msgid "EMC_DEBUG_USER2"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1692
+#, no-wrap
+msgid "0x20000000"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1697
+msgid ""
+"'or' these flags into the `[EMC]DEBUG` variable as needed.  For a current "
+"list of debug flags see 'src/emc/nml_intf/debugflags.h'."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1698
+#, no-wrap
+msgid "Debugging Embedded Python code"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1703
+msgid ""
+"Debugging of embedded Python code is harder than debugging normal Python "
+"scripts, and only a limited supply of debuggers exists.  A working "
+"open-source based solution is to use the https://www.eclipse.org[Eclipse "
+"IDE], and the https://www.pydev.org[PydDev] Eclipse plug in and its "
+"https://pydev.org/manual_adv_remote_debugger.html[remote debugging feature]."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1705
+msgid "To use this approach:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1707
+msgid ""
+"Install Eclipse via the the 'Ubuntu Software Center' (choose first "
+"selection)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1708
+msgid ""
+"Install the PyDev plug in from the https://pydev.org/updates[Pydev Update "
+"Site]."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1709
+msgid "Setup the LinuxCNC source tree as an Eclipse project."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1710
+msgid "Start the Pydev Debug Server in Eclipse."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1713
+msgid ""
+"Make sure the embedded Python code can find the `pydevd.py` module which "
+"comes with that plug in - it is buried somewhere deep under the Eclipse "
+"install directory.  Set the the `pydevd` variable in `util.py` to reflect "
+"this directory location."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1714
+msgid ""
+"Add `import pydevd` to your Python module - see example `util.py` and "
+"`remap.py`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1716
+msgid ""
+"Call `pydevd.settrace()` in your module at some point to connect to the "
+"Eclipse Python debug server - here you can set breakpoints in your code, "
+"inspect variables, step etc. as usual."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1718
+msgid ""
+"`pydevd.settrace()` will block execution if Eclipse and the Pydev debug "
+"server have not been started."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1721
+msgid ""
+"To cover the last two steps: the `o<pydevd>` procedure helps to get into the "
+"debugger from MDI mode.  See also the `call_pydevd` function in `util.py` "
+"and its usage in `remap.involute` to set a breakpoint."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1723
+msgid ""
+"Here's a screen-shot of Eclipse/PyDevd debugging the `involute` procedure "
+"from above:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/remap/remap.adoc:1724
+#, no-wrap
+msgid "Debugging with Eclipse"
+msgstr ""
+
+#. type: Target for macro image
+#: src/remap/remap.adoc:1724
+#, no-wrap
+msgid "images/debug_embedded_python.png"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1727
+msgid ""
+"See the Python code in `configs/sim/axis/remap/getting-started/python` for "
+"details."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1729
+#, no-wrap
+msgid "Axis Preview and Remapped code execution"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1733
+msgid ""
+"For complete preview of a remapped code's tool path some precautions need to "
+"be taken.  To understand what is going on, let's review the preview and "
+"execution process (this covers the AXIS case, but others are similar):"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1735
+msgid "First, note that there are *two* independent interpreter instances involved:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1737
+msgid ""
+"One instance in the milltask program, which executes a program when you hit "
+"the 'Start' button, and actually makes the machine move."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1739
+msgid ""
+"A second instance in the user interface whose primary purpose is to generate "
+"the tool path preview.  This one 'executes' a program once it is loaded, but "
+"it doesn't actually cause machine movements."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1742
+msgid ""
+"Now assume that your remap procedure contains a G38 probe operation, for "
+"example as part of a tool change with automatic tool length touch off.  If "
+"the probe fails, that would clearly be an error, so you'd display a message "
+"and abort the program."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1748
+msgid ""
+"Now, what about preview of this procedure? At preview time, of course it is "
+"not known whether the probe succeeds or fails - but you would likely want to "
+"see what the maximum depth of the probe is, and assume it succeeds and "
+"continues execution to preview further movements.  Also, there is no point "
+"in displaying a 'probe failed' message and aborting *during preview*."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1753
+msgid ""
+"The way to address this issue is to test in your procedure whether it "
+"executes in preview or execution mode.  This can be checked for by testing "
+"the `#<_task>` <<gcode:predefined-named-parameters,predefined named "
+"parameter>> - it will be 1 during actual execution and 0 during preview.  "
+"See "
+"'configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/nc_subroutines/manual_change.ngc' "
+"for a complete usage example."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1756
+msgid ""
+"Within Embedded Python, the `task` instance can be checked for by testing "
+"'self.task' - this will be 1 in the milltask instance, and 0 in the preview "
+"instance(s)."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1758
+#, no-wrap
+msgid "Remappable Codes"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1761
+#, no-wrap
+msgid "Existing codes which can be remapped"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1764
+msgid "The current set of *existing* codes open to redefinition is:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1766
+msgid "T__x__ (Prepare)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1767
+msgid "M6 (Change tool)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1768
+msgid "M61 (Set tool number)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1769
+msgid "M0 (pause a running program temporarily)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1770
+msgid "M1 (pause a running program temporarily if the optional stop switch is on)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1771
+msgid "M60 (exchange pallet shuttles and then pause a running program temporarily)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1772
+msgid "S (set spindle speed)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1773
+msgid "F (set feed)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1775
+msgid "Note that the use of M61 currently requires the use of `iocontrol-v2`."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1777
+#, no-wrap
+msgid "Currently unallocated G-codes:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1782
+msgid ""
+"Currently unallocated G-codes (for remapping) must be selected from the "
+"blank areas of the following tables.  All the listed G-codes are already "
+"defined in the current implementation of LinuxCNC and may *not* be used to "
+"remap new G-codes.  (Developers who add new G-codes to LinuxCNC are "
+"encouraged to also add their new G-codes to these tables.)"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1783
+#, no-wrap
+msgid "Table of Allocated G-codes 00-09"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx.2"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx.3"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx.4"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx.5"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx.6"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx.7"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1786 src/remap/remap.adoc:1802
+#: src/remap/remap.adoc:1818 src/remap/remap.adoc:1834
+#: src/remap/remap.adoc:1850 src/remap/remap.adoc:1866
+#: src/remap/remap.adoc:1882 src/remap/remap.adoc:1898
+#: src/remap/remap.adoc:1914 src/remap/remap.adoc:1930
+#, no-wrap
+msgid "Gxx.8"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1787 src/remap/remap.adoc:1803
+#: src/remap/remap.adoc:1819 src/remap/remap.adoc:1835
+#: src/remap/remap.adoc:1851 src/remap/remap.adoc:1867
+#: src/remap/remap.adoc:1883 src/remap/remap.adoc:1899
+#: src/remap/remap.adoc:1915 src/remap/remap.adoc:1931
+#, no-wrap
+msgid "Gxx.9"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1787
+#, no-wrap
+msgid "00"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1787
+#, no-wrap
+msgid "G00"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1788
+#, no-wrap
+msgid "01"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1788
+#, no-wrap
+msgid "G01"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1789
+#, no-wrap
+msgid "02"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1789
+#, no-wrap
+msgid "G02"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1790
+#, no-wrap
+msgid "03"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1790
+#, no-wrap
+msgid "G03"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1791
+#, no-wrap
+msgid "04"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1791
+#, no-wrap
+msgid "G04"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1792
+#, no-wrap
+msgid "05"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1792
+#, no-wrap
+msgid "G05"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1792
+#, no-wrap
+msgid "G05.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1792
+#, no-wrap
+msgid "G05.2"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1792
+#, no-wrap
+msgid "G05.3"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1793
+#, no-wrap
+msgid "06"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1794
+#, no-wrap
+msgid "07"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1794
+#, no-wrap
+msgid "G07"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1795
+#, no-wrap
+msgid "08"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1795
+#, no-wrap
+msgid "G08"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1796
+#, no-wrap
+msgid "09"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1799
+#, no-wrap
+msgid "Table of Allocated G-codes 10-19"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1803
+#, no-wrap
+msgid "G10"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1815
+#, no-wrap
+msgid "Table of Allocated G-codes 20-29"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1827
+#, no-wrap
+msgid "28"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1827
+#, no-wrap
+msgid "G28"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1827
+#, no-wrap
+msgid "G28.1"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1831
+#, no-wrap
+msgid "Table of Allocated G-codes 30-39"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1835 src/remap/remap.adoc:1838
+#, no-wrap
+msgid "G30"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1835 src/remap/remap.adoc:1838
+#, no-wrap
+msgid "G30.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1839
+#, no-wrap
+msgid "34"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1844
+#, no-wrap
+msgid "39"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1847
+#, no-wrap
+msgid "Table of Allocated G-codes 40-49"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1852
+#, no-wrap
+msgid "41"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1853
+#, no-wrap
+msgid "42"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1854
+#, no-wrap
+msgid "43"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1854
+#, no-wrap
+msgid "G43"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1854
+#, no-wrap
+msgid "G43.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1855
+#, no-wrap
+msgid "44"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1856
+#, no-wrap
+msgid "45"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1857
+#, no-wrap
+msgid "46"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1858
+#, no-wrap
+msgid "47"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1860
+#, no-wrap
+msgid "49"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1863
+#, no-wrap
+msgid "Table of Allocated G-codes 50-59"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1868
+#, no-wrap
+msgid "51"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1870
+#, no-wrap
+msgid "53"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1871
+#, no-wrap
+msgid "54"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1872
+#, no-wrap
+msgid "55"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1873
+#, no-wrap
+msgid "56"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1874
+#, no-wrap
+msgid "57"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1875
+#, no-wrap
+msgid "58"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1876
+#, no-wrap
+msgid "59"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1879
+#, no-wrap
+msgid "Table of Allocated G-codes 60-69"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1883
+#, no-wrap
+msgid "60"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1883
+#, no-wrap
+msgid "G60"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1884
+#, no-wrap
+msgid "61"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1884
+#, no-wrap
+msgid "G61.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1885
+#, no-wrap
+msgid "62"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1886
+#, no-wrap
+msgid "63"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1888
+#, no-wrap
+msgid "65"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1889
+#, no-wrap
+msgid "66"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1890
+#, no-wrap
+msgid "67"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1891
+#, no-wrap
+msgid "68"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1892
+#, no-wrap
+msgid "69"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1895
+#, no-wrap
+msgid "Table of Allocated G-codes 70-79"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1899
+#, no-wrap
+msgid "70"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1899
+#, no-wrap
+msgid "G70"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1900
+#, no-wrap
+msgid "71"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1900
+#, no-wrap
+msgid "G71"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1900
+#, no-wrap
+msgid "G71.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1900
+#, no-wrap
+msgid "G71.2"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1901
+#, no-wrap
+msgid "G72"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1901
+#, no-wrap
+msgid "G72.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1901
+#, no-wrap
+msgid "G72.2"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1902
+#, no-wrap
+msgid "73"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1903
+#, no-wrap
+msgid "74"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1904
+#, no-wrap
+msgid "75"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1905
+#, no-wrap
+msgid "76"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1906
+#, no-wrap
+msgid "77"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1907
+#, no-wrap
+msgid "78"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1908
+#, no-wrap
+msgid "79"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1911
+#, no-wrap
+msgid "Table of Allocated G-codes 80-89"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1915
+#, no-wrap
+msgid "80"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1916
+#, no-wrap
+msgid "81"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1917
+#, no-wrap
+msgid "82"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1918
+#, no-wrap
+msgid "83"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1919
+#, no-wrap
+msgid "84"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1920
+#, no-wrap
+msgid "85"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1921
+#, no-wrap
+msgid "86"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1922
+#, no-wrap
+msgid "87"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1923
+#, no-wrap
+msgid "88"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1924
+#, no-wrap
+msgid "89"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1927
+#, no-wrap
+msgid "Table of Allocated G-codes 90-99"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1931
+#, no-wrap
+msgid "90"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1931
+#, no-wrap
+msgid "G90.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1932
+#, no-wrap
+msgid "91"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1932
+#, no-wrap
+msgid "G91.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1933
+#, no-wrap
+msgid "92"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1933
+#, no-wrap
+msgid "G92"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1933
+#, no-wrap
+msgid "G92.1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1933
+#, no-wrap
+msgid "G92.2"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1933
+#, no-wrap
+msgid "G92.3"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1934
+#, no-wrap
+msgid "93"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1935
+#, no-wrap
+msgid "94"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1936
+#, no-wrap
+msgid "95"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1936
+#, no-wrap
+msgid "G95"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1937
+#, no-wrap
+msgid "96"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1937
+#, no-wrap
+msgid "G96"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1938
+#, no-wrap
+msgid "97"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1938
+#, no-wrap
+msgid "G97"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1939
+#, no-wrap
+msgid "98"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1939
+#, no-wrap
+msgid "G98"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1940
+#, no-wrap
+msgid "99"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1940
+#, no-wrap
+msgid "G99"
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1944
+#, no-wrap
+msgid "Currently unallocated M-codes:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1948
+msgid ""
+"These M-codes are currently undefined in the current implementation of "
+"LinuxCNC and may be used to define new M-codes.  (Developers who define new "
+"M-codes in LinuxCNC are encouraged to remove them from this table.)"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:1949
+#, no-wrap
+msgid "Table of Unallocated M-codes 00-99"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx0"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx1"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx2"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx3"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx4"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx5"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx6"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx7"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1952
+#, no-wrap
+msgid "Mx8"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1953
+#, no-wrap
+msgid "Mx9"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1953
+#, no-wrap
+msgid "00-09"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "10-19"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M10"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M11"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M12"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M13"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M14"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M15"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M16"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M17"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1954
+#, no-wrap
+msgid "M18"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "20-29"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M20"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M21"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M22"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M23"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M24"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M25"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M26"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M27"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1955
+#, no-wrap
+msgid "M28"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M29"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "30-39"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M31"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M32"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M33"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M34"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M35"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M36"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M37"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1956
+#, no-wrap
+msgid "M38"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M39"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "40-49"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M40"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M41"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M42"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M43"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M44"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M45"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M46"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1957
+#, no-wrap
+msgid "M47"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1958
+#, no-wrap
+msgid "50-59"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1958
+#, no-wrap
+msgid "M54"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1958
+#, no-wrap
+msgid "M55"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1958
+#, no-wrap
+msgid "M56"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1958
+#, no-wrap
+msgid "M57"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1958
+#, no-wrap
+msgid "M58"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1959
+#, no-wrap
+msgid "M59"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1959
+#, no-wrap
+msgid "60-69"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1960
+#, no-wrap
+msgid "70-79"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1960
+#, no-wrap
+msgid "M74"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1960
+#, no-wrap
+msgid "M75"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1960
+#, no-wrap
+msgid "M76"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1960
+#, no-wrap
+msgid "M77"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1960
+#, no-wrap
+msgid "M78"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M79"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "80-89"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M80"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M81"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M82"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M83"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M84"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M85"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M86"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M87"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1961
+#, no-wrap
+msgid "M88"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M89"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "90-99"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M90"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M91"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M92"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M93"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M94"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M95"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M96"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M97"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1962
+#, no-wrap
+msgid "M98"
+msgstr ""
+
+#. type: Table
+#: src/remap/remap.adoc:1963
+#, no-wrap
+msgid "M99"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1966
+msgid ""
+"All M-codes from `M100` to `M199` are user-defined M-codes already, and "
+"should not be remapped."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1968
+msgid "All M-codes from `M200` to `M999` are available for remapping."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:1969
+#, no-wrap
+msgid "A short survey of LinuxCNC program execution"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1972
+msgid ""
+"To understand remapping of codes it might be helpful to survey the execution "
+"of `task` and interpreter as far as it relates to remapping."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1973
+#, no-wrap
+msgid "Interpreter state"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1976
+msgid ""
+"Conceptually, the interpreter's state consist of variables which fall into "
+"the following categories:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1978
+msgid "_Configuration information_ (typically from INI file)"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1979
+msgid "_The 'World model'_ - a representation of actual machine state"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1982
+msgid ""
+"_Modal state and settings_ - refers to state which is 'carried over' between "
+"executing individual NGC codes - for instance, once the spindle is turned on "
+"and the speed is set, it remains at this setting until turned off.  The same "
+"goes for many codes, like feed, units, motion modes (feed or rapid)  and so "
+"forth."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1985
+msgid ""
+"_Interpreter execution state_ - Holds information about the block currently "
+"executed, whether we are in a subroutine, interpreter variables, etc. .  "
+"Most of this state is aggregated in a - fairly unsystematic - `structure "
+"_setup` (see interp_internals.hh)."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:1986
+#, no-wrap
+msgid "Task and Interpreter interaction, Queuing and Read-Ahead"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1991
+msgid ""
+"The `task` part of LinuxCNC is responsible for coordinating actual machine "
+"commands - movement, HAL interactions and so forth.  It does not by itself "
+"handle the RS274NGC language.  To do so, `task` calls upon the interpreter "
+"to parse and execute the next command - either from MDI or the current file."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:1996
+msgid ""
+"The interpreter execution generates canonical machine operations, which "
+"actually move something.  These are, however, not immediately executed but "
+"put on a queue.  The actual execution of these codes happens in the `task` "
+"part of LinuxCNC: canon commands are pulled off that interpreter queue, and "
+"executed resulting in actual machine movements."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2000
+msgid ""
+"This means that typically the interpreter is far ahead of the actual "
+"execution of commands - the parsing of the program might well be finished "
+"before any noticeable movement starts.  This behavior is called "
+"'read-ahead'."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2001
+#, no-wrap
+msgid "Predicting the machine position"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2005
+msgid ""
+"To compute canonical machine operations in advance during read ahead, the "
+"interpreter must be able to predict the machine position after each line of "
+"G-code, and that is not always possible."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2008
+msgid ""
+"Let's look at a simple example program which does relative moves (G91), and "
+"assume the machine starts at x=0,y=0,z=0.  Relative moves imply that the "
+"outcome of the next move relies on the position of the previous one:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:2016
+#, no-wrap
+msgid ""
+"N10 G91\n"
+"N20 G0 X10 Y-5 Z20\n"
+"N30 G1 Y20 Z-5\n"
+"N40 G0 Z30\n"
+"N50 M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2019
+msgid "Here the interpreter can clearly predict machine positions for each line:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2022
+msgid ""
+"After N20: x=10 y=-5 z=20; after N30: x=10 y=15 z=15; after N40: x=10 y=15 "
+"z=45 and so can parse the whole program and generate canonical operations "
+"well in advance."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2023
+#, no-wrap
+msgid "Queue-busters break position prediction"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2027
+msgid ""
+"However, complete read ahead is only possible when the interpreter can "
+"predict the position impact for *every* line in the program in advance.  "
+"Let's look at a modified example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:2040
+#, no-wrap
+msgid ""
+"N10 G91\n"
+"N20 G0 X10 Y-5 Z20\n"
+"N30 G38.3 Z-10\n"
+"N40 O100 if [#5070 EQ 0]\n"
+"N50    G1 Y20 Z-5\n"
+"N60 O100 else\n"
+"N70    G0 Z30\n"
+"N80 O100 endif\n"
+"N90 G1 Z10\n"
+"N95 M2\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2044
+msgid ""
+"To pre-compute the move in N90, the interpreter would need to know where the "
+"machine is after line N80 - and that depends on whether the probe command "
+"succeeded or not, which is not known until it is actually executed."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2047
+msgid ""
+"So, some operations are incompatible with further read-ahead.  These are "
+"called _queue busters_, and they are:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2049
+msgid "Reading a HAL pin's value with M66: value of HAL pin not predictable."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2050
+msgid "Loading a new tool with M6: tool geometry not predictable."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2051
+msgid ""
+"Executing a probe with G38._n_: final position and success/failure not "
+"predictable."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2052
+#, no-wrap
+msgid "How queue-busters are dealt with"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2056
+msgid ""
+"Whenever the interpreter encounters a queue-buster, it needs to stop read "
+"ahead and wait until the relevant result is available.  The way this works "
+"is:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2058
+msgid ""
+"When such a code is encountered, the interpreter returns a special return "
+"code to `task` ('INTERP_EXECUTE_FINISH')."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2063
+msgid ""
+"This return code signals to `task` to stop read ahead for now, execute all "
+"queued canonical commands built up so far (including the last one, which is "
+"the queue buster), and then 'synchronize the interpreter state with the "
+"world model'.  Technically, this means updating internal variables to "
+"reflect HAL pin values, reload tool geometries after an M6, and convey "
+"results of a probe."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2065
+msgid ""
+"The interpreter's 'synch()' method is called by `task` and does just that - "
+"read all the world model 'actual' values which are relevant for further "
+"execution."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2067
+msgid ""
+"At this point, `task` goes ahead and calls the interpreter for more read "
+"ahead - until either the program ends or another queue-buster is "
+"encountered."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2068
+#, no-wrap
+msgid "Word order and execution order"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2074
+msgid ""
+"One or several 'words' may be present on an NGC 'block' if they are "
+"compatible (some are mutually exclusive and must be on different lines).  "
+"The execution model however prescribes a strict ordering of execution of "
+"codes, regardless of their appearance on the source line "
+"(<<gcode:order-of-execution,G-code Order of Execution>>)."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2075
+#, no-wrap
+msgid "Parsing"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2082
+msgid ""
+"Once a line is read (in either MDI mode, or from the current NGC file), it "
+"is parsed and flags and parameters are set in a 'struct block' (struct "
+"_setup, member block1).  This struct holds all information about the current "
+"source line, but independent of different ordering of codes on the current "
+"line: As long as several codes are compatible, any source ordering will "
+"result in the same variables set in the struct block.  Right after parsing, "
+"all codes on a block are checked for compatibility."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2083
+#, no-wrap
+msgid "Execution"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2086
+msgid ""
+"After successful parsing the block is executed by execute_block(), and here "
+"the different items are handled according to execution order."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2090
+msgid ""
+"If a \"queue buster\" is found, a corresponding flag is set in the "
+"interpreter state (toolchange_flag, input_flag, probe_flag)  and the "
+"interpreter returns an INTERP_EXECUTE_FINISH return value, signaling 'stop "
+"readahead for now, and resynch' to the caller ('`task`').  If no queue "
+"busters are found after all items are executed, INTERP_OK is returned, "
+"signalling that read-ahead may continue."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2095
+msgid ""
+"When read ahead continues after the synch, `task` starts executing "
+"interpreter read() operations again.  During the next read operation, the "
+"above mentioned flags are checked and corresponding variables are set "
+"(because the a synch() was just executed, the values are now current).  This "
+"means that the next command already executes in the properly set variable "
+"context."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2096
+#, no-wrap
+msgid "Procedure execution"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2101
+msgid ""
+"O-word procedures complicate handling of queue busters a bit.  A queue "
+"buster might be found somewhere in a nested procedure, resulting in a "
+"semi-finished procedure call when INTERP_EXECUTE_FINISH is returned.  Task "
+"makes sure to synchronize the world model, and continue parsing and "
+"execution as long as there is still a procedure executing (call_level > 0)."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2103
+#, no-wrap
+msgid "How tool change currently works"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2107
+msgid ""
+"The actions happening in LinuxCNC are a bit involved, but it is necessary to "
+"get the overall idea what currently happens, before you set out to adapt "
+"those workings to your own needs."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2112
+msgid ""
+"Note that remapping an existing code completely disables all internal "
+"processing for that code.  That means that beyond your desired behavior "
+"(probably described through an NGC O-word or Python procedure), you need to "
+"replicate those internal actions of the interpreter, which together result "
+"in a complete replacement of the existing code.  The prolog and epilog code "
+"is the place to do this."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2113
+#, no-wrap
+msgid "How tool information is communicated"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2115
+msgid ""
+"Several processes are 'interested' in tool information: `task` and its "
+"interpreter, as well as the user interface. Also, the 'halui' process."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2119
+msgid ""
+"Tool information is held in the 'emcStatus' structure, which is shared by "
+"all parties.  One of its fields is the 'toolTable' array, which holds the "
+"description as loaded from the tool table file (tool number, diameter, "
+"frontangle, backangle and orientation for lathe, tool offset information)."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2123
+msgid ""
+"The authoritative source and only process actually 'setting' tool "
+"information in this structure is the 'iocontrol' process.  All others "
+"processes just consult this structure.  The interpreter holds actually a "
+"local copy of the tool table."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2126
+msgid ""
+"For the curious, the current emcStatus structure can be accessed by "
+"<<remap:executing-python-statements,Python statements>>.  The interpreter's "
+"perception of the tool currently loaded for instance is accessed by:"
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:2130
+#, no-wrap
+msgid ""
+";py,from interpreter import *\n"
+";py,print(this.tool_table[0])\n"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2133
+msgid "You need to have LinuxCNC started from a terminal window to see the results."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2134
+#, no-wrap
+msgid "How `T`__x__ (Prepare Tool) works"
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2137
+#, no-wrap
+msgid "Interpreter action on a `T`__x__ command"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2141
+msgid ""
+"All the interpreter does is evaluate the toolnumber parameter, looks up its "
+"corresponding tooldata index, remembers it in the `selected_pocket` variable "
+"for later, and queues a canon command (SELECT_TOOL).  See "
+"'Interp::convert_tool_select' in 'src/emc/rs274/interp_execute.cc'."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2143
+#, no-wrap
+msgid "Task action on SELECT_TOOL"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2146
+msgid ""
+"When `task` gets around to handle a SELECT_TOOL, it sends a EMC_TOOL_PREPARE "
+"message to the `iocontrol` process, which handles most tool-related actions "
+"in LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2149
+msgid ""
+"In the current implementation, `task` actually waits for `iocontrol` to "
+"complete the changer positioning operation, which is not necessary IMO since "
+"it defeats the idea that changer preparation and code execution can proceed "
+"in parallel."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2150
+#, no-wrap
+msgid "Iocontrol action on EMC_TOOL_PREPARE"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2154
+msgid ""
+"When `iocontrol` sees the select pocket command, it does the related HAL pin "
+"wiggling - it sets the \"tool-prep-number\" pin to indicate which tool is "
+"next, raises the \"tool-prepare\" pin, and waits for the \"tool-prepared\" "
+"pin to go high."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2157
+msgid ""
+"When the changer responds by asserting \"tool-prepared\", it considers the "
+"prepare phase to be completed and signals `task` to continue.  Again, this "
+"'wait' is not strictly necessary IMO."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2158
+#, no-wrap
+msgid "Building the prolog and epilog for `Tx`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2160
+msgid ""
+"See the Python functions `prepare_prolog` and `prepare_epilog` in "
+"`nc_files/remap_lib/python-stdglue/stdglue.py`."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2161
+#, no-wrap
+msgid "How M6 (Change tool) works"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2166
+msgid ""
+"You need to understand this fully before you can adapt it.  It is very "
+"relevant to writing a prolog and epilog handler for a remapped M6.  "
+"Remapping an existing codes means you disable the internal steps taken "
+"normally, and replicate them as far as needed for your own purposes."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2168
+msgid ""
+"Even if you are not familiar with C, I suggest you look at the "
+"'Interp::convert_tool_change' code in 'src/emc/rs274/interp_convert.cc'."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2170
+#, no-wrap
+msgid "Interpreter action on a M6 command"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2173
+msgid "When the interpreter sees an M6, it:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2177
+msgid ""
+"checks whether a `T` command has already been executed (test "
+"'settings->selected_pocket' to be >= 0)  and fail with 'Need tool prepared "
+"-`Txx`- for toolchange' message if not."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2178
+msgid ""
+"check for cutter compensation being active, and fail with 'Cannot change "
+"tools with cutter radius compensation on' if so."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2179
+msgid ""
+"stop the spindle except if the \"TOOL_CHANGE_WITH_SPINDLE_ON\" INI option is "
+"set."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2180
+msgid ""
+"generate a rapid 'Z up' move if if the \"TOOL_CHANGE_QUILL_UP\" INI option "
+"is set."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2182
+msgid "move the A, B and C indexers if applicable"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2183
+msgid "generate rapid move to the G30 position"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2184
+msgid ""
+"execute a CHANGE_TOOL canon command, with the selected pocket as a "
+"parameter. CHANGE_TOOL will:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2185
+msgid "generate a rapid move to TOOL_CHANGE_POSITION if so set in INI"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2186
+msgid "enqueue an EMC_TOOL_LOAD NML message to `task`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2187
+msgid "set the numberer parameters 5400-5413 according to the new tool"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2188
+msgid ""
+"signal to `task` to stop calling the interpreter for readahead by returning "
+"INTERP_EXECUTE_FINISH since M6 is a queue buster."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2189
+#, no-wrap
+msgid "What `task` does when it sees a CHANGE_TOOL command"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2191
+msgid ""
+"Again, not much more than passing the buck to `iocontrol` by sending it an "
+"EMC_TOOL_LOAD message, and waiting until `iocontrol` has done its thing."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2193
+#, no-wrap
+msgid "Iocontrol action on EMC_TOOL_LOAD"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2195
+msgid "it asserts the \"tool-change\" pin"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2196
+msgid "it waits for the \"tool-changed\" pin to become active"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2197
+msgid "when that has happened:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2198
+msgid "deassert \"tool-change\""
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2199
+msgid "set \"tool-prep-number\" and \"tool-prep-pocket\" pins to zero"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2200
+msgid "execute the 'load_tool()' function with the pocket as parameter."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2204
+msgid ""
+"The last step actually sets the tooltable entries in the 'emcStatus' "
+"structure.  The actual action taken depends on whether the "
+"RANDOM_TOOLCHANGER INI option was set, but at the end of the process "
+"'toolTable[0]' reflects the tool currently in the spindle."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2206
+msgid "When that has happened:"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2208
+msgid "`iocontrol` signals `task` to go ahead."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2209
+msgid ""
+"`task` tells the interpreter to execute a 'synch()' operation, to see what "
+"has changed."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2210
+msgid ""
+"The interpreter 'synch()' pulls all information from the world model needed, "
+"among it the changed tool table."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2212
+msgid ""
+"From there on, the interpreter has complete knowledge of the world model and "
+"continues with read ahead."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2213
+#, no-wrap
+msgid "Building the prolog and epilog for `M6`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2215
+msgid ""
+"See the Python functions `change_prolog` and `change_epilog` in "
+"`nc_files/remap_lib/python-stdglue/stdglue.py`."
+msgstr ""
+
+#. type: Title ===
+#: src/remap/remap.adoc:2216
+#, no-wrap
+msgid "How `M61` (Change tool number) works"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2220
+msgid ""
+"`M61` requires a non-negative `Q`parameter (tool number).  If zero, this "
+"means 'unload tool', else 'set current tool number to Q'."
+msgstr ""
+
+#. type: Block title
+#: src/remap/remap.adoc:2221
+#, no-wrap
+msgid "Building the replacement for `M61`"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2223
+msgid ""
+"An example Python redefinition for `M61` can be found in the "
+"`set_tool_number` function in "
+"`nc_files/remap_lib/python-stdglue/stdglue.py`."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2228
+msgid ""
+"The RELOAD_ON_CHANGE feature is fairly broken. Restart after changing a "
+"Python file."
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2229
+msgid ""
+"M61 (remapped or not) is broken in `iocontrol` and requires `iocontrol-v2` "
+"to actually work."
+msgstr ""
+
+#.  A short survey of LinuxCNC execution
+#.  Interpreter internals access - Python view
+#.  Task internals access - Python view
+#. type: Title ==
+#: src/remap/remap.adoc:2234
+#, no-wrap
+msgid "Changes"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2239
+msgid ""
+"The method to return error messages and fail used to be "
+"'self.set_errormsg(text)' followed by 'return INTERP_ERROR'.  This has been "
+"replaced by merely returning a string from a Python handler or oword "
+"subroutine.  This sets the error message and aborts the program. Previously "
+"there was no clean way to abort a Python O-word subroutine."
+msgstr ""
+
+#. type: Title ==
+#: src/remap/remap.adoc:2240
+#, no-wrap
+msgid "Debugging"
+msgstr ""
+
+#. type: Plain text
+#: src/remap/remap.adoc:2243
+msgid ""
+"In the '[EMC]' section of the INI file the 'DEBUG' parameter can be changed "
+"to get various levels of debug messages when LinuxCNC is started from a "
+"terminal."
+msgstr ""
+
+#. type: delimited block -
+#: src/remap/remap.adoc:2260
+#, no-wrap
+msgid ""
+"Debug level, 0 means no messages. See src/emc/nml_intf/debugflags.h for "
+"others\n"
+"DEBUG = 0x00000002 # configuration\n"
+"DEBUG = 0x7FFFDEFF # no interp,oword\n"
+"DEBUG = 0x00008000 # py only\n"
+"DEBUG = 0x0000E000 # py + remap + Oword\n"
+"DEBUG = 0x0000C002 # py + remap + config\n"
+"DEBUG = 0x0000C100 # py + remap + Interpreter\n"
+"DEBUG = 0x0000C140 # py + remap + Interpreter + NML msgs\n"
+"DEBUG = 0x0000C040 # py + remap + NML\n"
+"DEBUG = 0x0003E100 # py + remap + Interpreter + oword + signals + "
+"namedparams\n"
+"DEBUG = 0x10000000 # EMC_DEBUG_USER1 - trace statements\n"
+"DEBUG = 0x20000000 # EMC_DEBUG_USER2 - trap into Python debugger\n"
+"DEBUG = 0x10008000 # USER1, PYTHON\n"
+"DEBUG = 0x30008000 # USER1,USER2, PYTHON # USER2 will cause involute to try "
+"to connect to pydev\n"
+"DEBUG = 0x7FFFFFFF # All debug messages\n"
+msgstr ""
+
+#. type: Title =
+#: src/source-highlight/hal-demo.adoc:3 src/source-highlight/ini-demo.adoc:3
+#: src/source-highlight/ngc-demo.adoc:3
+#, no-wrap
+msgid "Source Highlight Filter Test"
+msgstr ""
+
+#.  Begin a listing of INI/HAL/NGC files like so:
+#. [source,{ini}]
+#. [source,{hal}]
+#. [source,{ngc}]
+#. type: Plain text
+#: src/source-highlight/hal-demo.adoc:21 src/source-highlight/ini-demo.adoc:6
+#: src/source-highlight/ngc-demo.adoc:21
+msgid "Details of the filter can be found in `./doc/source-highlight-filter.txt`."
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/hal-demo.adoc:25
+#, no-wrap
+msgid "# note this is for highlighting demo only - there aint any use to it\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/hal-demo.adoc:27
+#, no-wrap
+msgid "loadusr -W [MYSECTION]MYMODULE\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/hal-demo.adoc:30
+#, no-wrap
+msgid ""
+"loadrt conv_float_s32 names=f2s32\n"
+"addf f2s32 servo-thread\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/hal-demo.adoc:32
+#, no-wrap
+msgid "# in case they were linked already\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/hal-demo.adoc:35
+#, no-wrap
+msgid ""
+"unlinkp motion.digital-out-01 471.11 $(envvar)\n"
+"unlinkp motion.digital-in-01  815  $VAR\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/hal-demo.adoc:44
+#, no-wrap
+msgid ""
+"net tool-prep-number-f  motion.0.analog-out-00 => motion.0.analog-out-00 "
+"f2s32.in [FOO]bAR\n"
+"net tool-prep-number-f  motion.0.analog-out-00 => motion.0.analog-out-00 "
+"f2s32.0.in\n"
+"net tool-prep-number-f  motion.0.analog-out-00 => motion.0.analog-out-00 "
+"f2s32x.0.in\n"
+"net tool-prep-number-f  motion.0.analog-out-00 => motion.0.analog-out-00 "
+"motion.0.in\n"
+"net tool-prep-number-f  motion.0.analog-out-00 => motion.0.analog-out-00 "
+"motion.in\n"
+"net tool-change hal_manualtoolchange.56.change <= motion.digital-out-01\n"
+"net tool-changed hal_manualtoolchange.changed motion.digital-in-01\n"
+"net tool-prep-number hal_manualtoolchange.number f2s32.out\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/hal-demo.adoc:47
+#, no-wrap
+msgid ""
+"# prepare loopback\n"
+"net tool-prepare motion.digital-out-00 motion.digital-in-00\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:26
+#, no-wrap
+msgid "# EMC controller parameters for a simulated machine.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:29
+#, no-wrap
+msgid ""
+"# General note: Comments can either be preceded with a # or ; - either is\n"
+"# acceptable, although # is in keeping with most Linux config files.\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:32
+#, no-wrap
+msgid ""
+"# General section "
+"-------------------------------------------------------------\n"
+"[EMC]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:35
+#, no-wrap
+msgid ""
+"# Version of this INI file\n"
+"VERSION =               $Revision$\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:38
+#, no-wrap
+msgid ""
+"# Name of machine, for use with display, etc.\n"
+"MACHINE =               EMC-HAL-SIM-AXIS\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:42
+#, no-wrap
+msgid ""
+"# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for "
+"others\n"
+"# DEBUG =               0x7FFFFFFF\n"
+"DEBUG = 0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:45
+#, no-wrap
+msgid ""
+"# Sections for display options "
+"------------------------------------------------\n"
+"[DISPLAY]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:48
+#, no-wrap
+msgid ""
+"# Name of display program, e.g., axis\n"
+"DISPLAY =             axis\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:51
+#, no-wrap
+msgid ""
+"# Cycle time, in seconds, that display will sleep between polls\n"
+"CYCLE_TIME =            0.100\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:54
+#, no-wrap
+msgid ""
+"# Path to help file\n"
+"HELP_FILE =             doc/help.txt\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:57
+#, no-wrap
+msgid ""
+"# Initial display setting for position, RELATIVE or MACHINE\n"
+"POSITION_OFFSET =       RELATIVE\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:60
+#, no-wrap
+msgid ""
+"# Initial display setting for position, COMMANDED or ACTUAL\n"
+"POSITION_FEEDBACK =     ACTUAL\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:66
+#, no-wrap
+msgid ""
+"# Highest value that will be allowed for feed override, 1.0 = 100%\n"
+"MAX_FEED_OVERRIDE =     1.2\n"
+"MAX_SPINDLE_OVERRIDE =  1.0\n"
+"# Prefix to be used\n"
+"PROGRAM_PREFIX = ../../nc_files/\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:70
+#, no-wrap
+msgid ""
+"# Introductory graphic\n"
+"INTRO_GRAPHIC = emc2.gif\n"
+"INTRO_TIME = 5\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:72
+#, no-wrap
+msgid "EDITOR = gedit\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:77
+#, no-wrap
+msgid ""
+"INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in\n"
+"[FILTER]\n"
+"PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image\n"
+"PROGRAM_EXTENSION = .py Python Script\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:82
+#, no-wrap
+msgid ""
+"png = image-to-gcode\n"
+"gif = image-to-gcode\n"
+"jpg = image-to-gcode\n"
+"py = python\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:85
+#, no-wrap
+msgid ""
+"# Task controller section "
+"-----------------------------------------------------\n"
+"[TASK]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:88
+#, no-wrap
+msgid ""
+"# Name of task controller program, e.g., milltask\n"
+"TASK =                  milltask\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:91
+#, no-wrap
+msgid ""
+"# Cycle time, in seconds, that task controller will sleep between polls\n"
+"CYCLE_TIME =            0.001\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:94
+#, no-wrap
+msgid ""
+"# Part program interpreter section "
+"--------------------------------------------\n"
+"[RS274NGC]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:97
+#, no-wrap
+msgid ""
+"# File containing interpreter variables\n"
+"PARAMETER_FILE =        sim_mm.var\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:100
+#, no-wrap
+msgid ""
+"# Motion control section "
+"------------------------------------------------------\n"
+"[EMCMOT]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:102
+#, no-wrap
+msgid "EMCMOT =              motmod\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:105
+#, no-wrap
+msgid ""
+"# Timeout for comm to emcmot, in seconds\n"
+"COMM_TIMEOUT =          1.0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:110
+#, no-wrap
+msgid ""
+"# BASE_PERIOD is unused in this configuration but specified in "
+"core_sim.hal\n"
+"BASE_PERIOD  =               0\n"
+"# Servo task period, in nano-seconds\n"
+"SERVO_PERIOD =               1000000\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:113
+#, no-wrap
+msgid ""
+"# Hardware Abstraction Layer section "
+"--------------------------------------------------\n"
+"[HAL]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:117
+#, no-wrap
+msgid ""
+"# The run script first uses halcmd to execute any HALFILE\n"
+"# files, and then to execute any individual HALCMD commands.\n"
+"#\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:124
+#, no-wrap
+msgid ""
+"# list of HAL config files to run through halcmd\n"
+"# files are executed in the order in which they appear\n"
+"HALFILE =                    core_sim.hal\n"
+"HALFILE =\t\t     axis_manualtoolchange.hal\n"
+"HALFILE = simulated_home.hal\n"
+"#HALFILE = gamepad.hal\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:128
+#, no-wrap
+msgid ""
+"# list of halcmd commands to execute\n"
+"# commands are executed in the order in which they appear\n"
+"#HALCMD =                    save neta\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:132
+#, no-wrap
+msgid ""
+"# Single file that is executed after the GUI has started.  Only supported "
+"by\n"
+"# AXIS at this time (only AXIS creates a HAL component of its own)\n"
+"#POSTGUI_HALFILE = test_postgui.hal\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:145
+#, no-wrap
+msgid ""
+"# Trajectory planner section "
+"--------------------------------------------------\n"
+"[TRAJ]\n"
+"COORDINATES =           X Y Z\n"
+"LINEAR_UNITS =          mm\n"
+"ANGULAR_UNITS =         degree\n"
+"DEFAULT_VELOCITY =      30.48\n"
+"MAX_VELOCITY =          53.34\n"
+"DEFAULT_ACCELERATION =  508\n"
+"MAX_ACCELERATION =      508\n"
+"POSITION_FILE = position_mm.txt\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:152
+#, no-wrap
+msgid ""
+"# Axes sections "
+"---------------------------------------------------------------\n"
+"[AXIS_X]\n"
+"MAX_VELOCITY =                  4\n"
+"MAX_ACCELERATION =              100.0\n"
+"MIN_LIMIT =                     -10.0\n"
+"MAX_LIMIT =                     10.0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:158
+#, no-wrap
+msgid ""
+"[AXIS_Y]\n"
+"MAX_VELOCITY =                  4\n"
+"MAX_ACCELERATION =              100.0\n"
+"MIN_LIMIT =                     -10.0\n"
+"MAX_LIMIT =                     10.0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:164
+#, no-wrap
+msgid ""
+"[AXIS_Z]\n"
+"MAX_VELOCITY =                  4\n"
+"MAX_ACCELERATION =              100.0\n"
+"MIN_LIMIT =                     -8.0\n"
+"MAX_LIMIT =                     0.12\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:166
+#, no-wrap
+msgid ""
+"# Joint sections "
+"---------------------------------------------------------------\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:187
+#, no-wrap
+msgid ""
+"# First joint\n"
+"[JOINT_0]\n"
+"TYPE =                          LINEAR\n"
+"HOME =                          0.000\n"
+"MAX_VELOCITY =                  30.48\n"
+"MAX_ACCELERATION =              508\n"
+"BACKLASH = 0.000\n"
+"INPUT_SCALE =                   157.48\n"
+"OUTPUT_SCALE = 1.000\n"
+"MIN_LIMIT =                     -254\n"
+"MAX_LIMIT =                     254\n"
+"FERROR = 1.27\n"
+"MIN_FERROR = .254\n"
+"HOME_OFFSET =                    0.0\n"
+"HOME_SEARCH_VEL =                127\n"
+"HOME_LATCH_VEL =                 25.4\n"
+"HOME_USE_INDEX =                 NO\n"
+"HOME_IGNORE_LIMITS =             NO\n"
+"HOME_SEQUENCE = 1\n"
+"HOME_IS_SHARED = 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:207
+#, no-wrap
+msgid ""
+"# Second joint\n"
+"[JOINT_1]\n"
+"TYPE =                          LINEAR\n"
+"HOME =                          0.000\n"
+"MAX_VELOCITY =                  30.48\n"
+"MAX_ACCELERATION =              508\n"
+"BACKLASH = 0.000\n"
+"INPUT_SCALE =                   157.48\n"
+"OUTPUT_SCALE = 1.000\n"
+"MIN_LIMIT =                     -254\n"
+"MAX_LIMIT =                     254\n"
+"FERROR = 1.27\n"
+"MIN_FERROR = .254\n"
+"HOME_OFFSET =                    0.0\n"
+"HOME_SEARCH_VEL =                127\n"
+"HOME_LATCH_VEL =                 25.4\n"
+"HOME_USE_INDEX =                 NO\n"
+"HOME_IGNORE_LIMITS =             NO\n"
+"HOME_SEQUENCE = 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:228
+#, no-wrap
+msgid ""
+"# Third joint\n"
+"[JOINT_2]\n"
+"TYPE =                          LINEAR\n"
+"HOME =                          0.0\n"
+"MAX_VELOCITY =                  30.48\n"
+"MAX_ACCELERATION =              508\n"
+"BACKLASH = 0.000\n"
+"INPUT_SCALE =                   157.48\n"
+"OUTPUT_SCALE = 1.000\n"
+"MIN_LIMIT =                     -50.8\n"
+"MAX_LIMIT =                     101.6\n"
+"FERROR = 1.27\n"
+"MIN_FERROR = .254\n"
+"HOME_OFFSET =                    25.4\n"
+"HOME_SEARCH_VEL =                127\n"
+"HOME_LATCH_VEL =                 25.4\n"
+"HOME_USE_INDEX =                 NO\n"
+"HOME_IGNORE_LIMITS =             NO\n"
+"HOME_SEQUENCE = 0\n"
+"HOME_IS_SHARED = 1\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:231
+#, no-wrap
+msgid ""
+"# section for main IO controller parameters "
+"-----------------------------------\n"
+"[EMCIO]\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:234
+#, no-wrap
+msgid ""
+"# Name of IO controller program, e.g., io\n"
+"EMCIO = \t\tio\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:237
+#, no-wrap
+msgid ""
+"# cycle time, in seconds\n"
+"CYCLE_TIME =    0.100\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ini-demo.adoc:241
+#, no-wrap
+msgid ""
+"# tool table file\n"
+"TOOL_TABLE =    sim_mm.tbl\n"
+"TOOL_CHANGE_POSITION = 0 0 50.8\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ngc-demo.adoc:40
+#, no-wrap
+msgid ""
+"; G-code highlighting stresstest - useless otherwise\n"
+";\n"
+"#<tool_change_at_g30> = 0\n"
+"G0 (Rapid to start) X1 Y1\n"
+"G0 X1 Y1 (Rapid to start; but don't forget the coolant)\n"
+"M2 ; End of program.\n"
+"M66 P1 L3 Q[#<timeout>]\n"
+"M66 P1 L3 Q[#<timeout> + [#4711]]\n"
+"M66 P1 L3 Q#<timeout>\n"
+"M66 P1 L3 Q#3\n"
+"M66 P1 L3 Q#5999\n"
+"G5  X23.5 a 19.2\n"
+"(debug, foo!)\n"
+"(Debug, some text and a substitution: #23 and some more thereafter)\n"
+"(DEBUG, #<_a_param>)\n"
+"(DEBUG, #<xxx>)\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ngc-demo.adoc:68
+#, no-wrap
+msgid ""
+"G0 G53 Z0 X[#19]\n"
+"G 3 0\n"
+"G00\n"
+"G01\n"
+"G 0 1\n"
+"G3 0\n"
+"G30\n"
+"G53\n"
+"G5 3\n"
+"G 5 3\n"
+"G0\n"
+"G1\n"
+";\n"
+"; To activate, incantate as follows in the INI file:\n"
+";\n"
+"; [RS274NGC]\n"
+"; # Remap M6 to a named O-word subroutine.\n"
+"; # The tool number currently loaded (in spindle) is passed as parameter "
+"#1\n"
+"; M6_COMMAND=o<m6demo>call\n"
+";\n"
+";\n"
+"N4711 O<m6demo> sub\n"
+";\n"
+";\n"
+"N 0815 #<tool_change_with_spindle_on> = 0\n"
+"#<tool_change_quill_up> = 0\n"
+"#<tool_change_at_g30> = 0\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ngc-demo.adoc:70
+#, no-wrap
+msgid "#4711 = 8.15\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ngc-demo.adoc:79
+#, no-wrap
+msgid ""
+"; number of seconds to wait for 'tool-changed' equivalent\n"
+"#<timeout> = 9999\n"
+";\n"
+"(DEBUG, executing M6 O-word sub, tool=#1)\n"
+";\n"
+"O<m6demo_spindle_off> if [#<tool_change_with_spindle_on>] EQ 0\n"
+"    M5\n"
+"O<m6demo_spindle_off> endif\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ngc-demo.adoc:83
+#, no-wrap
+msgid ""
+"O<m6demo_quill_up> if [#<tool_change_quill_up>] NE 0\n"
+"    G0 G53 Z0\n"
+"O<m6demo_quill_up> endif\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ngc-demo.adoc:87
+#, no-wrap
+msgid ""
+"O<m6demo_tc_at_g30> if [#<tool_change_at_g30>] NE 0\n"
+"    G30\n"
+"O<m6demo_tc_at_g30> endif\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ngc-demo.adoc:108
+#, no-wrap
+msgid ""
+"; Set analog output pin #2 to signal the pocket number.\n"
+"; iocontrol.tool-number becomes motion.analog-out-02.\n"
+"M68 E2 Q[#1]\n"
+"(DEBUG, set current tool number on motion.analog-out-02: #1)\n"
+";\n"
+"; Assert the equivalent of the iocontrol.tool-change pin,\n"
+"; which is now motion.digital-out-01.\n"
+"M64 P1\n"
+"(DEBUG, motion.digital-out-01 set high, waiting for motion.digital-in-01)\n"
+";\n"
+"; Wait for the equivalent of the iocontrol.tool-changed pin to go high.\n"
+"; We use motion.digital-in-01.\n"
+";\n"
+"M66 P1 L3 Q#<timeout>\n"
+";\n"
+"O<m6demo_timeout> if [#5399] EQ -1\n"
+"    (DEBUG, timeout waiting for motion.digital-in-01 to become true: #5399 "
+")\n"
+"O<m6demo_timeout> else\n"
+"    (DEBUG, motion.digital-in-01 became true: #5399)\n"
+"O<m6demo_timeout> endif\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/source-highlight/ngc-demo.adoc:118
+#, no-wrap
+msgid ""
+"; Retract iocontrol.tool-change equivalent.\n"
+"(DEBUG, deasserting motion.digital-out-01)\n"
+";\n"
+"M65 P1\n"
+";\n"
+"(DEBUG, done with M6 sub)\n"
+";\n"
+"O<m6demo> endsub\n"
+"m2\n"
+msgstr ""
+
+#. type: Title =
+#: src/tooldatabase/tooldatabase.adoc:5
+#, no-wrap
+msgid "Tool Database Interface"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:15
+msgid ""
+"Tool data is conventionally described by a tool table file specified by an "
+"inifile setting: [EMCIO]TOOL_TABLE=tooltable_filename.  A tool table file "
+"consists of a text line for each available tool describing the tool's "
+"parameters, see <<sec:tool-table,Tool Table Format>>."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:17
+msgid ""
+"The tool database interface provides an alternative method for obtaining "
+"tool data via a separate program that manages a database of tools."
+msgstr ""
+
+#. type: Title ==
+#: src/tooldatabase/tooldatabase.adoc:18
+#, no-wrap
+msgid "Interface"
+msgstr ""
+
+#. type: Title ===
+#: src/tooldatabase/tooldatabase.adoc:20
+#, no-wrap
+msgid "INI file Settings"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:23
+msgid ""
+"INI file settings enable the (optional) operation of a user-provided tool "
+"database program:"
+msgstr ""
+
+#. type: delimited block -
+#: src/tooldatabase/tooldatabase.adoc:28
+#, no-wrap
+msgid ""
+"[EMCIO]\n"
+"DB_PROGRAM = db_program [args]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:32
+msgid ""
+"When included, *db_program* specifies the path to a user-provided executable "
+"program that provides tooldata.  Up to 10 space-separated args may be "
+"included and passed to the *db_program* at startup."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:35
+msgid ""
+"INI file settings for [EMCIO]TOOL_TABLE are ignored when a *db_program* is "
+"specified."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:40
+msgid ""
+"The *db_program* may be implemented in any language currently supported in "
+"LinuxCNC (e.g., BASH scripts, Python or Tcl scripts, C/C++ programs)  as "
+"long as it conforms to the interface messages received on stdin and replied "
+"on stdout.  A *db_program* could manage data from a flat file, a relational "
+"database (SQLite for example), or other data sources."
+msgstr ""
+
+#. type: Title ===
+#: src/tooldatabase/tooldatabase.adoc:41
+#, no-wrap
+msgid "*db_program* operation (v2.1)"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:44
+msgid "When a *db_progam* is specified, operation is as follows:"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:46
+msgid ""
+"At startup, LinuxCNC starts the *db_program* and connects to its stdin and "
+"stdout."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:48
+msgid ""
+"The *db_program* must respond by writing a single line acknowledgement "
+"consisting of a version string (e.g., \"v2.1\").  No tools will be available "
+"if the version is not compatible with the LinuxCNC database interface "
+"version."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:52
+msgid ""
+"Upon a successful acknowledgement, LinuxCNC issues a 'g' (*get*) command to "
+"request all tools.  The *db_program* must respond with a sequence of replies "
+"to identify each available tool.  The textual reply format is identical to "
+"the text line format used in conventional tool table files.  A final "
+"response of \"FINI\" terminates the reply."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:54
+msgid ""
+"The *db_program* then enters an event wait loop to receive commands that "
+"indicate that tool data has been changed by LinuxCNC.  Tool data changes "
+"include:"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:55
+msgid "a) spindle loading(T__n__ M6)/unloading(T0 M6)"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:56
+msgid "b) tool parameter changes (G10L1P__n__ for example)"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:57
+msgid "c) tool substitutions (M61Q__n__)."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:62
+msgid ""
+"When a tool data change occurs, LinuxCNC sends a command to the *db_program* "
+"consisting of an identifying command letter followed by a full or "
+"abbreviated tool data line.  The *db_program* must respond with a reply to "
+"confirm receipt.  If the reply includes the text \"'NAK'\", a message is "
+"printed to stdout but execution continues.  The \"'NAK'\" message signifies "
+"a lack of synchronization between the *db_program* and LinuxCNC -- "
+"accompanying text should give an indication for the cause of the fault."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:64
+msgid "The commands issued for tool data changes are:"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:66
+msgid ""
+"\"p\" put data changes caused by G10L1, G10L10, G10L11 G-codes.  The tool "
+"data line will include all elements of a tool table text line."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:67
+msgid ""
+"\"l\" spindle_load (T__n__M6). The tool data line includes only the 'T' and "
+"'P' items identifying the relevant tool number and pocket number."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:68
+msgid ""
+"\"u\" spindle_unload (T0M6).  The tool data line includes only the 'T' and "
+"'P' items identifying the relevant tool number and pocket number."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:73
+msgid ""
+"When a NON_RANDOM tool changer is specified using "
+"[EMCIO]RANDOM_TOOL_CHANGER=0 (the default), the spindle_load command issued "
+"for T__n__M6 (or M61Q__n__) is: 'l T__n__ P0' (pocket 0 is the spindle).  "
+"The spindle_unload command issued for T0M6 is 'u T0 P0'."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:79
+msgid ""
+"When a RANDOM tool changer is specified using [EMCIO]RANDOM_TOOL_CHANGER=1, "
+"a pair of spindle_unload/spindle_load commands are issued at each tool "
+"exchange.  The pair of commands issued for T__n__M6 (or M61Q__n__) are 'u "
+"T__u__ P__m__' followed by 'l T__n__ P0', where __u__ is the current tool to "
+"be sent to pocket __m__ and __n__ is the new tool to load in the spindle "
+"(pocket '0').  By convention, a tool number of 0 is used to specify an empty "
+"tool,"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:83
+msgid ""
+"Using a *db_program* does not change the way LinuxCNC operates but provides "
+"support for new database functionality for tool management."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:88
+msgid ""
+"For example, a *db_program* database application can maintain the operating "
+"hours for all tools by tracking each load/unload of a tool.  A machine could "
+"then have three 6 mm endmills in pockets 111, 112, and 113 with the database "
+"application programmed to assign tool number 110 to the 6 mm endmill with "
+"the fewest operating hours.  Then, when a LinuxCNC program requests tool "
+"110, the database would specify the appropriate pocket based on tool usage "
+"history."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:95
+msgid ""
+"Tool data changes made within LinuxCNC ('p','u','l' commands) are pushed "
+"immediately to the *db_program* which is expected to synchronize its source "
+"data.  By default, LinuxCNC requests for tool data ('g' commands) are made "
+"at startup only.  A database program may update tool usage data on a "
+"continuous basis so long-lived LinuxCNC applications may benefit by "
+"refreshing the tool data provided by the *db_program*.  The G-code command "
+"*G10L0* can be used to request a tool data reload ('g' command) from within "
+"G-code programs or by MDI.  A reload operation is also typically provided by "
+"a Graphical User Interface (GUI) so that on-demand reloads can be "
+"requested.  For example, a Python GUI application can use:"
+msgstr ""
+
+#. type: delimited block -
+#: src/tooldatabase/tooldatabase.adoc:101
+#, no-wrap
+msgid ""
+"#!/usr/bin/env python3\n"
+"from  linuxcnc import command\n"
+"command().load_tool_table()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:106
+msgid ""
+"Alternatively, a *db_program* may push its local data changes to synchronize "
+"its data with LinuxCNC by using the load_tool_table() interface command.  "
+"Commands which push changes to LinuxCNC may be rejected if the interpreter "
+"is running.  The interpreter state can be checked before issuing a "
+"load_tool_table() command.  Example:"
+msgstr ""
+
+#. type: delimited block -
+#: src/tooldatabase/tooldatabase.adoc:117
+#, no-wrap
+msgid ""
+"#! /usr/bin/env python3\n"
+"import linuxcnc\n"
+"s = linuxcnc.stat()\n"
+"s.poll()\n"
+"if s.interp_state == linuxcnc.INTERP_IDLE:\n"
+"    linuxcnc.command().load_tool_table()\n"
+"else: # defer loading until interp is idle\n"
+"   ...\n"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:121
+msgid ""
+"If the database application adds or removes tools after initialization, a "
+"call to tooldb_tools() must be issued with an updated user_tools list.  The "
+"updated list of tools will be used on subsequent get commands or "
+"load_tool_table() requests."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:124
+msgid ""
+"Removal of a tool number should only be done if the tool number is not "
+"currently loaded in spindle."
+msgstr ""
+
+#. type: Title ====
+#: src/tooldatabase/tooldatabase.adoc:126
+#, no-wrap
+msgid "Debug Environmental Variables"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:129
+msgid ""
+"Exporting the environmental variable DB_SHOW enables LinuxCNC prints (to "
+"stdout) that show tool data retrieved from the *db_program* at startup and "
+"at subsequent reloading of tool data."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:131
+msgid ""
+"Exporting the environmental variable DB_DEBUG enables LinuxCNC prints (to "
+"stdout) for additional debugging information about interface activity."
+msgstr ""
+
+#. type: Title ===
+#: src/tooldatabase/tooldatabase.adoc:132
+#, no-wrap
+msgid "Example program"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:136
+msgid ""
+"An example *db_program* (implemented as a Python script) is provided with "
+"the simulation examples.  The program demonsrates the required operations "
+"to:"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:138
+msgid "acknowledge startup version"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:139
+msgid "receive tool data requests: 'g' (*get* command)"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:140
+#, no-wrap
+msgid "receive tool data updates:   'p' (*put* command)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:141
+#, no-wrap
+msgid "receive tool load updates:   'l' (*load_spindle* command)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:142
+#, no-wrap
+msgid "receive tool unload updates: 'u' (*unload_spindle* command)\n"
+msgstr ""
+
+#. type: Title ===
+#: src/tooldatabase/tooldatabase.adoc:143
+#, no-wrap
+msgid "Python tooldb module"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:147
+msgid ""
+"The example program uses a LinuxCNC provided Python module ('tooldb') that "
+"manages the low-level details for communication and version verification.  "
+"This module uses callback functions specified by the *db_program* to respond "
+"to the 'g' (get) command and the commands that indicate tool data changes "
+"('p', 'l', 'u')."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:149
+msgid ""
+"The *db_program* uses the 'tooldb' module by implementing the following "
+"Python code:"
+msgstr ""
+
+#. type: delimited block -
+#: src/tooldatabase/tooldatabase.adoc:153
+#, no-wrap
+msgid "user_tools = list(...)   # list of available tool numbers\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/tooldatabase/tooldatabase.adoc:167
+#, no-wrap
+msgid ""
+"def user_get_tool(toolno):\n"
+"    # function to respond to 'g' (get) commands\n"
+"    # called once for each toolno in user_tools\n"
+"    ...\n"
+"def user_put_tool(toolno,params):\n"
+"    # function to respond to 'p' (put) commands\n"
+"    ...\n"
+"def user_load_spindle(toolno,params):\n"
+"    # function to respond to 'l' (put) commands\n"
+"    ...\n"
+"def user_unload_spindle(toolno,params):\n"
+"    # function to respond to 'u' (put) commands\n"
+"    ...\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/tooldatabase/tooldatabase.adoc:173
+#, no-wrap
+msgid ""
+"#------------------------------------------------------------\n"
+"# Begin:\n"
+"from tooldb import tooldb_tools     # identify known tools\n"
+"from tooldb import tooldb_callbacks # identify functions\n"
+"from tooldb import tooldb_loop      # main loop\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/tooldatabase/tooldatabase.adoc:181
+#, no-wrap
+msgid ""
+"tooldb_tools(user_tools)\n"
+"tooldb_callbacks(user_get_tool,\n"
+"                 user_put_tool,\n"
+"                 user_load_spindle,\n"
+"                 user_unload_spindle,\n"
+"                )\n"
+"tooldb_loop()\n"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:186
+msgid ""
+"Use of 'tooldb' is not required -- it is provided as a demonstration of the "
+"required interface and as a convenience for implementing Python-based "
+"applications that interface with an external database."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:190
+msgid "Simulation configs using the AXIS gui:"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:192
+#, no-wrap
+msgid "configs/sim/axis/db_demo/*db_ran*.ini    (random_toolchanger)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:193
+#, no-wrap
+msgid "configs/sim/axis/db_demo/*db_nonran*.ini (nonrandom_toolchanger)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:195
+msgid ""
+"Each sim config simulates a *db_program* implementing a database with 10 "
+"tools numbered 10--19."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:199
+msgid ""
+"The *db_program* is provided by a single script (db.py) and symbolic links "
+"to it for alternative uses: db_ran.py and db_nonran.py.  By default, the "
+"script implements random_toolchanger functionality.  Nonrandom toolchanger "
+"functions are substituted if the link name includes the text \"'nonran'\"."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:203
+msgid ""
+"The sim configs demonstrate the use of the Python 'tooldb' interface module "
+"and implement a basic flat-file database that tracks tool time usage for "
+"multiple tools having equal diameters.  The database rules support selection "
+"of the tool having the lowest operating time."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:209
+msgid ""
+"The sim configs use a primary task to monitor and respond to tool updates "
+"initiated from within LinuxCNC.  A periodic task updates tool time usage at "
+"reguar intervals.  Separate, concurrent tasks are implemented as threads to "
+"demonstrate the code required when changes are initiated by the *db_program* "
+"and demonstrate methods for synchronizing LinuxCNC internal tooldata.  "
+"Examples include:"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:211
+msgid "updates of tool parameters"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:212
+msgid "addition and removal of tool numbers"
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:214
+msgid ""
+"A mutual exclusion lock is used to protect data from inconsistencies due to "
+"race conditions between LinuxCNC tooldata updates and the database "
+"application updates."
+msgstr ""
+
+#. type: Plain text
+#: src/tooldatabase/tooldatabase.adoc:219
+msgid ""
+"When a *db_program* is used in conjunction with a random tool changer "
+"([EMCIO]RANDOM_TOOLCHANGER), LinuxCNC maintains a file ('db_spindle.tbl' in "
+"the configuration directory) that consists of a single tool table line "
+"identifying the current tool in the spindle."
+msgstr ""
+
+#. type: Title =
+#: src/user/starting-linuxcnc.adoc:5
+#, no-wrap
+msgid "Starting LinuxCNC(((Starting LinuxCNC)))"
+msgstr ""
+
+#. type: Title ==
+#: src/user/starting-linuxcnc.adoc:7
+#, no-wrap
+msgid "Running LinuxCNC"
+msgstr ""
+
+#. type: Plain text
+#: src/user/starting-linuxcnc.adoc:10
+msgid "LinuxCNC is started with the script file 'linuxcnc'."
+msgstr ""
+
+#. type: delimited block -
+#: src/user/starting-linuxcnc.adoc:13
+#, no-wrap
+msgid "linuxcnc [options] [<INI-file>]\n"
+msgstr ""
+
+#. type: Block title
+#: src/user/starting-linuxcnc.adoc:15
+#, no-wrap
+msgid "`linuxcnc` script options"
+msgstr ""
+
+#. type: delimited block -
+#: src/user/starting-linuxcnc.adoc:18
+#, no-wrap
+msgid "linuxcnc: Run LinuxCNC\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/user/starting-linuxcnc.adoc:22
+#, no-wrap
+msgid ""
+"Usage:\n"
+"  $ linuxcnc -h\n"
+"    This help\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/user/starting-linuxcnc.adoc:25
+#, no-wrap
+msgid ""
+"  $ linuxcnc [Options]\n"
+"    Choose the configuration INI file graphically\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/user/starting-linuxcnc.adoc:28
+#, no-wrap
+msgid ""
+"  $ linuxcnc [Options] path/to/your_ini_file\n"
+"    Name the configuration INI file using its path\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/user/starting-linuxcnc.adoc:31
+#, no-wrap
+msgid ""
+"  $ linuxcnc [Options] -l\n"
+"    Use the previously used configuration INI file\n"
+msgstr ""
+
+#. type: delimited block -
+#: src/user/starting-linuxcnc.adoc:51
+#, no-wrap
+msgid ""
+"Options:\n"
+"    -d: Turn on \"debug\" mode\n"
+"    -v: Turn on \"verbose\" mode\n"
+"    -r: Disable redirection of stdout and stderr to ~/linuxcnc_print.txt "
+"and\n"
+"        ~/linuxcnc_debug.txt when stdin is not a tty.\n"
+"        Used when running linuxcnc tests non-interactively.\n"
+"    -l: Use the last-used INI file\n"
+"    -k: Continue in the presence of errors in HAL files\n"
+"    -t \"tpmodulename [parameters]\"\n"
+"            specify custom trajectory_planning_module\n"
+"            overrides optional INI setting [TRAJ]TPMOD\n"
+"    -m \"homemodulename [parameters]\"\n"
+"            specify custom homing_module\n"
+"            overrides optional INI setting [EMCMOT]HOMEMOD\n"
+"    -H \"dirname\": search dirname for HAL files before searching\n"
+"                  INI directory and system library:\n"
+"                  /home/git/linuxcnc-dev/lib/hallib\n"
+"Note:\n"
+"    The -H \"dirname\" option may be specified multiple times\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/starting-linuxcnc.adoc:60
+msgid ""
+"If the linuxcnc script is passed an INI file it reads the INI file and "
+"starts LinuxCNC. The INI file [HAL] section specifies the order of loading "
+"up HAL files if more than one is used. Once the HAL=xxx.hal files are loaded "
+"then the GUI is loaded then the POSTGUI=.xxx.hal file is loaded. If you "
+"create PyVCP or GladeVCP objects with HAL pins you must use the postgui HAL "
+"file to make any connections to those pins. See the "
+"<<sub:ini:sec:hal,[HAL]>> section of the INI configuration for more "
+"information."
+msgstr ""
+
+#. type: Title ===
+#: src/user/starting-linuxcnc.adoc:62
+#, no-wrap
+msgid "Configuration Selector(((Configuration Selection)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/starting-linuxcnc.adoc:68
+msgid ""
+"If no INI file is passed to the linuxcnc script it loads the configuration "
+"selector so you can choose and save a sample configuration. Once a sample "
+"configuration has been saved it can be modified to suit your application.  "
+"The configuration files are saved in linuxcnc/configs directory."
+msgstr ""
+
+#. .Configuration Selector
+#. type: Target for macro image
+#: src/user/starting-linuxcnc.adoc:70
+#, no-wrap
+msgid "../getting-started/images/configuration-selector.png"
+msgstr ""
+
+#. type: Title =
+#: src/user/user-concepts.adoc:5
+#, no-wrap
+msgid "Important User Concepts(((User Concepts)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:14
+msgid ""
+"This chapter covers important user concepts that should be understood before "
+"attempting to run a CNC machine with G-code."
+msgstr ""
+
+#. type: Title ==
+#: src/user/user-concepts.adoc:16
+#, no-wrap
+msgid "Trajectory Control(((Trajectory Control)))"
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:19
+#, no-wrap
+msgid "Trajectory Planning(((Trajectory Planning,TP)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:22
+msgid ""
+"Trajectory planning, in general, is the means by which LinuxCNC follows the "
+"path specified by your G-code program, while still operating within the "
+"limits of your machinery."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:25
+msgid ""
+"A G-code program can never be fully obeyed.  For example, imagine you "
+"specify as a single-line program the following move:"
+msgstr ""
+
+#. type: delimited block -
+#: src/user/user-concepts.adoc:29
+#, no-wrap
+msgid "G1 X1 F10 (G1 is linear move, X1 is the destination, F10 is the speed)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:34
+msgid ""
+"In reality, the whole move can't be made at F10, since the machine must "
+"accelerate from a stop, move toward X=1, and then decelerate to stop again.  "
+"Sometimes part of the move is done at F10, but for many moves, especially "
+"short ones, the specified feed rate is never reached at all.  Having short "
+"moves in your G-code can cause your machine to slow down and speed up for "
+"the longer moves if the 'naive cam detector' is not employed with G64 "
+"P__n__."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:37
+msgid ""
+"The basic acceleration and deceleration described above is not complex and "
+"there is no compromise to be made.  In the INI file the specified machine "
+"constraints, such as maximum axis velocity and axis acceleration, must be "
+"obeyed by the trajectory planner."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:39
+msgid ""
+"For more information on the Trajectory Planner INI options see the "
+"<<sub:ini:sec:traj,Trajectory Section>> in the INI chapter."
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:41
+#, no-wrap
+msgid "Path Following(((Trajectory Planning:Path Following)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:46
+msgid ""
+"A less straightforward problem is that of path following.  When you program "
+"a corner in G-code, the trajectory planner can do several things, all of "
+"which are right in some cases:"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:48
+msgid ""
+"It can decelerate to a stop exactly at the coordinates of the corner, and "
+"then accelerate in the new direction."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:50
+msgid ""
+"It can also do what is called blending, which is to keep the feed rate up "
+"while going through the corner, making it necessary to round the corner off "
+"in order to obey machine constraints."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:53
+msgid ""
+"You can see that there is a trade off here: you can slow down to get better "
+"path following, or keep the speed up and have worse path following.  "
+"Depending on the particular cut, the material, the tooling, etc., the "
+"programmer may want to compromise differently."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:56
+msgid ""
+"Rapid moves also obey the current trajectory control.  With moves long "
+"enough to reach maximum velocity on a machine with low acceleration and no "
+"path tolerance specified, you can get a fairly round corner."
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:58
+#, no-wrap
+msgid "Programming the Planner(((Trajectory Planning:Programming the Planner)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:61
+msgid "The trajectory control commands are as follows:"
+msgstr ""
+
+#. type: Labeled list
+#: src/user/user-concepts.adoc:62
+#, no-wrap
+msgid "`G61`"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:64
+msgid ""
+"(Exact Path Mode) `G61` visits the programmed point exactly, even though "
+"that means it might temporarily come to a complete stop in order to change "
+"direction to the next programmed point."
+msgstr ""
+
+#. type: Labeled list
+#: src/user/user-concepts.adoc:65
+#, no-wrap
+msgid "`G61.1`"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:67
+msgid ""
+"(Exact Stop Mode) `G61.1` tells the planner to come to an exact stop at "
+"every segment's end.  The path will be followed exactly but complete feed "
+"stops can be destructive for the part or tool, depending on the specifics of "
+"the machining."
+msgstr ""
+
+#. type: Labeled list
+#: src/user/user-concepts.adoc:68
+#, no-wrap
+msgid "`G64`"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:76
+msgid ""
+"(Blend Without Tolerance Mode) `G64` is the default setting when you start "
+"LinuxCNC.  G64 is just blending and the naive cam detector is not enabled.  "
+"G64 and G64 P0 tell the planner to sacrifice path following accuracy in "
+"order to keep the feed rate up.  This is necessary for some types of "
+"material or tooling where exact stops are harmful, and can work great as "
+"long as the programmer is careful to keep in mind that the tool's path will "
+"be somewhat more curvy than the program specifies.  When using G0 (rapid) "
+"moves with G64 use caution on clearance moves and allow enough distance to "
+"clear obstacles based on the acceleration capabilities of your machine."
+msgstr ""
+
+#. type: Labeled list
+#: src/user/user-concepts.adoc:77
+#, no-wrap
+msgid "`G64 P- Q-`"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:87
+msgid ""
+"(Blend With Tolerance Mode) This enables the 'naive cam detector' and "
+"enables blending with a tolerance.  If you program G64 P0.05, you tell the "
+"planner that you want continuous feed, but at programmed corners you want it "
+"to slow down enough so that the tool path can stay within 0.05 user units of "
+"the programmed path.  The exact amount of slowdown depends on the geometry "
+"of the programmed corner and the machine constraints, but the only thing the "
+"programmer needs to worry about is the tolerance.  This gives the programmer "
+"complete control over the path following compromise.  The blend tolerance "
+"can be changed throughout the program as necessary.  Beware that a "
+"specification of G64 P0 has the same effect as G64 alone (above), which is "
+"necessary for backward compatibility for old G-code programs.  See the "
+"<<gcode:g64,G64 section>> of the G-code chapter."
+msgstr ""
+
+#. type: Labeled list
+#: src/user/user-concepts.adoc:88
+#, no-wrap
+msgid "Blending without tolerance"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:92
+msgid ""
+"The controlled point will touch each specified movement at at least one "
+"point.  The machine will never move at such a speed that it cannot come to "
+"an exact stop at the end of the current movement (or next movement, if you "
+"pause when blending has already started).  The distance from the end point "
+"of the move is as large as it needs to be to keep up the best contouring "
+"feed."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-concepts.adoc:93 src/user/user-concepts.adoc:113
+#: src/user/user-concepts.adoc:114
+#, no-wrap
+msgid "Naive CAM Detector"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:105
+msgid ""
+"Successive G1 moves that involve only the XYZ axes that deviate less than Q- "
+"from a straight line are merged into a single straight line.  This merged "
+"movement replaces the individual G1 movements for the purposes of blending "
+"with tolerance.  Between successive movements, the controlled point will "
+"pass no more than P- from the actual endpoints of the movements.  The "
+"controlled point will touch at least one point on each movement.  The "
+"machine will never move at such a speed that it cannot come to an exact stop "
+"at the end of the current movement (or next movement, if you pause when "
+"blending has already started).  On G2/3 moves in the G17 (XY) plane, when "
+"the maximum deviation of an arc from a straight line is less than the G64 Q- "
+"tolerance, the arc is broken into two lines (from start of arc to midpoint, "
+"and from midpoint to end).  Those lines are then subject to the naive cam "
+"algorithm for lines.  Thus, line-arc, arc-arc, and arc-line cases as well as "
+"line-line benefit from the 'naive cam detector'.  This improves contouring "
+"performance by simplifying the path."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:112
+msgid ""
+"In the following figure the blue line represents the actual machine "
+"velocity.  The red lines are the acceleration capability of the machine.  "
+"The horizontal lines below each plot is the planned move.  The upper plot "
+"shows how the trajectory planner will slow the machine down when short moves "
+"are encountered, to stay within the limits of the machines acceleration "
+"setting to be able to come to an exact stop at the end of the next move.  "
+"The bottom plot shows the effect of the Naive Cam Detector to combine the "
+"moves and do a better job of keeping the velocity as planned."
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-concepts.adoc:114
+#, no-wrap
+msgid "images/naive-cam.png"
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:117
+#, no-wrap
+msgid "Planning Moves(((Trajectory Planning:Planning Moves)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:122
+msgid ""
+"Make sure moves are 'long enough' to suit your machine/material.  "
+"Principally because of the rule that the machine will never move at such a "
+"speed that it cannot come to a complete stop at the end of the current "
+"movement, there is a minimum movement length that will allow the machine to "
+"keep up a requested feed rate with a given acceleration setting."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:126
+msgid ""
+"The acceleration and deceleration phase each use half the INI file "
+"MAX_ACCELERATION.  In a blend that is an exact reversal, this causes the "
+"total axis acceleration to equal the INI file MAX_ACCELERATION.  In other "
+"cases, the actual machine acceleration is somewhat less than the INI file "
+"acceleration."
+msgstr ""
+
+#. NOTE This is a duplicate paragraph to the one below without latexmath.
+#. type: Plain text
+#: src/user/user-concepts.adoc:132
+msgid ""
+"To keep up the feed rate, the move must be longer than the distance it takes "
+"to accelerate from 0 to the desired feed rate and then stop again.  Using A "
+"as *1/2* the INI file MAX_ACCELERATION and F as the feed rate *in units per "
+"second*, the acceleration time is *t~a~ = F/A* and the acceleration distance "
+"is *d~a~ = F*t~a~/2*.  The deceleration time and distance are the same, "
+"making the critical distance *d = d~a~ + d~d~ = 2 * d~a~ = F^2^/A*."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:134
+msgid ""
+"For example, for a feed rate of 1 inch per second and an acceleration of *10 "
+"inches/sec^2^*, the critical distance is *1^2^/10 = 1/10 = 0.1 inches*."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:136
+msgid ""
+"For a feed rate of 0.5 inch per second, the critical distance is *5^2^/100 = "
+"25/100 = 0.025* inches."
+msgstr ""
+
+#
+#
+#. This section has been commented out until latexmath is working again.
+#. To keep up the feed rate, the move must be longer than the distance it takes to accelerate from 0 to the desired feed rate and then stop again.
+#. Using A as latexmath:[$\frac{1}{2}$] the INI file MAX_ACCELERATION and F as the feed rate *in units per second*,
+#. the acceleration time is latexmath:[$ ta = \frac{F}{A} $]
+#. and the acceleration distance is latexmath:[$ da = \frac{1}{2} \times F \times ta $].
+#. The deceleration time and distance are the same,
+#. making the critical distance latexmath:[$ d = da + dd = 2 \times da = \frac{F^{2}}{A} $].
+#. For example, for a feed rate of 1 inch per second and an acceleration of latexmath:[$ 10 \frac{inch}{sec^{2}} $],
+#. the critical distance is latexmath:[$\frac{1^{2}}{10} = \frac{1}{10} = 0.1$] inch.
+#. For a feed rate of 0.5 inch per second, the critical distance is latexmath:[$ \frac{0.5^{2}}{10} = \frac{0.25}{10} = 0.025$] inch.
+#. type: Title ==
+#: src/user/user-concepts.adoc:153
+#, no-wrap
+msgid "G-code(((G-code)))"
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:155
+#, no-wrap
+msgid "Defaults"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:165
+msgid ""
+"When LinuxCNC first starts up many G- and M-codes are loaded by default.  "
+"The current active G- and M-codes can be viewed on the MDI tab in the "
+"'Active G-codes:' window in the AXIS interface.  These G- and M-codes define "
+"the behavior of LinuxCNC and it is important that you understand what each "
+"one does before running LinuxCNC.  The defaults can be changed when running "
+"a G-code file and left in a different state than when you started your "
+"LinuxCNC session.  The best practice is to set the defaults needed for the "
+"job in the preamble of your G-code file and not assume that the defaults "
+"have not changed.  Printing out the G-code "
+"<<gcode:quick-reference-table,Quick Reference>> page can help you remember "
+"what each one is."
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:166
+#, no-wrap
+msgid "Feed Rate"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:170
+msgid ""
+"How the feed rate is applied depends on if an axis involved with the move is "
+"a rotary axis.  Read and understand the <<sub:feed-rate,Feed Rate>> section "
+"if you have a rotary axis or a lathe."
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:171
+#, no-wrap
+msgid "Tool Radius Offset"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:178
+msgid ""
+"Tool Radius Offset (G41/42) requires that the tool be able to touch "
+"somewhere along each programmed move without gouging the two adjacent "
+"moves.  If that is not possible with the current tool diameter you will get "
+"an error.  A smaller diameter tool may run without an error on the same "
+"path.  This means you can program a cutter to pass down a path that is "
+"narrower than the cutter without any errors.  See the "
+"<<sec:cutter-radius-compensation,Cutter Compensation>> section for more "
+"information."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:184
+msgid ""
+"After starting LinuxCNC each axis must be homed prior to running a program "
+"or running a MDI command.  If your machine does not have home switches a "
+"match mark on each axis can aid in homing the machine coordinates to the "
+"same place each time.  Once homed your soft limits that are set in the INI "
+"file will be used."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:188
+msgid ""
+"If you want to deviate from the default behavior, or want to use the Mini "
+"interface, you will need to set the option `NO_FORCE_HOMING = 1` in the "
+"`[TRAJ]` section of your INI file.  More information on homing can be found "
+"in the Integrator Manual."
+msgstr ""
+
+#. type: Title ==
+#: src/user/user-concepts.adoc:189
+#, no-wrap
+msgid "Tool Changes"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:194
+msgid ""
+"There are several options when doing manual tool changes.  See the "
+"<<sub:ini:sec:emcio,[EMCIO] section>> for information on configuration of "
+"these options.  Also see the <<gcode:g28-g28.1,G28>> and "
+"<<gcode:g30-g30.1,G30>> section of the G-code chapter."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:200
+msgid ""
+"The Coordinate Systems can be confusing at first.  Before running a CNC "
+"machine you must understand the basics of the coordinate systems used by "
+"LinuxCNC.  In depth information on the LinuxCNC Coordinate Systems is in the "
+"<<cha:coordinate-system,Coordinate System>> section of this manual."
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:201
+#, no-wrap
+msgid "G53 Machine Coordinate"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:204
+msgid ""
+"When you home LinuxCNC you set the G53 Machine Coordinate System to 0 for "
+"each axis homed."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:206
+msgid "No other coordinate systems or tool offsets are changed by homing."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:209
+msgid ""
+"The only time you move in the G53 machine coordinate system is when you "
+"program a G53 on the same line as a move.  Normally you are in the G54 "
+"coordinate system."
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:210
+#, no-wrap
+msgid "G54-59.3 User Coordinates"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:217
+msgid ""
+"Normally you use the G54 Coordinate System.  When an offset is applied to a "
+"current user coordinate system, a small blue ball with lines will be at the "
+"<<sec:machine-coordinate-system,machine origin>> when your DRO is displaying "
+"'Position: Relative Actual' in AXIS.  If your offsets are temporary use the "
+"Zero Coordinate System from the Machine menu or program 'G10 L2 P1 X0 Y0 Z0' "
+"at the end of your G-code file.  Change the 'P' number to suit the "
+"coordinate system you wish to clear the offset in."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:219
+msgid ""
+"Offsets stored in a user coordinate system are retained when LinuxCNC is "
+"shut down."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:220
+msgid ""
+"Using the 'Touch Off' button in AXIS sets an offset for the chosen User "
+"Coordinate System."
+msgstr ""
+
+#. type: Title ===
+#: src/user/user-concepts.adoc:221
+#, no-wrap
+msgid "When You Are Lost"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:224
+msgid ""
+"If you're having trouble getting 0,0,0 on the DRO when you think you should, "
+"you may have some offsets programmed in and need to remove them."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:226
+msgid "Move to the Machine origin with G53 G0 X0 Y0 Z0"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:227
+msgid "Clear any G92 offset with G92.1"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:228
+msgid "Use the G54 coordinate system with G54"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:229
+msgid ""
+"Set the G54 coordinate system to be the same as the machine coordinate "
+"system with 'G10 L2 P1 X0 Y0 Z0 R0'."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:230
+msgid "Turn off tool offsets with G49"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:231
+msgid "Turn on the Relative Coordinate Display from the menu"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:233
+msgid ""
+"Now you should be at the machine origin X0 Y0 Z0 and the relative coordinate "
+"system should be the same as the machine coordinate system."
+msgstr ""
+
+#. type: Title ==
+#: src/user/user-concepts.adoc:235
+#, no-wrap
+msgid "Machine Configurations"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:240
+msgid ""
+"The following diagram shows a typical mill showing direction of travel of "
+"the tool and the mill table and limit switches.  Notice how the mill table "
+"moves in the opposite direction of the Cartesian coordinate system arrows "
+"shown by the 'Tool Direction' image.  This makes the 'tool' move in the "
+"correct direction in relation to the material."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:246
+msgid ""
+"Note also the position of the limit switches and the direction of activation "
+"of their cams.  Several combinations are possible, for example it is "
+"possible (contrary to the drawing)  to place a single fixed limit switch in "
+"the middle of the table and two mobile cams to activate it.  In this case "
+"the limits will be reversed, +X will be on the right of the table and -X on "
+"the left.  This inversion does not change anything from the point of view of "
+"the direction of movement of the tool."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-concepts.adoc:247 src/user/user-concepts.adoc:248
+#, no-wrap
+msgid "Typical Mill Configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-concepts.adoc:248
+#, no-wrap
+msgid "images/mill-diagram_en.svg"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-concepts.adoc:251
+msgid ""
+"The following diagram shows a typical lathe showing direction of travel of "
+"the tool and limit switches."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-concepts.adoc:252 src/user/user-concepts.adoc:253
+#, no-wrap
+msgid "Typical Lathe Configuration"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-concepts.adoc:253
+#, no-wrap
+msgid "images/lathe-diagram_en.svg"
+msgstr ""
+
+#. type: Title =
+#: src/user/user-foreword.adoc:5
+#, no-wrap
+msgid "User Foreword(((User Foreword)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:10
+msgid ""
+"LinuxCNC is modular and flexible.  These attributes lead many to see it as a "
+"confusing jumble of little things and wonder why it is the way it is.  This "
+"page attempts to answer that question before you get into the thick of "
+"things."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:15
+msgid ""
+"LinuxCNC started at the National Institute of Standards and Technology in "
+"the USA.  It grew up using Unix as its operating system. Unix made it "
+"different.  Among early Unix developers there grew a set of code writing "
+"ideas that some call the Unix way.  These early LinuxCNC authors followed "
+"those ways."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:18
+msgid ""
+"Eric S. Raymond, in his book The Art of Unix Programming, summarizes the "
+"Unix philosophy as the widely-used engineering philosophy, \"Keep it Simple, "
+"Stupid\" (KISS Principle).  He then describes how he believes this overall "
+"philosophy is applied as a cultural Unix norm, although unsurprisingly it is "
+"not difficult to find severe violations of most of the following in actual "
+"Unix practice:"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:20
+msgid "Rule of Modularity: Write simple parts connected by clean interfaces."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:21
+msgid "Rule of Clarity: Clarity is better than cleverness."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:22
+msgid "Rule of Composition: Design programs to be connected to other programs."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:24
+msgid ""
+"Rule of Separation: Separate policy from mechanism; separate interfaces from "
+"engines.footnote:[Found at "
+"link:https://en.wikipedia.org/wiki/Separation_of_mechanism_and_policy, "
+"2022-11-13]"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:26
+msgid ""
+"Mr. Raymond offered several more rules but these four describe essential "
+"characteristics of the LinuxCNC motion control system."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:31
+msgid ""
+"The *Modularity* rule is critical.  Throughout these handbooks you will find "
+"talk of the interpreter or task planner or motion or HAL.  Each of these is "
+"a module or collection of modules.  It's modularity that allows you to "
+"connect together just the parts you need to run your machine."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:34
+msgid ""
+"The *Clarity* rule is essential. LinuxCNC is a work in progress -- it is not "
+"finished nor will it ever be.  It is complete enough to run most of the "
+"machines we want it to run. Much of that progress is achieved because many "
+"users and code developers are able to look at the work of others and build "
+"on what they have done."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:37
+msgid ""
+"The *Composition* rule allows us to build a predictable control system from "
+"the many modules available by making them connectable.  We achieve "
+"connectability by setting up standard interfaces to sets of modules and "
+"following those standards."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:40
+msgid ""
+"The *Separation* rule requires that we make distinct parts that do little "
+"things.  By separating functions debugging is much easier and replacement "
+"modules can be dropped into the system and comparisons easily made."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:47
+msgid ""
+"What does the Unix way mean for you as a user of LinuxCNC.  It means that "
+"you are able to make choices about how you will use the system.  Many of "
+"these choices are a part of machine integration, but many also affect the "
+"way you will use your machine.  As you read you will find many places where "
+"you will need to make comparisons.  Eventually you will make choices, \"I'll "
+"use this interface rather than that” or, “I'll write part offsets this way "
+"rather than that way.\".  Throughout these handbooks we describe the range "
+"of abilities currently available."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:50
+msgid ""
+"As you begin your journey into using LinuxCNC we offer two cautionary "
+"notes:footnote:[Found at link:https://en.wikipedia.org/wiki/Unix_philosophy, "
+"07/06/2008]"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:52
+msgid ""
+"Paraphrasing the words of Doug Gwyn on UNIX: \"LinuxCNC was not designed to "
+"stop its users from doing stupid things, as that would also stop them from "
+"doing clever things.\""
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:53
+msgid ""
+"Likewise the words of Steven King: \"LinuxCNC is user-friendly. It just "
+"isn't promiscuous about which users it's friendly with.\""
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-foreword.adoc:57
+msgid ""
+"A series of videos on YouTube provide plenty of evidence a transition to "
+"LinuxCNC is possible no matter what your regular computer operating system "
+"may be.  That said, with the advent of additive manufacturing like 3D "
+"printing there is an increasing interest by the broader IT community in CNC "
+"machining and it should be possible to find someone with complementary "
+"skills/equipment near to you to jointly overcome the initial hurdles."
+msgstr ""
+
+#. type: Title =
+#: src/user/user-intro.adoc:5
+#, no-wrap
+msgid "LinuxCNC User Introduction(((LinuxCNC User Introduction,User Introduction)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:12
+msgid ""
+"This document is focused on the use of LinuxCNC, it is intended for readers "
+"who have already installed and configured it.  Some information on "
+"installation is given in the following chapters.  The complete documentation "
+"on installation and configuration can be found in the integrator's manual."
+msgstr ""
+
+#. type: Title ==
+#: src/user/user-intro.adoc:14
+#, no-wrap
+msgid "How LinuxCNC Works"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:19
+msgid ""
+"LinuxCNC is a suite of highly-customisable applications for the control of a "
+"Computer Numerically Controlled (CNC) mills and lathes, 3D printers, robots, "
+"laser cutters, plasma cutters and other automated devices.  It is capable of "
+"providing coordinated control of up to 9 axes of movement."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:21
+msgid ""
+"At its heart, LinuxCNC consists of several key components that are "
+"integrated together to form one complete system:"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:23
+msgid ""
+"a Graphical User Interface (GUI), which forms the basic interface between "
+"the operator, the software and the CNC machine itself;"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:25
+msgid ""
+"the <<cha:hal-introduction,Hardware Abstraction Layer>> (HAL), which "
+"provides a method of linking all the various internal virtual signals "
+"generated and received by LinuxCNC with the outside world, and"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:27
+msgid ""
+"the high level controllers that coordinate the generation and execution of "
+"motion control of the CNC machine, namely the motion controller (EMCMOT), "
+"the discrete input/output controller (EMCIO) and the task executor "
+"(EMCTASK)."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:29
+msgid ""
+"The below illustration is a simple block diagram showing what a typical "
+"3-axis CNC mill with stepper motors might look like:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:30 src/user/user-intro.adoc:31
+#, no-wrap
+msgid "Simple LinuxCNC Controlled Machine"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:31
+#, no-wrap
+msgid "images/whatstep1.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:37
+msgid ""
+"A computer running LinuxCNC sends a sequence of pulses via the parallel port "
+"to the stepper drives, each of which has one stepper motor connected to "
+"it. Each drive receives two independent signals; one signal to command the "
+"drive to move its associated stepper motor in a clockwise or anti-clockwise "
+"direction, and a second signal that defines the speed at which that stepper "
+"motor rotates."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:41
+msgid ""
+"While a stepper motor system under parallel port control is illustrated, a "
+"LinuxCNC system can also take advantage of a wide variety of dedicated "
+"hardware motion control interfaces for increased speed and I/O "
+"capabilities.  A full list of interfaces supported by LinuxCNC can be found "
+"on the "
+"https://wiki.linuxcnc.org/cgi-bin/wiki.pl?LinuxCNC_Supported_Hardware[Supported "
+"Hardware] page of the Wiki."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:49
+msgid ""
+"In most circumstances, users will create a configuration specific to their "
+"mill setup using either the <<cha:stepconf-wizard,Stepper Configuration "
+"Wizard>> (for CNC systems operating using the computers' parallel port)  or "
+"the <<cha:pncconf-wizard,Mesa Hardware Wizard>> (for more advanced systems "
+"utilising a Mesa Anything I/O PCI card).  Running either wizard will create "
+"several folders on the computers' hard drive containing a number of "
+"configuration files specific to that CNC machine, and an icon placed on the "
+"desktop to allow easy launching of LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:52
+msgid ""
+"For example, if the Stepper Configuration Wizard was used to create a setup "
+"for the 3-axis CNC mill illustrated above entitled 'My_CNC', the folders "
+"created by the wizard would typically contain the following files:"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:54
+#, no-wrap
+msgid "*Folder: `My_CNC`*\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:59
+#, no-wrap
+msgid ""
+"*`My_CNC.ini`* +\n"
+"The INI file contains all the basic hardware information regarding the "
+"operation of the CNC mill,\n"
+"such as the number of steps each stepper motor must turn to complete one "
+"full revolution,\n"
+"the maximum rate at which each stepper may operate at,\n"
+"the limits of travel of each axis or the configuration and behaviour of "
+"limit switches on each axis.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:64
+#, no-wrap
+msgid ""
+"*`My_CNC.hal`* +\n"
+"This HAL file contains information that tells LinuxCNC\n"
+"how to link the internal virtual signals to physical connections beyond the "
+"computer.\n"
+"For example, specifying pin 4 on the parallel port to send out the Z axis "
+"step direction signal,\n"
+"or directing LinuxCNC to cease driving the X axis motor when a limit switch "
+"is triggered on parallel port pin 13.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:70
+#, no-wrap
+msgid ""
+"*`custom.hal`* +\n"
+"Customisations to the mill configuration beyond the scope of the wizard may "
+"be performed\n"
+"by including further links to other virtual points within LinuxCNC in this "
+"HAL file.\n"
+"When starting a LinuxCNC session, this file is read and processed before the "
+"GUI is loaded.\n"
+"An example may include initiating Modbus communications to the spindle "
+"motor\n"
+"so that it is confirmed as operational before the GUI is displayed.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:75
+#, no-wrap
+msgid ""
+"*`custom_postgui.hal`* +\n"
+"The custom_postgui HAL file allows further customisation of LinuxCNC,\n"
+"but differs from custom.HAL in that it is processed after the GUI is "
+"displayed.\n"
+"For example, after establishing Modbus communications to the spindle motor "
+"in custom.hal,\n"
+"LinuxCNC can use the custom_postgui file to link the spindle speed readout "
+"from the motor drive to a bargraph displayed on the GUI.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:82
+#, no-wrap
+msgid ""
+"*`postgui_backup.hal`* +\n"
+"This is provided as a backup copy of the custom_postgui.hal file to allow "
+"the user\n"
+"to quickly restore a previously-working postgui HAL configuration.\n"
+"This is especially useful if the user wants to run the Configuration Wizard "
+"again under the same 'My_CNC' name\n"
+"in order to modify some parameters of the mill.\n"
+"Saving the mill configuration in the Wizard will overwrite the existing "
+"custom_postgui file\n"
+"while leaving the postgui_backup file untouched.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:87
+#, no-wrap
+msgid ""
+"*`tool.tbl`* +\n"
+"A tool table file contains a parameterised list of any cutting tools used by "
+"the mill.\n"
+"These parameters can include cutter diameter and length,\n"
+"and is used to provide a catalogue of data that tells LinuxCNC\n"
+"how to compensate its motion for different sized tools within a milling "
+"operation.\n"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:90
+#, no-wrap
+msgid ""
+"*Folder: `nc_files`* +\n"
+"The nc_files folder is provided as a default location to store the G-code "
+"programs used to drive the mill.\n"
+"It also includes a number of subfolders with G-code examples.\n"
+msgstr ""
+
+#. type: Title ==
+#: src/user/user-intro.adoc:92
+#, no-wrap
+msgid "Graphical User Interfaces(((Graphical User Interfaces)))"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:97
+msgid ""
+"A graphical user interface is the part of the LinuxCNC that the machine tool "
+"operator interacts with.  LinuxCNC comes with several types of user "
+"interfaces which may be chosen from by editing certain fields contained in "
+"the <<cha:ini-configuration,INI file>>:"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:100
+msgid ""
+"<<cha:axis-gui,AXIS>>, the standard keyboard GUI interface.  This is also "
+"the default GUI launched when a Configuration Wizard is used to create a "
+"desktop icon launcher:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:102 src/user/user-intro.adoc:103
+#, no-wrap
+msgid "AXIS, the standard keyboard GUI interface"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:103
+#, no-wrap
+msgid "../gui/images/axis.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:106
+msgid "<<cha:touchy-gui,Touchy>>, a touch screens GUI:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:108 src/user/user-intro.adoc:109
+#, no-wrap
+msgid "Touchy, a touch screen GUI"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:109
+#, no-wrap
+msgid "../gui/images/touchy.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:112
+msgid "<<cha:gscreen,Gscreen>>, a user-configurable touch screen GUI:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:114 src/user/user-intro.adoc:115
+#, no-wrap
+msgid "Gscreen, a configurable base touch screen GUI"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:115
+#, no-wrap
+msgid "../gui/images/gscreen-mill.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:119
+msgid ""
+"<<cha:gmoccapy,GMOCCAPY>>, a touch screen GUI based on Gscreen. GMOCCAPY is "
+"also designed to work equally well in applications where a keyboard and "
+"mouse are the preferred methods of controlling the GUI:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:121 src/user/user-intro.adoc:122
+#, no-wrap
+msgid "GMOCCAPY, a touch screen GUI based on Gscreen"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:122
+#, no-wrap
+msgid "../gui/images/gmoccapy_3_axis.png"
+msgstr ""
+
+#. type: Labeled list
+#: src/user/user-intro.adoc:124
+#, no-wrap
+msgid "NGCGUI"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:127
+msgid ""
+"<<cha:ngcgui,NGCGUI>>, a subroutine GUI that provides wizard-style "
+"programming of G code.  NGCGUI may be run as a standalone program or "
+"embedded into another GUI as a series of tabs.  The following screenshot "
+"shows NGCGUI embedded into AXIS:"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:129 src/user/user-intro.adoc:130
+#, no-wrap
+msgid "NGCGUI, a graphical interface integrated into AXIS"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:130
+#, no-wrap
+msgid "../gui/images/ngcgui.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:134
+msgid ""
+"<<sec:tklinuxcnc-intro,TkLinuxCNC>>, another interface based on Tcl/Tk.  "
+"Once the most popular interface after AXIS."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:136 src/user/user-intro.adoc:137
+#, no-wrap
+msgid "TkLinuxCNC graphical interface"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:142
+msgid ""
+"<<cha:qtdragon-gui,QtDragon>>, a touch screen GUI based on QtVCP using the "
+"PyQt5 library.  It comes in two versions 'QtDragon' and 'QtDragon_hd'.  They "
+"are very similar in features but QtDragon_hd is made for larger monitors."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:144 src/user/user-intro.adoc:145
+#, no-wrap
+msgid "QtDragon, a touch screen GUI based on QtVCP"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:145
+#, no-wrap
+msgid "images/qtdragon.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:149
+msgid ""
+"<<cha:qtplasmac,QtPlasmaC>>, a touch screen plasma cutting GUI based on "
+"QtVCP using the PyQt5 library.  It comes in three aspect ratios, 16:9, 4:3, "
+"and 9:16."
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:151 src/user/user-intro.adoc:152
+#, no-wrap
+msgid "QtPlasmaC, a touch screen plasma cutting GUI based on QtVCP"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:152
+#, no-wrap
+msgid "../plasma/images/qtplasmac_16x9.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:156
+msgid ""
+"These User interfaces are a way to interact with LinuxCNC outside of the "
+"graphical user interfaces."
+msgstr ""
+
+#. type: Labeled list
+#: src/user/user-intro.adoc:157
+#, no-wrap
+msgid "halui"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:158
+msgid ""
+"A HAL based user interface allowing to control LinuxCNC using buttons and "
+"switches"
+msgstr ""
+
+#. type: Labeled list
+#: src/user/user-intro.adoc:159
+#, no-wrap
+msgid "linuxcncrsh"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:160
+msgid ""
+"A telnet based user interface allowing to send commands from remote "
+"computers."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:167
+msgid ""
+"As mentioned above, many of LinuxCNC's GUIs may be customized by the user.  "
+"This may be done to add indicators, readouts, switches or sliders to the "
+"basic appearance of one of the GUIs for increased flexibility or "
+"functionality.  Two styles of Virtual Control Panel are offered in LinuxCNC:"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:172
+msgid ""
+"<<cha:pyvcp,'PyVCP'>>, a Python-based virtual control panel that can be "
+"added to the AXIS GUI.  PyVCP only utilises virtual signals contained within "
+"the Hardware Abstraction Layer, such as the spindle-at-speed indicator or "
+"the Emergency Stop output signal, and has a simple no-frills appearance.  "
+"This makes it an excellent choice if the user wants to add a Virtual Control "
+"Panel with minimal fuss."
+msgstr ""
+
+#. type: Block title
+#: src/user/user-intro.adoc:173
+#, no-wrap
+msgid "PyVCP Example Embedded Into AXIS GUI"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:174
+#, no-wrap
+msgid "PyVCP embedded into AXIS"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:174
+#, no-wrap
+msgid "../gui/images/axis-pyvcp.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:180
+msgid ""
+"<<cha:glade-vcp,'GladeVCP'>>, a Glade-based virtual control panel that can "
+"be added to the AXIS or Touchy GUIs.  GladeVCP has the advantage over PyVCP "
+"in that it is not limited to the display or control of HAL virtual signals, "
+"but can include other external interfaces outside LinuxCNC such as window or "
+"network events.  GladeVCP is also more flexible in how it may be configured "
+"to appear on the GUI:"
+msgstr ""
+
+#. type: Block title
+#: src/user/user-intro.adoc:181
+#, no-wrap
+msgid "GladeVCP Example Embedded Into AXIS GUI"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:182
+#, no-wrap
+msgid "GladeVCP embedded into AXIS"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:182
+#, no-wrap
+msgid "../gui/images/axis-gladevcp.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:188
+msgid ""
+"<<cha:qtvcp,'QtVCP'>>, a PyQt5-based virtual control panel that can be added "
+"to most GUIs or run as a standalone panel.  QtVCP has the advantage over "
+"PyVCP in that it is not limited to the display or control of HAL virtual "
+"signals, but can include other external interfaces outside LinuxCNC such as "
+"window or network events by extending with python code.  QtVCP is also more "
+"flexible in how it may be configured to appear on the GUI with many special "
+"widgets:"
+msgstr ""
+
+#. type: Block title
+#: src/user/user-intro.adoc:189
+#, no-wrap
+msgid "QtVCP Example Embedded Into QtDragon GUI"
+msgstr ""
+
+#. type: Positional ($1) AttributeList argument for macro 'image'
+#: src/user/user-intro.adoc:190
+#, no-wrap
+msgid "QtVCP panel embedded into QtDragon"
+msgstr ""
+
+#. type: Target for macro image
+#: src/user/user-intro.adoc:190
+#, no-wrap
+msgid "../gui/images/qtvcp_spindle_belts.png"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:199
+msgid ""
+"LinuxCNC uses translation files to translate LinuxCNC User Interfaces into "
+"many languages including French, German, Italian, Finnish, Russian, "
+"Romanian, Portuguese and Chinese.  Assuming a translation has been created, "
+"LinuxCNC will automatically use whatever native language you log in with "
+"when starting the Linux operating system.  If your language has not been "
+"translated, contact a developer on IRC, the mailing list or the User Forum "
+"for assistance."
+msgstr ""
+
+#. type: Title ==
+#: src/user/user-intro.adoc:201
+#, no-wrap
+msgid "Think Like a CNC Operator"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:209
+msgid ""
+"This manual does not pretend to teach you how to use a lathe or a milling "
+"machine.  Becoming an experienced operator takes a lot of time and requires "
+"a lot of work.  An author once said, _We learn by experience, if one "
+"possesses it all_.  Broken tools, vices attacked and the scars are evidence "
+"of the lessons learned.  A beautiful finish, tight tolerances and caution "
+"during the work are evidence of lessons learned.  No machine nor program can "
+"replace human experience."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:214
+msgid ""
+"Now that you start working with the LinuxCNC software, you have to put "
+"yourself in the shoes of an operator.  You must be in the role of someone in "
+"charge of a machine.  It's a machine that will wait for your commands and "
+"then execute the orders that you will give it.  In these pages, we will give "
+"the explanations which will help you to become a good CNC operator with "
+"LinuxCNC."
+msgstr ""
+
+#. type: Title ==
+#: src/user/user-intro.adoc:216
+#, no-wrap
+msgid "Modes of Operation"
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:224
+msgid ""
+"When LinuxCNC is running, there are three different major modes used for "
+"inputting commands.  These are Manual, Auto, and Manual Data Input (MDI).  "
+"Changing from one mode to another makes a big difference in the way that the "
+"LinuxCNC control behaves.  There are specific things that can be done in one "
+"mode that cannot be done in another.  An operator can home an axis in manual "
+"mode but not in auto or MDI modes.  An operator can cause the machine to "
+"execute a whole file full of G-codes in the auto mode but not in manual or "
+"MDI."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:233
+msgid ""
+"In manual mode, each command is entered separately.  In human terms a manual "
+"command might be \"turn on coolant\" or \"jog X at 25 inches per minute\".  "
+"These are roughly equivalent to flipping a switch or turning the hand wheel "
+"for an axis.  These commands are normally handled on one of the graphical "
+"interfaces by pressing a button with the mouse or holding down a key on the "
+"keyboard.  In auto mode, a similar button or key press might be used to load "
+"or start the running of a whole program of G-code that is stored in a file.  "
+"In the MDI mode the operator might type in a block of code and tell the "
+"machine to execute it by pressing the <return> or <enter> key on the "
+"keyboard."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:237
+msgid ""
+"Some motion control commands are available concurrently and will cause the "
+"same changes in motion in all modes.  These include Abort, Emergency Stop, "
+"and Feed Rate Override.  Commands like these should be self explanatory."
+msgstr ""
+
+#. type: Plain text
+#: src/user/user-intro.adoc:243
+msgid ""
+"The AXIS user interface hides some of the distinctions between Auto and the "
+"other modes by making auto-commands available at most times.  It also blurs "
+"the distinction between Manual and MDI, because some Manual commands like "
+"Touch Off are actually implemented by sending MDI commands.  It does this by "
+"automatically changing to the mode that is needed for the action the user "
+"has requested."
+msgstr ""
+
+#. type: Title =
+#: README.adoc:4
+#, no-wrap
+msgid "README for Document Writers"
+msgstr ""
+
+#. type: Title ==
+#: README.adoc:6
+#, no-wrap
+msgid "Adding files"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:10
+msgid ""
+"The `src/Submakefile`, `src/docs.xml`, `docs/po4a.cfg` and `src/index.tmpl` "
+"files must be updated to add a new document file."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:14
+msgid ""
+"The relevant pdf.adoc must be updated to include the new document in the pdf "
+"documentation. E.g., a new document belonging to the Master Documentation "
+"requires an entry in src/Master_Documentation.adoc."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:18
+msgid ""
+"`docs.xml` is used to create the \"previous\" and \"next\" buttons at the "
+"top of each individual HTML document. It should generally match the order of "
+"the index.tmpl."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:21
+msgid ""
+"`po4a.cfg` is used to map source files to translated documentation when "
+"generating translated files using the files in `docs/po/`."
+msgstr ""
+
+#. type: Title ==
+#: README.adoc:22
+#, no-wrap
+msgid "Notes on LinuxCNC documentation"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:27
+msgid ""
+"The main LinuxCNC Makefile can optionally build the documentation and other "
+"files in this directory tree. Use \"--enable-build-documentation\" when "
+"invoking `src/configure`, and run \"make\" from src."
+msgstr ""
+
+#. type: Title ==
+#: README.adoc:28
+#, no-wrap
+msgid "Notes about drawings"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:39
+msgid ""
+"Many of the documents include drawings. Most of them originally created "
+"using the non-free Windows app EasyCAD and then exported to .eps files and "
+"included in the the docs. The original 'source' files (EasyCad .FC7 format) "
+"were not usable on a free system.  To fix this problem, all of the source "
+"files have been converted to .dxf files, and added to Git. The .dxf files "
+"can be edited with multiple CAD packages, and serve as the 'source' files "
+"for future changes to the drawings.  They can be converted from .dxf to "
+"postscript (not .eps) using QCAD, which is available for many systems, see "
+"link:https://repology.org/project/qcad/[here]."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:51
+msgid ""
+"Unfortunately, EasyCAD (and AutoCAD) support a number of entities that QCAD "
+"does not import properly. Including some that were used in the LinuxCNC "
+"drawings: filled circles, filled arrowheads, non-zero width lines, and "
+"dashed lines.  QCAD renders filled circles as hollow, it renders all lines "
+"the same width, and it renders dashed lines as solid, unless you tell it to "
+"do otherwise.  All of these things make the drawings less attractive, but "
+"are somewhat acceptable.  However, QCAD doesn't import filled arrowheads at "
+"all, which seriously hurts the drawings.  So EasyCad was used to convert the "
+"arrowheads to hollow before exporting them.  Hollow arrowheads don't look as "
+"nice as solid ones, but at least they are visible."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:57
+msgid ""
+"Once exported, the arrowheads lose their relationship with the line they are "
+"on, and need to be moved and/or rotated manually if the line is moved.  I "
+"believe that even if they were imported back into EasyCad, the line/arrow "
+"connection would remain broken. New lines with arrowheads can be created in "
+"QCAD with the 'leader' dimension tool."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:64
+msgid ""
+"Because the original EPS files with filled lines and circles, wide lines, "
+"and dashed lines look so much nicer, they will remain in Git and should "
+"probably be used for the documents, however if they become inaccurate "
+"because of changes in the software, we will have to edit the DXF files, "
+"generate PostScript, and use the less pretty, but factually correct images."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:72
+msgid ""
+"Since QCAD itself is a GUI application, the DXF to PostScript conversion "
+"involves going clicky clicky, and can't be automated and made part of the "
+"makefile. Also, not everyone will have QCAD installed on their system.  "
+"Therefore, both the DXF files and the resulting postscript files are stored "
+"in Git, and the normal documentation build process only uses the PostScript "
+"files. If/when the DXF files are edited, they have to be converted to "
+"PostScript manually as follows:"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:74
+msgid "Start QCAD"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:75
+msgid "File → Open → choose DXF file (the drawing appears in window)"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:77
+#, no-wrap
+msgid ""
+"Edit → Current Drawing Preferences → Paper\n"
+"Set:"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:78
+msgid "Paper size to \"Letter\","
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:80
+msgid ""
+"Orientation to \"Landscape\" or Portrait\", depending on the aspect ratio of "
+"the drawing."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:83
+#, no-wrap
+msgid ""
+"File → Print Preview\n"
+"Click the \"Fit to page\" button on the toolbar (last button on the right - "
+"at least on version 2.0.4.0 of QCAD)."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:84
+msgid "File → Print"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:85
+msgid "Select \"Print to file\"."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:86
+msgid "Set the path to point to the same directory as the source .dxf file."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:88
+msgid "Set the name to be the same as the source file, but .ps instead of .dxf."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:89
+msgid "Click \"OK\"."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:94
+msgid ""
+"The makers of QCAD also have a GPL'ed format converter called vec2web, which "
+"can do dxf to postscript conversion from the command-line. It is not "
+"available as a pre-compiled package, but available in source form from "
+"https://github.com/Seablade/vec2web."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:99
+msgid ""
+"vec2web depends on Qt 3 development packages to compile, so it should not be "
+"a dependency for building the LinuxCNC docs. But if configure can detect it, "
+"it would be nice to automate conversion from DXF to PS for systems where "
+"vec2web is installed."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:103
+msgid ""
+"To build vec2web, apt-get install qt3-dev-tools.  The vec2web tarball "
+"contains a build script, but before you run it you must set $QTDIR to point "
+"at your Qt 3 installation — in my case it was:"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:107
+msgid "``` export QTDIR=/usr/share/qt3 ```"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:109
+msgid "Then run the build script:"
+msgstr ""
+
+#. type: Block title
+#: README.adoc:111
+#, no-wrap
+msgid "/build_vec2web.sh"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:118
+msgid ""
+"There is no install step, the executable gets dumped into the build "
+"directory.  There is also no man page, but running it with no args prints "
+"the following usage instructions:"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:125
+#, no-wrap
+msgid ""
+"```\n"
+"Usage: vec2web <input file> <output file> [options]\n"
+"Where options are:\n"
+"        -x #      maximum x size for the output bitmap in pixel\n"
+"        -y #      maximum y size for the output bitmap in pixel\n"
+"        -b        black/white instead of using colors\n"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:126
+#, no-wrap
+msgid "[l|p]  orientation for PS output (landscape or portrait)\n"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:127
+#, no-wrap
+msgid "-s ..     page size for PS output (A4, A5)\n"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:131
+#, no-wrap
+msgid ""
+"e.g. vec2web drawing.dxf drawing.png\n"
+"        converts drawing.dxf to a portable network graphic\n"
+"```\n"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:137
+msgid ""
+"Initial attempts to use vec2web resulted in the graphical parts of the "
+"drawing being converted, but all text was lost. It is not clear if vec2web "
+"is worth spending much more time on, however, it _is_ GPLv2, and it includes "
+"a library for reading DXF files, which might be worthwhile to the LinuxCNC "
+"community."
+msgstr ""
+
+#. type: Title ===
+#: README.adoc:138
+#, no-wrap
+msgid "Drawings from QCAD"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:141
+msgid "Save as .dxf to the same directory as the image."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:142
+msgid "Set line thickness to 0.50 mm."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:143
+msgid "Export the image as 480 x 480 Resolution Auto .png."
+msgstr ""
+
+#. type: Title ==
+#: README.adoc:144
+#, no-wrap
+msgid "Provide translated documentation"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:155
+msgid ""
+"The complete set of documents are translated using gettext PO files using "
+"the https://po4a.alioth.debian.org/[po4a]po4a system.  If you want to "
+"contribute a translation, please use the "
+"link:https://hosted.weblate.org/projects/linuxcnc/[web based translation "
+"editor Weblate].  Registered Weblate users can translate directly, while "
+"non-registered users can propose translations for others to review.  "
+"Translations are done paragraph by paragraph.  If there is no existing "
+"translation of the documentation to your language, you can add it in the "
+"Weblate interface."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:164
+msgid ""
+"With po4a, the English text is the master document, and each paragraph is "
+"translated using gettext, just like the strings in our software.  Some "
+"documentation of po4a is available in the "
+"https://po4a.alioth.debian.org/man/man7/po4a.7.php[po4a(7)] manpage.  As the "
+"po4a support for asciidoc has been rapidly improving since LinuxCNC started "
+"using it, based on bug reports from the LinuxCNC community, a very recent "
+"version of po4a is needed.  At the moment, at least version 0.67 is needed, "
+"available in Debian Bookworm."
+msgstr ""
+
+#. type: Title ===
+#: README.adoc:165
+#, no-wrap
+msgid "When the master document (english) changes"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:171
+msgid ""
+"When the master document (english) file has changed, the POT file with the "
+"set of translatable strings need to be updated, and the updates need to be "
+"propagated into the PO files for each translation.  This can be done using "
+"the build system:"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:175
+msgid "``` make -C src translateddocs ```"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:178
+msgid ""
+"Once this is completed, the files in docs/po/ will be updated, and should be "
+"committed into git and pulled into Weblate."
+msgstr ""
+
+#. type: Title ===
+#: README.adoc:179
+#, no-wrap
+msgid "How to add a new translation language"
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:185
+msgid ""
+"Once a new PO files for a fresh translation is added via Weblate, and the "
+"translation level raise to a sensible level (for example not 0%), build "
+"rules need to be added to use the generated translations to build HTML and "
+"PDF editions of the translation."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:196
+msgid ""
+"At the moment, build rules are created for languages with more than 2 "
+"percent translated "
+"link:https://hosted.weblate.org/projects/linuxcnc/linuxcnc-docs/[according "
+"to Weblate] or which have been updated the last 12 months according to the "
+"PO-Revision-Date field in docs/po/*.po.  Documentation packages for Debian "
+"are build for languages with more than 50 percent translation.  This ensure "
+"translators and proof readers can see the result of their effort on "
+"https://linuxcnc.org/docs/devel/html/, while we limit the time spent "
+"building translations to those that are actively worked on or at least have "
+"a very the bare minimum translated."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:199
+msgid ""
+"Add the new language code to the [po4a_langs] section of docs/po4a.cfg.  "
+"Update build rules for the new language in `docs/src/Submakefile`."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:203
+msgid ""
+"Edit debian/control.in to add the new linuxcnc-doc-$NEWLANG package.  Add "
+"the new doc package to the \"or\" list of the \"Recommends\" line of the "
+"linuxcnc main package."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:206
+msgid ""
+"Add the new language to the list in the DOCS_PACKAGES variable in "
+"debian/configure."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:209
+msgid ""
+"If there is a texlive-lang-$NEWLANGUAGE package for your new language, add "
+"it to the DOC_DEPENDS variable in debian/configure."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:212
+msgid ""
+"Add the appropriate `linuxcnc-doc-$NEWLANG.*` files for the new package, "
+"probably by copying and editing `debian/linuxcnc-doc-en.*`."
+msgstr ""
+
+#. type: Plain text
+#: README.adoc:214
+msgid "Test build the packages and verify!"
+msgstr ""
+
+#. type: Title =
+#: INSTALL.adoc:4
+#, no-wrap
+msgid "Build LinuxCNC for \"run in place\""
+msgstr ""
+
+#. type: Title ==
+#: INSTALL.adoc:6
+#, no-wrap
+msgid "Basic Instructions"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:9
+msgid "From the repository top level directory:"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:11
+#, no-wrap
+msgid "*Build LinuxCNC* +\n"
+msgstr ""
+
+#. type: delimited block -
+#: INSTALL.adoc:19
+#, no-wrap
+msgid ""
+"cd src                                            <1>\n"
+"./autogen.sh                                      <2>\n"
+"./configure [--with-realtime=uspace|/usr/rtai...] <3>\n"
+"make clean                                        <4>\n"
+"make                                              <5>\n"
+"sudo make setuid                                  <6>\n"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:21
+msgid "Change to source directory"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:22
+msgid "Builds the configure script (uses `configure.in`)"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:25
+#, no-wrap
+msgid ""
+"Configure the package for your system\n"
+"Running `configure` takes awhile. While running, it prints some messages "
+"telling which features it is checking for."
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:26
+msgid "Remove previous build(s) artifacts"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:27
+msgid "Build/compile the software package"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:28
+msgid "Set ownership and mode of built files"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:32
+#, no-wrap
+msgid ""
+"If you're using `csh` on an old version of System V, you might\n"
+"      need to type `sh ./configure` instead to prevent `csh' from trying\n"
+"      to execute `configure' itself.\n"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:34
+#, no-wrap
+msgid "*Run LinuxCNC* +\n"
+msgstr ""
+
+#. type: delimited block -
+#: INSTALL.adoc:39
+#, no-wrap
+msgid ""
+"cd ..                           <1>\n"
+"source scripts/rip-environment  <2>\n"
+"linuxcnc                        <3>\n"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:41
+msgid "Change back up to top level directory"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:42
+msgid "Configure shell environment for LinuxCNC commands and Python modules"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:43
+msgid "Run LinuxCNC"
+msgstr ""
+
+#. type: Title ==
+#: INSTALL.adoc:44
+#, no-wrap
+msgid "Detailed description"
+msgstr ""
+
+#. type: Title ===
+#: INSTALL.adoc:46
+#, no-wrap
+msgid "Run-time script"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:50
+msgid ""
+"The runtime script is called *linuxcnc*, thus allowing you on an installed "
+"system to just type `linuxcnc` and get it running."
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:58
+msgid ""
+"On a run-in-place system (e.g. the one you just got out of git), the "
+"runscript is `scripts/linuxcnc`.  When you just checked out a fresh copy of "
+"LinuxCNC, you'll see there is no `scripts/linuxcnc`, just a "
+"`scripts/linuxcnc.in`. By running `configure` that one will get changed to "
+"`scripts/linuxcnc`.  `configure` will also replace some default values for "
+"your system (folders, paths, etc)."
+msgstr ""
+
+#. type: Title ===
+#: INSTALL.adoc:60
+#, no-wrap
+msgid "Configure script"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:65
+msgid ""
+"The *`configure`* shell script attempts to guess correct values for various "
+"system-dependent variables used during compilation. It uses those values to "
+"create:"
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:66
+#, no-wrap
+msgid "`Makefile.inc` file"
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:68
+#, no-wrap
+msgid "`config.status` shell script"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:70
+msgid "That you can run in the future to recreate the current configuration;"
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:71
+#, no-wrap
+msgid "`config.cache` file"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:73
+msgid "That saves the results of its tests to speed up reconfiguring;"
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:74
+#, no-wrap
+msgid "`config.log` file"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:76
+msgid "Containing compiler output (useful mainly for debugging `configure`)."
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:81
+msgid ""
+"The *`configure.ac`* file is used by the `autogen.sh` script, from the "
+"`autoconf` package, to create the `configure` script.  You only need "
+"`configure.ac` if you want to change `configure`, or regenerate it using a "
+"newer version of `autoconf`."
+msgstr ""
+
+#. type: Title ====
+#: INSTALL.adoc:82
+#, no-wrap
+msgid "Optional Features"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:89
+msgid ""
+"LinuxCNC can operate hardware only if a _real time system_ has been "
+"installed: either *RT-PREEMPT* or *RTAI*. If you don't have any installed, "
+"you cannot run LinuxCNC to control any machines. Please install one of the "
+"RT patches (refer to the documentation of the project on how to achieve "
+"that)."
+msgstr ""
+
+#.  FIXME Add pointers for RT install
+#. type: Plain text
+#: INSTALL.adoc:95
+msgid ""
+"However, it is possible to test LinuxCNC without a realtime system. This is "
+"possible using a _simulator mode_, which doesn't allow hardware control.  "
+"This is an alternate mode of *uspace* _realtime_."
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:98
+msgid ""
+"To specify RT-PREEMPT or non-realtime, use `--with-realtime=uspace`.  "
+"Otherwise, use `--with-realtime=[location where rtai is installed]`."
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:101
+msgid ""
+"If you don't want to generate the documentation from source use "
+"`--disable-build-documentation`"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:103
+msgid "`configure` also accepts other arguments. Use `--help` to view the list."
+msgstr ""
+
+#. type: Title ====
+#: INSTALL.adoc:104
+#, no-wrap
+msgid "Operation Controls"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:107
+msgid "`configure` recognizes the following options to control how it operates:"
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:108
+#, no-wrap
+msgid "`--cache-file=FILE`"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:112
+msgid ""
+"Use and save the results of the tests in FILE instead of `./config.cache`.  "
+"Set FILE to `/dev/null` to disable caching, for debugging `configure`."
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:113
+#, no-wrap
+msgid "`--help`"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:115
+msgid "Print a summary of the options to `configure`, and exit."
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:116
+#, no-wrap
+msgid "`--quiet` | `--silent` | `-q`"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:120
+msgid ""
+"Do not print messages saying which checks are being made.  To suppress all "
+"normal output, redirect it to `/dev/null` (any error messages will still be "
+"shown)."
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:121
+#, no-wrap
+msgid "`--srcdir=DIR`"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:124
+msgid ""
+"Look for the package's source code in directory DIR.  Usually `configure` "
+"can determine that directory automatically."
+msgstr ""
+
+#. type: Labeled list
+#: INSTALL.adoc:125
+#, no-wrap
+msgid "`--version`"
+msgstr ""
+
+#. type: Plain text
+#: INSTALL.adoc:127
+msgid ""
+"Print the version of _Autoconf_ used to generate the `configure' script and "
+"exit."
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui_handler.py:4
+#, no-wrap
+msgid ""
+"# standard handler call - This will always be required\n"
+"def get_handlers(linuxcnc_stat, linucnc_cmd, commands, master):\n"
+"     return [HandlerClass(linuxcnc_stat, linucnc_cmd, commands, master)]\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui_handler.py:7
+msgid "# Also required - handler class class HandlerClass:"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui_handler.py:13
+#, no-wrap
+msgid ""
+"    # This will be pretty standard to gain access to everything\n"
+"    # linuxcnc_stat: is the python status instance of LinuxCNC\n"
+"    # linuxcnc_cmd: is the python command instance of LinuxCNC\n"
+"    # commands: is the command instance so one can call the internal "
+"routines\n"
+"    # master: give access to the master functions/data\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui_handler.py:17
+#, no-wrap
+msgid ""
+"    def __init__(self, linuxcnc_stat, linuxcnc_cmd, commands, master):\n"
+"        self.parent = commands\n"
+"        self.current_mode = 0\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui_handler.py:28
+#, no-wrap
+msgid ""
+"    # command functions are expected to have this layout:\n"
+"    # def some_name(self, widget_instance, arguments from widget):\n"
+"    # widget_instance gives access to the calling widget's function/data\n"
+"    # arguments can be a list of arguments, a single argument, or None\n"
+"    # depending on what was given in panelui's INI file.\n"
+"    def hello_world(self, wname, m):\n"
+"        # print to terminal so we know it worked\n"
+"        print('\\nHello world\\n')\n"
+"        print(m)     # print the argument(s)\n"
+"        print(wname.metadata)    # Print the calling widgets internal "
+"metadata (from config file)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui_handler.py:33
+#, no-wrap
+msgid ""
+"        # Call a mdi command to print a msg in LinuxCNC.\n"
+"        # This requires LinuxCNC to be homed, but does not check for that.\n"
+"        # parent commands expect a widget_instance - None is substituted\n"
+"        self.parent.mdi(None,'(MSG, Hello Linuxcnc World!)')\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui_handler.py:46
+#, no-wrap
+msgid ""
+"    # Each call to this function will cycle the mode of LinuxCNC.\n"
+"    def cycle_mode(self, wname, m):\n"
+"        if self.current_mode == 0:\n"
+"            self.current_mode = 1\n"
+"            self.parent.set_mdi_mode()\n"
+"        elif self.current_mode == 1:\n"
+"            self.current_mode = 2\n"
+"            self.parent.set_auto_mode()\n"
+"        else:\n"
+"            self.current_mode = 0\n"
+"            self.parent.set_manual_mode()\n"
+"        print(self.current_mode)\n"
+msgstr ""
+
+#. type: Plain text
+#: src/gui/panelui_handler.py:51
+#, no-wrap
+msgid ""
+"    # Boiler code, often required\n"
+"    def __getitem__(self, item):\n"
+"        return getattr(self, item)\n"
+"    def __setitem__(self, item, value):\n"
+"        return setattr(self, item, value)\n"
+msgstr ""
+
+#. type: TH
+#: man/man1/pi500_vfd.1:9
+#, no-wrap
+msgid "PI500_VFD"
+msgstr ""
+
+#. type: TH
+#: man/man1/pi500_vfd.1:9 man/man1/thermistor.1:9 man/man1/wj200_vfd.1:9
+#: man/man9/abs.9:9 man/man9/abs_s32.9:9 man/man9/and2.9:9
+#: man/man9/axistest.9:9 man/man9/bin2gray.9:9 man/man9/biquad.9:9
+#: man/man9/bitslice.9:9 man/man9/bitwise.9:9 man/man9/bldc.9:9
+#: man/man9/blend.9:9 man/man9/carousel.9:9 man/man9/charge_pump.9:9
+#: man/man9/clarke2.9:9 man/man9/clarke3.9:9 man/man9/clarkeinv.9:9
+#: man/man9/comp.9:9 man/man9/constant.9:9 man/man9/conv_bit_float.9:9
+#: man/man9/conv_bit_s32.9:9 man/man9/conv_bit_u32.9:9
+#: man/man9/conv_float_s32.9:9 man/man9/conv_float_u32.9:9
+#: man/man9/conv_s32_bit.9:9 man/man9/conv_s32_float.9:9
+#: man/man9/conv_s32_u32.9:9 man/man9/conv_u32_bit.9:9
+#: man/man9/conv_u32_float.9:9 man/man9/conv_u32_s32.9:9
+#: man/man9/corexy_by_hal.9:9 man/man9/dbounce.9:9 man/man9/ddt.9:9
+#: man/man9/deadzone.9:9 man/man9/demux.9:9 man/man9/differential.9:9
+#: man/man9/edge.9:9 man/man9/eoffset_per_angle.9:9 man/man9/estop_latch.9:9
+#: man/man9/feedcomp.9:9 man/man9/filter_kalman.9:9 man/man9/flipflop.9:9
+#: man/man9/gantry.9:9 man/man9/gearchange.9:9 man/man9/gray2bin.9:9
+#: man/man9/histobins.9:9 man/man9/hypot.9:9 man/man9/ilowpass.9:9
+#: man/man9/integ.9:9 man/man9/invert.9:9 man/man9/joyhandle.9:9
+#: man/man9/knob2float.9:9 man/man9/latencybins.9:9 man/man9/limit1.9:9
+#: man/man9/limit2.9:9 man/man9/limit3.9:9 man/man9/lincurve.9:9
+#: man/man9/logic.9:9 man/man9/lowpass.9:9 man/man9/lut5.9:9 man/man9/maj3.9:9
+#: man/man9/match8.9:9 man/man9/max31855.9:9 man/man9/mesa_7i65.9:9
+#: man/man9/mesa_pktgyro_test.9:9 man/man9/message.9:9 man/man9/millturn.9:9
+#: man/man9/minmax.9:9 man/man9/moveoff.9:9 man/man9/mult2.9:9
+#: man/man9/multiclick.9:9 man/man9/multiswitch.9:9 man/man9/mux16.9:9
+#: man/man9/mux2.9:9 man/man9/mux4.9:9 man/man9/mux8.9:9 man/man9/near.9:9
+#: man/man9/not.9:9 man/man9/offset.9:9 man/man9/ohmic.9:9 man/man9/oneshot.9:9
+#: man/man9/or2.9:9 man/man9/orient.9:9 man/man9/plasmac.9:9
+#: man/man9/sample_hold.9:9 man/man9/scale.9:9 man/man9/select8.9:9
+#: man/man9/serport.9:9 man/man9/sim_axis_hardware.9:9
+#: man/man9/sim_home_switch.9:9 man/man9/sim_matrix_kb.9:9
+#: man/man9/sim_parport.9:9 man/man9/simple_tp.9:9 man/man9/sim_spindle.9:9
+#: man/man9/sphereprobe.9:9 man/man9/spindle.9:9 man/man9/spindle_monitor.9:9
+#: man/man9/steptest.9:9 man/man9/sum2.9:9 man/man9/thc.9:9 man/man9/thcud.9:9
+#: man/man9/threadtest.9:9 man/man9/time.9:9 man/man9/timedelay.9:9
+#: man/man9/timedelta.9:9 man/man9/toggle2nist.9:9 man/man9/toggle.9:9
+#: man/man9/tristate_bit.9:9 man/man9/tristate_float.9:9 man/man9/updown.9:9
+#: man/man9/userkins.9:9 man/man9/wcomp.9:9 man/man9/xhc_hb04_util.9:9
+#: man/man9/xor2.9:9
+#, no-wrap
+msgid "2024-10-05"
+msgstr ""
+
+#. type: TH
+#: man/man1/pi500_vfd.1:9 man/man1/thermistor.1:9 man/man1/wj200_vfd.1:9
+#: man/man9/abs.9:9 man/man9/abs_s32.9:9 man/man9/and2.9:9
+#: man/man9/axistest.9:9 man/man9/bin2gray.9:9 man/man9/biquad.9:9
+#: man/man9/bitslice.9:9 man/man9/bitwise.9:9 man/man9/bldc.9:9
+#: man/man9/blend.9:9 man/man9/carousel.9:9 man/man9/charge_pump.9:9
+#: man/man9/clarke2.9:9 man/man9/clarke3.9:9 man/man9/clarkeinv.9:9
+#: man/man9/comp.9:9 man/man9/constant.9:9 man/man9/conv_bit_float.9:9
+#: man/man9/conv_bit_s32.9:9 man/man9/conv_bit_u32.9:9
+#: man/man9/conv_float_s32.9:9 man/man9/conv_float_u32.9:9
+#: man/man9/conv_s32_bit.9:9 man/man9/conv_s32_float.9:9
+#: man/man9/conv_s32_u32.9:9 man/man9/conv_u32_bit.9:9
+#: man/man9/conv_u32_float.9:9 man/man9/conv_u32_s32.9:9
+#: man/man9/corexy_by_hal.9:9 man/man9/dbounce.9:9 man/man9/ddt.9:9
+#: man/man9/deadzone.9:9 man/man9/demux.9:9 man/man9/differential.9:9
+#: man/man9/edge.9:9 man/man9/eoffset_per_angle.9:9 man/man9/estop_latch.9:9
+#: man/man9/feedcomp.9:9 man/man9/filter_kalman.9:9 man/man9/flipflop.9:9
+#: man/man9/gantry.9:9 man/man9/gearchange.9:9 man/man9/gray2bin.9:9
+#: man/man9/histobins.9:9 man/man9/hypot.9:9 man/man9/ilowpass.9:9
+#: man/man9/integ.9:9 man/man9/invert.9:9 man/man9/joyhandle.9:9
+#: man/man9/knob2float.9:9 man/man9/latencybins.9:9 man/man9/limit1.9:9
+#: man/man9/limit2.9:9 man/man9/limit3.9:9 man/man9/lincurve.9:9
+#: man/man9/logic.9:9 man/man9/lowpass.9:9 man/man9/lut5.9:9 man/man9/maj3.9:9
+#: man/man9/match8.9:9 man/man9/matrix_kb.9:10 man/man9/max31855.9:9
+#: man/man9/mesa_7i65.9:9 man/man9/mesa_pktgyro_test.9:9 man/man9/message.9:9
+#: man/man9/millturn.9:9 man/man9/minmax.9:9 man/man9/moveoff.9:9
+#: man/man9/mult2.9:9 man/man9/multiclick.9:9 man/man9/multiswitch.9:9
+#: man/man9/mux16.9:9 man/man9/mux2.9:9 man/man9/mux4.9:9 man/man9/mux8.9:9
+#: man/man9/mux_generic.9:10 man/man9/near.9:9 man/man9/not.9:9
+#: man/man9/offset.9:9 man/man9/ohmic.9:9 man/man9/oneshot.9:9 man/man9/or2.9:9
+#: man/man9/orient.9:9 man/man9/pid.9:10 man/man9/plasmac.9:9
+#: man/man9/pwmgen.9:10 man/man9/sample_hold.9:9 man/man9/scale.9:9
+#: man/man9/select8.9:9 man/man9/serport.9:9 man/man9/sim_axis_hardware.9:9
+#: man/man9/sim_encoder.9:10 man/man9/sim_home_switch.9:9
+#: man/man9/sim_matrix_kb.9:9 man/man9/sim_parport.9:9 man/man9/simple_tp.9:9
+#: man/man9/sim_spindle.9:9 man/man9/sphereprobe.9:9 man/man9/spindle.9:9
+#: man/man9/spindle_monitor.9:9 man/man9/steptest.9:9 man/man9/sum2.9:9
+#: man/man9/thc.9:9 man/man9/thcud.9:9 man/man9/threadtest.9:9
+#: man/man9/time.9:9 man/man9/timedelay.9:9 man/man9/timedelta.9:9
+#: man/man9/toggle2nist.9:9 man/man9/toggle.9:9 man/man9/tristate_bit.9:9
+#: man/man9/tristate_float.9:9 man/man9/updown.9:9 man/man9/userkins.9:9
+#: man/man9/wcomp.9:9 man/man9/xhc_hb04_util.9:9 man/man9/xor2.9:9
+#, no-wrap
+msgid "LinuxCNC Documentation"
+msgstr ""
+
+#. type: TH
+#: man/man1/pi500_vfd.1:9 man/man1/thermistor.1:9 man/man1/wj200_vfd.1:9
+#: man/man9/abs.9:9 man/man9/abs_s32.9:9 man/man9/and2.9:9
+#: man/man9/axistest.9:9 man/man9/bin2gray.9:9 man/man9/biquad.9:9
+#: man/man9/bitslice.9:9 man/man9/bitwise.9:9 man/man9/bldc.9:9
+#: man/man9/blend.9:9 man/man9/carousel.9:9 man/man9/charge_pump.9:9
+#: man/man9/clarke2.9:9 man/man9/clarke3.9:9 man/man9/clarkeinv.9:9
+#: man/man9/comp.9:9 man/man9/constant.9:9 man/man9/conv_bit_float.9:9
+#: man/man9/conv_bit_s32.9:9 man/man9/conv_bit_u32.9:9
+#: man/man9/conv_float_s32.9:9 man/man9/conv_float_u32.9:9
+#: man/man9/conv_s32_bit.9:9 man/man9/conv_s32_float.9:9
+#: man/man9/conv_s32_u32.9:9 man/man9/conv_u32_bit.9:9
+#: man/man9/conv_u32_float.9:9 man/man9/conv_u32_s32.9:9
+#: man/man9/corexy_by_hal.9:9 man/man9/dbounce.9:9 man/man9/ddt.9:9
+#: man/man9/deadzone.9:9 man/man9/demux.9:9 man/man9/differential.9:9
+#: man/man9/edge.9:9 man/man9/eoffset_per_angle.9:9 man/man9/estop_latch.9:9
+#: man/man9/feedcomp.9:9 man/man9/filter_kalman.9:9 man/man9/flipflop.9:9
+#: man/man9/gantry.9:9 man/man9/gearchange.9:9 man/man9/gray2bin.9:9
+#: man/man9/histobins.9:9 man/man9/hypot.9:9 man/man9/ilowpass.9:9
+#: man/man9/integ.9:9 man/man9/invert.9:9 man/man9/joyhandle.9:9
+#: man/man9/knob2float.9:9 man/man9/latencybins.9:9 man/man9/limit1.9:9
+#: man/man9/limit2.9:9 man/man9/limit3.9:9 man/man9/lincurve.9:9
+#: man/man9/logic.9:9 man/man9/lowpass.9:9 man/man9/lut5.9:9 man/man9/maj3.9:9
+#: man/man9/match8.9:9 man/man9/max31855.9:9 man/man9/mesa_7i65.9:9
+#: man/man9/mesa_pktgyro_test.9:9 man/man9/message.9:9 man/man9/millturn.9:9
+#: man/man9/minmax.9:9 man/man9/moveoff.9:9 man/man9/mult2.9:9
+#: man/man9/multiclick.9:9 man/man9/multiswitch.9:9 man/man9/mux16.9:9
+#: man/man9/mux2.9:9 man/man9/mux4.9:9 man/man9/mux8.9:9 man/man9/near.9:9
+#: man/man9/not.9:9 man/man9/offset.9:9 man/man9/ohmic.9:9 man/man9/oneshot.9:9
+#: man/man9/or2.9:9 man/man9/orient.9:9 man/man9/plasmac.9:9
+#: man/man9/sample_hold.9:9 man/man9/scale.9:9 man/man9/select8.9:9
+#: man/man9/serport.9:9 man/man9/sim_axis_hardware.9:9
+#: man/man9/sim_home_switch.9:9 man/man9/sim_matrix_kb.9:9
+#: man/man9/sim_parport.9:9 man/man9/simple_tp.9:9 man/man9/sim_spindle.9:9
+#: man/man9/sphereprobe.9:9 man/man9/spindle.9:9 man/man9/spindle_monitor.9:9
+#: man/man9/steptest.9:9 man/man9/sum2.9:9 man/man9/thc.9:9 man/man9/thcud.9:9
+#: man/man9/threadtest.9:9 man/man9/time.9:9 man/man9/timedelay.9:9
+#: man/man9/timedelta.9:9 man/man9/toggle2nist.9:9 man/man9/toggle.9:9
+#: man/man9/tristate_bit.9:9 man/man9/tristate_float.9:9 man/man9/updown.9:9
+#: man/man9/userkins.9:9 man/man9/wcomp.9:9 man/man9/xhc_hb04_util.9:9
+#: man/man9/xor2.9:9
+#, no-wrap
+msgid "HAL Component"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:13
+msgid "pi500_vfd - Powtran PI500 Modbus driver"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:15
+msgid "B<pi500_vfd>"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:16
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.commanded-frequency> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:19
+msgid "Frequency of vfd"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:19
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.run> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:22 man/man1/wj200_vfd.1:31
+msgid "run the vfd"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:22
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:25 man/man1/wj200_vfd.1:34
+msgid "1 to enable the vfd. 0 will remote trip the vfd, thereby disabling it."
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:25
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.is-running> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:28 man/man1/wj200_vfd.1:37
+msgid "1 when running"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:28
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.is-at-speed> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:31 man/man1/wj200_vfd.1:40
+msgid "1 when running at assigned frequency"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:31
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.is-ready> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:34 man/man1/wj200_vfd.1:46
+msgid "1 when vfd is ready to run"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:34
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.is-alarm> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:37 man/man1/wj200_vfd.1:49
+msgid "1 when vfd alarm is set"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:37
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.motor-current> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:40 man/man1/wj200_vfd.1:52
+msgid "Output current in amps"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:40
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.heatsink-temp> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:43 man/man1/wj200_vfd.1:55
+msgid "Temperature of drive heatsink"
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:43
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.watchdog-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:46 man/man1/wj200_vfd.1:58
+msgid ""
+"Alternates between 1 and 0 after every update cycle. Feed into a watchdog "
+"component to ensure vfd driver is communicating with the vfd properly."
+msgstr ""
+
+#. type: TP
+#: man/man1/pi500_vfd.1:47
+#, no-wrap
+msgid "B<pi500-vfd.>I<N>B<.mbslaveaddr> u32 rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:50 man/man1/wj200_vfd.1:62
+msgid "Modbus slave address"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/pi500_vfd.1:52 man/man1/wj200_vfd.1:67 man/man9/plasmac.9:617
+#: man/man9/thc.9:134 man/man9/thcud.9:131
+msgid "GPLv2 or greater"
+msgstr ""
+
+#. type: TH
+#: man/man1/thermistor.1:9
+#, no-wrap
+msgid "THERMISTOR"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:13
+msgid "thermistor - compute temperature indicated by a thermistor"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:15
+msgid "B<thermistor>"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:20
+msgid ""
+"This component computes the temperature indicated by a thermistor in a "
+"voltage-divider ladder.  It uses the Beta-parameter variant of the "
+"Steinhart-Hart equation, described here:"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:22
+#, no-wrap
+msgid "    http://en.wikipedia.org/wiki/Thermistor\n"
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:23
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.t0-c> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:29
+msgid ""
+"Reference temperature of the thermistor, in degrees Celsius (typically 25 "
+"C).  This must be set before the component can compute the thermistor "
+"temperature.  The reference temperature information is supplied by the "
+"thermistor manufacturer."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:29
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.r0> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:35
+msgid ""
+"Resistance of the thermistor at the reference temperature.  This must be set "
+"before the component can compute the thermistor temperature.  The reference "
+"resistance information is supplied by the thermistor manufacturer."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:35
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.beta> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:41
+msgid ""
+"Beta parameter of the thermistor (sometimes just called B).  This must be "
+"set before the component can compute the thermistor temperature.  The Beta "
+"parameter is supplied by the thermistor manufacturer."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:41
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.r-other> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:46
+msgid ""
+"Resistance of the other resistor in the voltage-divider ladder.  This must "
+"be set before the component can compute the thermistor temperature."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:46
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.v-total> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:49
+msgid "Supply voltage of the voltage-divider ladder."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:49
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.v-thermistor> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:52
+msgid "Voltage drop across the termistor."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:52
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.temperature-c> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:55
+msgid "Temperature sensed by the thermistor, in degrees Celsius."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:55
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.temperature-k> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:58
+msgid "Temperature sensed by the thermistor, in Kelvins."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:58
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.temperature-f> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:61
+msgid "Temperature sensed by the thermistor, in degrees Fahrenheit."
+msgstr ""
+
+#. type: TP
+#: man/man1/thermistor.1:61
+#, no-wrap
+msgid "B<thermistor.>I<N>B<.resistance> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/thermistor.1:64
+msgid "Computed resistance of the thermistor."
+msgstr ""
+
+#. type: TH
+#: man/man1/wj200_vfd.1:9
+#, no-wrap
+msgid "WJ200_VFD"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/wj200_vfd.1:13
+msgid "wj200_vfd - Hitachi wj200 modbus driver"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/wj200_vfd.1:15
+msgid "B<wj200_vfd>"
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:16
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.commanded-frequency> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/wj200_vfd.1:19
+msgid "Frequency of vfd (scaled to RPM)"
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:19
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.motor-frequency> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/wj200_vfd.1:22
+msgid "Motor's actual frequency (scaled to RPM)"
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:22
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.motor-reverse> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/wj200_vfd.1:25
+msgid "1 when actually turning in reverse"
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:25
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.reverse> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/wj200_vfd.1:28
+msgid "1 when reverse 0 when forward"
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:28
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.run> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:31
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:34
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.is-running> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:37
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.is-at-speed> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:40
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.is-stopped> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man1/wj200_vfd.1:43
+msgid "1 when stopped"
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:43
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.is-ready> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:46
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.is-alarm> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:49
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.motor-current> float out "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:52
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.heatsink-temp> float out "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:55
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.watchdog-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:59
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.mbslaveaddr> u32 rw "
+msgstr ""
+
+#. type: TP
+#: man/man1/wj200_vfd.1:62
+#, no-wrap
+msgid "B<wj200-vfd.>I<N>B<.frequency-scale> float rw (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man1/wj200_vfd.1:65
+msgid "RPM / frequency, default 1"
+msgstr ""
+
+#. type: TH
+#: man/man9/abs.9:9
+#, no-wrap
+msgid "ABS"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs.9:13
+msgid "abs - Compute the absolute value and sign of the input signal"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs.9:16
+msgid "B<loadrt abs [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs.9:17
+#, no-wrap
+msgid "B<abs.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs.9:21
+#, no-wrap
+msgid "B<abs.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs.9:24 man/man9/invert.9:25
+msgid "Analog input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs.9:24
+#, no-wrap
+msgid "B<abs.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs.9:27
+msgid "Analog output value, always positive"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs.9:27
+#, no-wrap
+msgid "B<abs.>I<N>B<.sign> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs.9:30 man/man9/abs_s32.9:30
+msgid "Sign of input, false for positive, true for negative"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs.9:30
+#, no-wrap
+msgid "B<abs.>I<N>B<.is-positive> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs.9:33 man/man9/abs_s32.9:33
+msgid "TRUE if input is positive, FALSE if input is 0 or negative"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs.9:33
+#, no-wrap
+msgid "B<abs.>I<N>B<.is-negative> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs.9:36 man/man9/abs_s32.9:36
+msgid "TRUE if input is negative, FALSE if input is 0 or positive"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs.9:39 man/man9/clarke2.9:56 man/man9/clarke3.9:60
+#: man/man9/clarkeinv.9:56 man/man9/constant.9:29 man/man9/estop_latch.9:112
+#: man/man9/flipflop.9:42 man/man9/knob2float.9:43 man/man9/limit3.9:62
+#: man/man9/match8.9:94 man/man9/mult2.9:38 man/man9/oneshot.9:60
+#: man/man9/toggle.9:45 man/man9/xor2.9:54
+msgid "John Kasunich"
+msgstr ""
+
+#. type: TH
+#: man/man9/abs_s32.9:9
+#, no-wrap
+msgid "ABS_S32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs_s32.9:13
+msgid "abs_s32 - Compute the absolute value and sign of the input signal"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs_s32.9:16
+msgid "B<loadrt abs_s32 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs_s32.9:17
+#, no-wrap
+msgid "B<abs-s32.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs_s32.9:21
+#, no-wrap
+msgid "B<abs-s32.>I<N>B<.in> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs_s32.9:24
+msgid "input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs_s32.9:24
+#, no-wrap
+msgid "B<abs-s32.>I<N>B<.out> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/abs_s32.9:27
+msgid "output value, always non-negative"
+msgstr ""
+
+#. type: TP
+#: man/man9/abs_s32.9:27
+#, no-wrap
+msgid "B<abs-s32.>I<N>B<.sign> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/abs_s32.9:30
+#, no-wrap
+msgid "B<abs-s32.>I<N>B<.is-positive> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/abs_s32.9:33
+#, no-wrap
+msgid "B<abs-s32.>I<N>B<.is-negative> bit out "
+msgstr ""
+
+#. type: TH
+#: man/man9/and2.9:9
+#, no-wrap
+msgid "AND2"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/and2.9:13
+msgid "and2 - Two-input AND gate"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/and2.9:16
+msgid "B<loadrt and2 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/and2.9:17
+#, no-wrap
+msgid "B<and2.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/and2.9:21
+#, no-wrap
+msgid "B<and2.>I<N>B<.in0> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/and2.9:25
+#, no-wrap
+msgid "B<and2.>I<N>B<.in1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/and2.9:29
+#, no-wrap
+msgid "B<and2.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/and2.9:35
+msgid ""
+"The B<out> pin is computed from the value of the B<in0> and B<in1> pins "
+"according to the following rule:"
+msgstr ""
+
+#. type: TP
+#: man/man9/and2.9:36
+#, no-wrap
+msgid "B<in0=TRUE in1=TRUE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/and2.9:39 man/man9/or2.9:41 man/man9/xor2.9:39
+msgid "B<out=TRUE>"
+msgstr ""
+
+#. type: TP
+#: man/man9/and2.9:39 man/man9/or2.9:38 man/man9/xor2.9:39
+#, no-wrap
+msgid "Otherwise,"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/and2.9:42 man/man9/or2.9:38 man/man9/xor2.9:42
+msgid "B<out=FALSE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/and2.9:51
+msgid "B<logic>(9), B<lut5>(9), B<not>(9), B<or2>(9), B<xor2>(9)."
+msgstr ""
+
+#. type: TH
+#: man/man9/axistest.9:9
+#, no-wrap
+msgid "AXISTEST"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:13
+msgid "axistest - Used to allow testing of an axis. Used IN PnCconf."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:16
+msgid "B<loadrt axistest [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:17
+#, no-wrap
+msgid "B<axistest.>I<N>B<.update> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:21
+#, no-wrap
+msgid "B<axistest.>I<N>B<.jog-minus> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:24
+msgid "Drive TRUE to jog the axis in its negative ('minus') direction."
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:24
+#, no-wrap
+msgid "B<axistest.>I<N>B<.jog-plus> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:27
+msgid "Drive TRUE to jog the axis in its positive direction."
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:27
+#, no-wrap
+msgid "B<axistest.>I<N>B<.run> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:30
+msgid ""
+"Drive TRUE to run the axis near its current position_fb with a trapezoidal "
+"velocity profile."
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:30
+#, no-wrap
+msgid "B<axistest.>I<N>B<.maxvel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:33 man/man9/simple_tp.9:26 man/man9/steptest.9:33
+msgid "Maximum velocity"
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:33
+#, no-wrap
+msgid "B<axistest.>I<N>B<.amplitude> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:36 man/man9/steptest.9:39
+msgid "Approximate amplitude of positions to command during 'run'"
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:36
+#, no-wrap
+msgid "B<axistest.>I<N>B<.dir> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:39 man/man9/steptest.9:42
+msgid "Direction from central point to test: 0 = both, 1 = positive, 2 = negative"
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:39
+#, no-wrap
+msgid "B<axistest.>I<N>B<.position-cmd> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:43
+#, no-wrap
+msgid "B<axistest.>I<N>B<.position-fb> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:47
+#, no-wrap
+msgid "B<axistest.>I<N>B<.running> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:51
+#, no-wrap
+msgid "B<axistest.>I<N>B<.run-target> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:55
+#, no-wrap
+msgid "B<axistest.>I<N>B<.run-start> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:59
+#, no-wrap
+msgid "B<axistest.>I<N>B<.run-low> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:63
+#, no-wrap
+msgid "B<axistest.>I<N>B<.run-high> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:67
+#, no-wrap
+msgid "B<axistest.>I<N>B<.pause> s32 in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:70
+msgid "Pause time for each end of run in seconds"
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:71
+#, no-wrap
+msgid "B<axistest.>I<N>B<.epsilon> float rw (default: I<.001>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/axistest.9:75
+#, no-wrap
+msgid "B<axistest.>I<N>B<.elapsed> float r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:78 man/man9/steptest.9:81 man/man9/timedelay.9:40
+msgid "Current value of the internal timer"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/axistest.9:81
+msgid "Chris S. Morley"
+msgstr ""
+
+#. type: TH
+#: man/man9/bin2gray.9:9
+#, no-wrap
+msgid "BIN2GRAY"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bin2gray.9:13
+msgid "bin2gray - convert a number to the gray-code representation"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bin2gray.9:16
+msgid "B<loadrt bin2gray [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bin2gray.9:19
+msgid "Converts a number into gray-code"
+msgstr ""
+
+#. type: TP
+#: man/man9/bin2gray.9:20
+#, no-wrap
+msgid "B<bin2gray.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/bin2gray.9:24
+#, no-wrap
+msgid "B<bin2gray.>I<N>B<.in> u32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bin2gray.9:27
+msgid "binary code in"
+msgstr ""
+
+#. type: TP
+#: man/man9/bin2gray.9:27
+#, no-wrap
+msgid "B<bin2gray.>I<N>B<.out> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bin2gray.9:30
+msgid "gray code out"
+msgstr ""
+
+#. type: TH
+#: man/man9/biquad.9:9
+#, no-wrap
+msgid "BIQUAD"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:13
+msgid "biquad - Biquad IIR filter"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:16
+msgid "B<loadrt biquad [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:20
+msgid ""
+"Biquad IIR filter. Implements the following transfer function: H(z) = (n0 + "
+"n1z-1 + n2z-2) / (1+ d1z-1 + d2z-2)"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:21
+#, no-wrap
+msgid "B<biquad.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:25
+#, no-wrap
+msgid "B<biquad.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:28
+msgid "Filter input."
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:28
+#, no-wrap
+msgid "B<biquad.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:31
+msgid "Filter output."
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:31
+#, no-wrap
+msgid "B<biquad.>I<N>B<.enable> bit in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:34
+msgid ""
+"Filter enable. When false, the B<in> pin is passed to the B<out> pin without "
+"any filtering.  A B<transition from false to true> causes filter "
+"coefficients to be calculated according to the current B<type> and the "
+"describing pin and parameter settings"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:34
+#, no-wrap
+msgid "B<biquad.>I<N>B<.valid> bit out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:37
+msgid ""
+"When false, indicates an error occurred when calculating filter coefficients "
+"(require 2E<gt>B<Q>E<gt>0.5 and B<f0>E<gt>sampleRate/2)"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:37
+#, no-wrap
+msgid "B<biquad.>I<N>B<.type> u32 in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:40
+msgid ""
+"Filter type determines the type of filter coefficients calculated.  When 0, "
+"coefficients must be loaded directly from the B<n0,n1,n2,d1> params.  When "
+"1, a low pass filter is created specified by the B<f0,Q> pins.  When 2, a "
+"notch filter is created specified by the B<f0,Q> pins."
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:40
+#, no-wrap
+msgid "B<biquad.>I<N>B<.f0> float in (default: I<250.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:43
+msgid "The corner frequency of the filter."
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:43
+#, no-wrap
+msgid "B<biquad.>I<N>B<.Q> float in (default: I<0.7071>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:46
+msgid "The Q of the filter."
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:46
+#, no-wrap
+msgid "B<biquad.>I<N>B<.s1> float out (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:49
+msgid "1st-delayed internal state (for debug only)"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:49
+#, no-wrap
+msgid "B<biquad.>I<N>B<.s2> float out (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:52
+msgid "2nd-delayed internal state (for debug only)"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:53
+#, no-wrap
+msgid "B<biquad.>I<N>B<.d1> float rw (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:56
+msgid "1st-delayed denominator coef"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:56
+#, no-wrap
+msgid "B<biquad.>I<N>B<.d2> float rw (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:59
+msgid "2nd-delayed denominator coef"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:59
+#, no-wrap
+msgid "B<biquad.>I<N>B<.n0> float rw (default: I<1.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:62
+msgid "non-delayed numerator coef"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:62
+#, no-wrap
+msgid "B<biquad.>I<N>B<.n1> float rw (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:65
+msgid "1st-delayed numerator coef"
+msgstr ""
+
+#. type: TP
+#: man/man9/biquad.9:65
+#, no-wrap
+msgid "B<biquad.>I<N>B<.n2> float rw (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:68
+msgid "2nd-delayed numerator coef"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/biquad.9:71
+msgid "Peter G. Vavaroutsos"
+msgstr ""
+
+#. type: TH
+#: man/man9/bitslice.9:9
+#, no-wrap
+msgid "BITSLICE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitslice.9:13
+msgid "bitslice - Converts an unsigned-32 input into individual bits"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitslice.9:16
+msgid ""
+"B<loadrt bitslice [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]] "
+"[personality=>I<P1,P2,...>B<]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitslice.9:22
+msgid ""
+"This component creates individual bit-outputs for each bit of an unsigned-32 "
+"input. The number of bits can be limited by the \"personality\" modparam.  "
+"The inverse process can be performed by the weighted_sum HAL component."
+msgstr ""
+
+#. type: TP
+#: man/man9/bitslice.9:23
+#, no-wrap
+msgid "B<bitslice.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitslice.9:27
+#, no-wrap
+msgid "B<bitslice.>I<N>B<.in> u32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitslice.9:30 man/man9/lincurve.9:49 man/man9/offset.9:30
+msgid "The input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitslice.9:30
+#, no-wrap
+msgid "B<bitslice.>I<N>B<.out->I<MM> bit out (MM=00..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitslice.9:37
+msgid "GPL2+"
+msgstr ""
+
+#. type: TH
+#: man/man9/bitwise.9:9
+#, no-wrap
+msgid "BITWISE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:13
+msgid "bitwise - Computes various bitwise operations on the two input values"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:16
+msgid "B<loadrt bitwise [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:17
+#, no-wrap
+msgid "B<bitwise.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:21
+#, no-wrap
+msgid "B<bitwise.>I<N>B<.in0> u32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:24
+msgid "First input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:24
+#, no-wrap
+msgid "B<bitwise.>I<N>B<.in1> u32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:27
+msgid "Second input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:27
+#, no-wrap
+msgid "B<bitwise.>I<N>B<.out-and> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:30
+msgid "The bitwise AND of the two inputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:30
+#, no-wrap
+msgid "B<bitwise.>I<N>B<.out-or> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:33
+msgid "The bitwise OR of the two inputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:33
+#, no-wrap
+msgid "B<bitwise.>I<N>B<.out-xor> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:36
+msgid "The bitwise XOR of the two inputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:36
+#, no-wrap
+msgid "B<bitwise.>I<N>B<.out-nand> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:39
+msgid "The inverse of the bitwise AND"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:39
+#, no-wrap
+msgid "B<bitwise.>I<N>B<.out-nor> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:42
+msgid "The inverse of the bitwise OR"
+msgstr ""
+
+#. type: TP
+#: man/man9/bitwise.9:42
+#, no-wrap
+msgid "B<bitwise.>I<N>B<.out-xnor> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:45
+msgid "The inverse of the bitwise XOR"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bitwise.9:50 man/man9/demux.9:52
+msgid "GPL 2+"
+msgstr ""
+
+#. type: TH
+#: man/man9/bldc.9:9
+#, no-wrap
+msgid "BLDC"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:13
+msgid "bldc - BLDC and AC-servo control component"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:15
+msgid "B<loadrt bldc cfg=qi6,aH>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:20
+msgid ""
+"This component is designed as an interface between the most common forms of "
+"three-phase motor feedback devices and the corresponding types of drive.  "
+"However, there is no requirement that the motor and drive should necessarily "
+"be of inherently compatible types."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:23
+msgid ""
+"Each instance of the component is defined by a group of letters describing "
+"the input and output types.  A comma separates individual instances of the "
+"component. For example B<loadrt bldc cfg=qi6,aH>."
+msgstr ""
+
+#. type: SH
+#: man/man9/bldc.9:24
+#, no-wrap
+msgid "Tags"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:26
+msgid "Input type definitions are all lower-case."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:29
+msgid ""
+"B<n> No motor feedback. This mode could be used to drive AC induction "
+"motors, but is also potentially useful for creating free-running motor "
+"simulators for drive testing."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:33
+msgid ""
+"B<h> Hall sensor input.  Brushless DC motors (electronically commutated "
+"permanent magnet 3-phase motors) typically use a set of three Hall sensors "
+"to measure the angular position of the rotor.  A lower-case B<h> in the cfg "
+"string indicates that these should be used."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:37
+msgid ""
+"B<a> Absolute encoder input. (Also possibly used by some forms of Resolver "
+"conversion hardware).  The presence of this tag over-rides all other "
+"inputs.  Note that the component still requires to be be connected to the "
+"B<rawcounts> encoder pin to prevent loss of commutation on index-reset."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:40
+msgid ""
+"B<q> Incremental (quadrature) encoder input.  If this input is used then the "
+"rotor will need to be homed before the motor can be run."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:42
+msgid "B<i> Use the index of an incremental encoder as a home reference."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:46
+msgid ""
+"B<f> Use a 4-bit Gray-scale pattern to determine rotor alignment.  This "
+"scheme is only used on the Fanuc \"Red Cap\" motors.  This mode could be "
+"used to control one of these motors using a non-Fanuc drive."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:48
+msgid "Output type descriptions are all upper-case."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:51
+msgid ""
+"B<Defaults> The component will always calculate rotor angle, phase angle and "
+"the absolute value of the input B<value> for interfacing with drives such as "
+"the Mesa 8I20.  It will also default to three individual, bipolar phase "
+"output values if no other output type modifiers are used."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:53
+msgid ""
+"B<B> Bit level outputs. Either 3 or 6 logic-level outputs indicating which "
+"high or low gate drivers on an external drive should be used."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:57
+msgid ""
+"B<6> Create 6 rather than the default 3 outputs.  In the case of numeric "
+"value outputs these are separate positive and negative drive amplitudes.  "
+"Both have positive magnitude."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:61
+msgid ""
+"B<H> Emulated Hall sensor output.  This mode can be used to control a drive "
+"which expects 3x Hall signals, or to convert between a motor with one hall "
+"pattern and a drive which expects a different one."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:64
+msgid ""
+"B<F> Emulated Fanuc Red Cap Gray-code encoder output.  This mode might be "
+"used to drive a non-Fanuc motor using a Fanuc drive intended for the "
+"\"Red-Cap\" motors."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:66
+msgid "B<T> Force Trapezoidal mode."
+msgstr ""
+
+#. type: SH
+#: man/man9/bldc.9:67
+#, no-wrap
+msgid "OPERATING MODES"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:70
+msgid ""
+"The component can control a drive in either Trapezoidal or Sinusoidal mode, "
+"but will always default to sinusoidal if the input and output modes allow "
+"it.  This can be over-ridden by the B<T> tag. Sinusoidal commutation is "
+"significantly smoother (trapezoidal commutation induces 13% torque ripple)."
+msgstr ""
+
+#. type: SH
+#: man/man9/bldc.9:71
+#, no-wrap
+msgid "ROTOR HOMING."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:85
+msgid ""
+"To use an encoder for commutation a reference 0-degrees point must be "
+"found.  The component uses the convention that motor zero is the point that "
+"an unloaded motor aligns to with a positive voltage on the A (or U) terminal "
+"and the B & C (or V and W) terminals connected together and to -ve "
+"voltage. There will be two such positions on a 4-pole motor, 3 on a 6-pole "
+"and so on. They are all functionally equivalent as far as driving the motor "
+"is concerned.  If the motor has Hall sensors then the motor can be started "
+"in trapezoidal commutation mode, and will switch to sinusoidal commutation "
+"when an alignment is found. If the mode is B<qh> then the first Hall "
+"state-transition will be used. If the mode is B<qhi> then the encoder index "
+"will be used. This gives a more accurate homing position if the distance in "
+"encoder counts between motor zero and encoder index is known. To force "
+"homing to the Hall edges instead simply omit the B<i>."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:98
+msgid ""
+"Motors without Hall sensors may be homed in synchronous/direct mode.  The "
+"better of these options is to home to the encoder zero using the B<iq> "
+"config parameter. When the B<init> pin goes high the motor will rotate (in a "
+"direction determined by the B<rev> pin) until the encoder indicates an "
+"index-latch (the servo thread runs too slowly to rely on detecting an "
+"encoder index directly).  If there is no encoder index or its location "
+"relative to motor zero can not be found, then an alternative is to use "
+"I<magnetic> homing using the B<q> config. In this mode the motor will go "
+"through an alignment sequence ending at motor zero when the init pin goes "
+"high It will then set the final position as motor zero. Unfortunately the "
+"motor is rather I<springy> in this mode and so alignment is likely to be "
+"fairly sensitive to load."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:100
+#, no-wrap
+msgid "B<bldc.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:104
+#, no-wrap
+msgid "B<bldc.>I<N>B<.hall1> bit in [if personality & 0x01] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:107
+msgid "Hall sensor signal 1"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:107
+#, no-wrap
+msgid "B<bldc.>I<N>B<.hall2> bit in [if personality & 0x01] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:110
+msgid "Hall sensor signal 2"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:110
+#, no-wrap
+msgid "B<bldc.>I<N>B<.hall3> bit in [if personality & 0x01] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:113
+msgid "Hall sensor signal 3"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:113
+#, no-wrap
+msgid "B<bldc.>I<N>B<.hall-error> bit out [if personality & 0x01] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:118
+msgid ""
+"Indicates that the selected hall pattern gives inconsistent rotor position "
+"data.  This can be due to the pattern being wrong for the motor, or one or "
+"more sensors being unconnected or broken.  A consistent pattern is not "
+"neceesarily valid, but an inconsistent one can never be valid."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:118
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C1> bit in [if ( personality & 0x10 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:121
+msgid "Fanuc Gray-code bit 0 input"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:121
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C2> bit in [if ( personality & 0x10 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:124
+msgid "Fanuc Gray-code bit 1 input"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:124
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C4> bit in [if ( personality & 0x10 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:127
+msgid "Fanuc Gray-code bit 2 input"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:127
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C8> bit in [if ( personality & 0x10 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:130
+msgid "Fanuc Gray-code bit 3 input"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:130
+#, no-wrap
+msgid "B<bldc.>I<N>B<.value> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:133
+msgid "PWM master amplitude input"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:133
+#, no-wrap
+msgid "B<bldc.>I<N>B<.lead-angle> float in [if personality & 0x06] (default: I<90>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:136
+msgid ""
+"The phase lead between the electrical vector and the rotor position in "
+"degrees"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:136
+#, no-wrap
+msgid "B<bldc.>I<N>B<.rev> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:139
+msgid ""
+"Set this pin true to reverse the motor. Negative PWM amplitudes will "
+"alsoreverse the motor and there will generally be a Hall pattern that runs "
+"the motor in each direction too."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:139
+#, no-wrap
+msgid "B<bldc.>I<N>B<.frequency> float in [if ( personality & 0x0F ) == 0] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:142
+msgid ""
+"Frequency input for motors with no feedback at all, or those with only an "
+"index (which is ignored)"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:142
+#, no-wrap
+msgid "B<bldc.>I<N>B<.initvalue> float in [if personality & 0x04] (default: I<0.2>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:145
+msgid ""
+"The current to be used for the homing sequence in applications where an "
+"incremental encoder is used with no hall-sensor feedback"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:145
+#, no-wrap
+msgid "B<bldc.>I<N>B<.rawcounts> s32 in [if personality & 0x06] (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:148
+msgid ""
+"Encoder counts input. This must be linked to the encoder rawcounts pin or "
+"encoder index resets will cause the motor commutation to fail."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:148
+#, no-wrap
+msgid "B<bldc.>I<N>B<.index-enable> bit io [if personality & 0x08] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:152
+msgid ""
+"This pin should be connected to the associated encoder index-enable pin to "
+"zero the encoder when it passes index.  This is only used indicate to the "
+"bldc control component that an index has been seen."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:152
+#, no-wrap
+msgid "B<bldc.>I<N>B<.init> bit in [if ( personality & 0x05 ) == 4] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:161
+msgid ""
+"A rising edge on this pin starts the motor alignment sequence.  This pin "
+"should be connected in such a way that the motors re-align any time that "
+"encoder monitoring has been interrupted.  Typically this will only be at "
+"machine power-off.  The alignment process involves powering the motor phases "
+"in such a way as to put the motor in a known position.  The encoder counts "
+"are then stored in the B<offset> parameter.  The alignment process will tend "
+"to cause a following error if it is triggered while the axis is enabled, so "
+"should be set before the matching axis.N.enable pin.  The complementary "
+"B<init-done> pin can be used to handle the required sequencing."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:164
+msgid ""
+"Both pins can be ignored if the encoder offset is known explicitly, such as "
+"is the case with an absolute encoder.  In that case the B<offset> parameter "
+"can be set directly in the HAL file."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:164
+#, no-wrap
+msgid ""
+"B<bldc.>I<N>B<.init-done> bit out [if ( personality & 0x05 ) == 4] (default: "
+"I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:167
+msgid "Indicates homing sequence complete."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:167
+#, no-wrap
+msgid "B<bldc.>I<N>B<.A-value> float out [if ( personality & 0xF00 ) == 0] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:170
+msgid "Output amplitude for phase A"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:170
+#, no-wrap
+msgid "B<bldc.>I<N>B<.B-value> float out [if ( personality & 0xF00 ) == 0] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:173
+msgid "Output amplitude for phase B"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:173
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C-value> float out [if ( personality & 0xF00 ) == 0] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:176
+msgid "Output amplitude for phase C"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:176
+#, no-wrap
+msgid "B<bldc.>I<N>B<.A-on> bit out [if ( personality & 0xF00 ) == 0x100] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:179
+msgid "Output bit for phase A"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:179
+#, no-wrap
+msgid "B<bldc.>I<N>B<.B-on> bit out [if ( personality & 0xF00 ) == 0x100] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:182
+msgid "Output bit for phase B"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:182
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C-on> bit out [if ( personality & 0xF00 ) == 0x100] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:185
+msgid "Output bit for phase C"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:185
+#, no-wrap
+msgid "B<bldc.>I<N>B<.A-high> float out [if ( personality & 0xF00 ) == 0x200] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:188 man/man9/bldc.9:206
+msgid "High-side driver for phase A"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:188
+#, no-wrap
+msgid "B<bldc.>I<N>B<.B-high> float out [if ( personality & 0xF00 ) == 0x200] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:191 man/man9/bldc.9:209
+msgid "High-side driver for phase B"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:191
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C-high> float out [if ( personality & 0xF00 ) == 0x200] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:194 man/man9/bldc.9:212
+msgid "High-side driver for phase C"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:194
+#, no-wrap
+msgid "B<bldc.>I<N>B<.A-low> float out [if ( personality & 0xF00 ) == 0x200] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:197 man/man9/bldc.9:215
+msgid "Low-side driver for phase A"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:197
+#, no-wrap
+msgid "B<bldc.>I<N>B<.B-low> float out [if ( personality & 0xF00 ) == 0x200] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:200 man/man9/bldc.9:218
+msgid "Low-side driver for phase B"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:200
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C-low> float out [if ( personality & 0xF00 ) == 0x200] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:203 man/man9/bldc.9:221
+msgid "Low-side driver for phase C"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:203
+#, no-wrap
+msgid "B<bldc.>I<N>B<.A-high-on> bit out [if ( personality & 0xF00 ) == 0x300] "
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:206
+#, no-wrap
+msgid "B<bldc.>I<N>B<.B-high-on> bit out [if ( personality & 0xF00 ) == 0x300] "
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:209
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C-high-on> bit out [if ( personality & 0xF00 ) == 0x300] "
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:212
+#, no-wrap
+msgid "B<bldc.>I<N>B<.A-low-on> bit out [if ( personality & 0xF00 ) == 0x300] "
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:215
+#, no-wrap
+msgid "B<bldc.>I<N>B<.B-low-on> bit out [if ( personality & 0xF00 ) == 0x300] "
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:218
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C-low-on> bit out [if ( personality & 0xF00 ) == 0x300] "
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:221
+#, no-wrap
+msgid "B<bldc.>I<N>B<.hall1-out> bit out [if ( personality & 0x400 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:224
+msgid "Hall 1 output"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:224
+#, no-wrap
+msgid "B<bldc.>I<N>B<.hall2-out> bit out [if ( personality & 0x400 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:227
+msgid "Hall 2 output"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:227
+#, no-wrap
+msgid "B<bldc.>I<N>B<.hall3-out> bit out [if ( personality & 0x400 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:230
+msgid "Hall 3 output"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:230
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C1-out> bit out [if ( personality & 0x800 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:233
+msgid "Fanuc Gray-code bit 0 output"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:233
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C2-out> bit out [if ( personality & 0x800 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:236
+msgid "Fanuc Gray-code bit 1 output"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:236
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C4-out> bit out [if ( personality & 0x800 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:239
+msgid "Fanuc Gray-code bit 2 output"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:239
+#, no-wrap
+msgid "B<bldc.>I<N>B<.C8-out> bit out [if ( personality & 0x800 )] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:242
+msgid "Fanuc Gray-code bit 3 output"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:242
+#, no-wrap
+msgid "B<bldc.>I<N>B<.phase-angle> float out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:247
+msgid ""
+"Phase angle including lead/lag angle after encoder zeroing, etc. Useful for "
+"angle/current drives.  This value has a range of 0 to 1 and measures "
+"electrical revolutions.  It will have two zeros for a 4 pole motor, three "
+"for a 6-pole, etc."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:247
+#, no-wrap
+msgid "B<bldc.>I<N>B<.rotor-angle> float out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:251
+msgid ""
+"Rotor angle after encoder zeroing etc. Useful for angle/current drives which "
+"add their own phase offset such as the 8I20.  This value has a range of 0 to "
+"1 and measures electrical revolutions. It will have two zeros for a 4 pole "
+"motor, three for a 6-pole, etc."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:251
+#, no-wrap
+msgid "B<bldc.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:254
+msgid ""
+"Current output, including the effect of the dir pin and the alignment "
+"sequence."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:254
+#, no-wrap
+msgid "B<bldc.>I<N>B<.out-dir> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:257
+msgid "Direction output, high if /fBvalue/fR is negative XOR /fBrev/fR is true."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:257
+#, no-wrap
+msgid "B<bldc.>I<N>B<.out-abs> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:260
+msgid "Absolute value of the input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:261
+#, no-wrap
+msgid "B<bldc.>I<N>B<.in-type> s32 r (default: I<-1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:264 man/man9/bldc.9:267
+msgid "state machine output, will probably hide after debug"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:264
+#, no-wrap
+msgid "B<bldc.>I<N>B<.out-type> s32 r (default: I<-1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:267
+#, no-wrap
+msgid "B<bldc.>I<N>B<.scale> s32 rw [if personality & 0x06] (default: I<512>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:270
+msgid "The number of encoder counts per rotor revolution."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:270
+#, no-wrap
+msgid "B<bldc.>I<N>B<.poles> s32 rw [if personality & 0x06] (default: I<4>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:274
+msgid ""
+"The number of motor poles. The encoder scale will be divided by this value "
+"to determine the number of encoder counts per electrical revolution."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:274
+#, no-wrap
+msgid ""
+"B<bldc.>I<N>B<.encoder-offset> s32 rw [if personality & 0x0A] (default: "
+"I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:278
+msgid ""
+"The offset, in encoder counts, between the motor electrical zero and the "
+"encoder zero modulo the number of counts per electrical revolution"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:278
+#, no-wrap
+msgid ""
+"B<bldc.>I<N>B<.offset-measured> s32 r [if personality & 0x04] (default: "
+"I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:281
+msgid "The encoder offset measured by the homing sequence (in certain modes)"
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:281
+#, no-wrap
+msgid "B<bldc.>I<N>B<.drive-offset> float rw (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:287
+msgid ""
+"The angle, in degrees, applied to the commanded angle by the drive in "
+"degrees.  This value is only used during the homing sequence of drives with "
+"incremental encoder feedback.  It is used to back-calculate from commanded "
+"angle to actual phase angle.  It is only relevant to drives which expect "
+"rotor-angle input rather than phase-angle demand. Should be 0 for most "
+"drives."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:287
+#, no-wrap
+msgid ""
+"B<bldc.>I<N>B<.output-pattern> u32 rw [if personality & 0x400] (default: "
+"I<25>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:290
+msgid ""
+"Commutation pattern to be output in Hall Signal translation mode. See the "
+"description of /fBpattern/fR for details."
+msgstr ""
+
+#. type: TP
+#: man/man9/bldc.9:290
+#, no-wrap
+msgid "B<bldc.>I<N>B<.pattern> u32 rw [if personality & 0x01] (default: I<25>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:303
+msgid ""
+"Commutation pattern to use, from 0 to 47. Default is type 25.  Every "
+"plausible combination is included.  The table shows the excitation pattern "
+"along the top, and the pattern code on the left hand side.  The table "
+"entries are the hall patterns in H1, H2, H3 order.  Common patterns are: 0 "
+"(30 degree commutation) and 26, its reverse.  17 (120 degree).  18 "
+"(alternate 60 degree).  21 (300 degree, Bodine).  22 (240 degree).  25 (60 "
+"degree commutation)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:305
+msgid ""
+"Note that a number of incorrect commutations will have non-zero net torque "
+"which might look as if they work, but don't really."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/bldc.9:307
+msgid "If your motor lacks documentation it might be worth trying every pattern."
+msgstr ""
+
+#. type: groff code
+#: man/man9/bldc.9:308
+#, no-wrap
+msgid ""
+".ie  '\\*[.T]'html' \\{\\\n"
+".HTML \\\n"
+"<STYLE> \\\n"
+"#pattern TD { text-align: center; padding-left: .5ex; padding-right: .5ex } "
+"\\\n"
+"#pattern TH { text-align: center; padding-left: .5ex; padding-right: .5ex } "
+"\\\n"
+"#pattern TD.W { text-align: right; } \\\n"
+"</STYLE> \\\n"
+"<TABLE ID=\"pattern\" STYLE=\"border: 1px solid black; border-collapse: "
+"collapse\"> \\\n"
+"<COL SPAN=7 STYLE=\"margin: .2ex\"><COL SPAN=1 STYLE=\"border-left: 1px "
+"solid black\"> \\\n"
+"<TR><TD>&nbsp;<TH COLSPAN=6 CLASS=W>Phases, Source - Sink \\\n"
+"<TR><TH CLASS=W>pat<TH CLASS=W>B-A<TH CLASS=W>C-A<TH CLASS=W>C-B<TH "
+"CLASS=W>A-B<TH CLASS=W>A-C<TH CLASS=W>B-C \\\n"
+"<TR><TH>0<TD>000<TD>001<TD>011<TD>111<TD>110<TD>100 \\\n"
+"<TR><TH>1<TD>001<TD>000<TD>010<TD>110<TD>111<TD>101 \\\n"
+"<TR><TH>2<TD>000<TD>010<TD>011<TD>111<TD>101<TD>100 \\\n"
+"<TR><TH>3<TD>001<TD>011<TD>010<TD>110<TD>100<TD>101 \\\n"
+"<TR><TH>4<TD>010<TD>011<TD>001<TD>101<TD>100<TD>110 \\\n"
+"<TR><TH>5<TD>011<TD>010<TD>000<TD>100<TD>101<TD>111 \\\n"
+"<TR><TH>6<TD>010<TD>000<TD>001<TD>101<TD>111<TD>110 \\\n"
+"<TR><TH>7<TD>011<TD>001<TD>000<TD>100<TD>110<TD>111 \\\n"
+"<TR><TH>8<TD>000<TD>001<TD>101<TD>111<TD>110<TD>010 \\\n"
+"<TR><TH>9<TD>001<TD>000<TD>100<TD>110<TD>111<TD>011 \\\n"
+"<TR><TH>10<TD>000<TD>010<TD>110<TD>111<TD>101<TD>001 \\\n"
+"<TR><TH>11<TD>001<TD>011<TD>111<TD>110<TD>100<TD>000 \\\n"
+"<TR><TH>12<TD>010<TD>011<TD>111<TD>101<TD>100<TD>000 \\\n"
+"<TR><TH>13<TD>011<TD>010<TD>110<TD>100<TD>101<TD>001 \\\n"
+"<TR><TH>14<TD>010<TD>000<TD>100<TD>101<TD>111<TD>011 \\\n"
+"<TR><TH>15<TD>011<TD>001<TD>101<TD>100<TD>110<TD>010 \\\n"
+"<TR><TH>16<TD>000<TD>100<TD>101<TD>111<TD>011<TD>010 \\\n"
+"<TR><TH>17<TD>001<TD>101<TD>100<TD>110<TD>010<TD>011 \\\n"
+"<TR><TH>18<TD>000<TD>100<TD>110<TD>111<TD>011<TD>001 \\\n"
+"<TR><TH>19<TD>001<TD>101<TD>111<TD>110<TD>010<TD>000 \\\n"
+"<TR><TH>20<TD>010<TD>110<TD>111<TD>101<TD>001<TD>000 \\\n"
+"<TR><TH>21<TD>011<TD>111<TD>110<TD>100<TD>000<TD>001 \\\n"
+"<TR><TH>22<TD>010<TD>110<TD>100<TD>101<TD>001<TD>011 \\\n"
+"<TR><TH>23<TD>011<TD>111<TD>101<TD>100<TD>000<TD>010 \\\n"
+"<TR><TH>24<TD>100<TD>101<TD>111<TD>011<TD>010<TD>000 \\\n"
+"<TR><TH>25<TD>101<TD>100<TD>110<TD>010<TD>011<TD>001 \\\n"
+"<TR><TH>26<TD>100<TD>110<TD>111<TD>011<TD>001<TD>000 \\\n"
+"<TR><TH>27<TD>101<TD>111<TD>110<TD>010<TD>000<TD>001 \\\n"
+"<TR><TH>28<TD>110<TD>111<TD>101<TD>001<TD>000<TD>010 \\\n"
+"<TR><TH>29<TD>111<TD>110<TD>100<TD>000<TD>001<TD>011 \\\n"
+"<TR><TH>30<TD>110<TD>100<TD>101<TD>001<TD>011<TD>010 \\\n"
+"<TR><TH>31<TD>111<TD>101<TD>100<TD>000<TD>010<TD>011 \\\n"
+"<TR><TH>32<TD>100<TD>101<TD>001<TD>011<TD>010<TD>110 \\\n"
+"<TR><TH>33<TD>101<TD>100<TD>000<TD>010<TD>011<TD>111 \\\n"
+"<TR><TH>34<TD>100<TD>110<TD>010<TD>011<TD>001<TD>101 \\\n"
+"<TR><TH>35<TD>101<TD>111<TD>011<TD>010<TD>000<TD>100 \\\n"
+"<TR><TH>36<TD>110<TD>111<TD>011<TD>001<TD>000<TD>100 \\\n"
+"<TR><TH>37<TD>111<TD>110<TD>010<TD>000<TD>001<TD>101 \\\n"
+"<TR><TH>38<TD>110<TD>100<TD>000<TD>001<TD>011<TD>111 \\\n"
+"<TR><TH>39<TD>111<TD>101<TD>001<TD>000<TD>010<TD>110 \\\n"
+"<TR><TH>40<TD>100<TD>000<TD>001<TD>011<TD>111<TD>110 \\\n"
+"<TR><TH>41<TD>101<TD>001<TD>000<TD>010<TD>110<TD>111 \\\n"
+"<TR><TH>42<TD>100<TD>000<TD>010<TD>011<TD>111<TD>101 \\\n"
+"<TR><TH>43<TD>101<TD>001<TD>011<TD>010<TD>110<TD>100 \\\n"
+"<TR><TH>44<TD>110<TD>010<TD>011<TD>001<TD>101<TD>100 \\\n"
+"<TR><TH>45<TD>111<TD>011<TD>010<TD>000<TD>100<TD>101 \\\n"
+"<TR><TH>46<TD>110<TD>010<TD>000<TD>001<TD>101<TD>111 \\\n"
+"<TR><TH>47<TD>111<TD>011<TD>001<TD>000<TD>100<TD>110 \\\n"
+"</TABLE>\n"
+"\\}\n"
+".el \\{\\\n"
+"\n"
+".TS\n"
+"box tab(;);\n"
+"cb s s s s s s\n"
+"cb|cb cb cb cb cb cb\n"
+"c | c  c  c  c c r.\n"
+"Phases, Source - Sink\n"
+"_\n"
+"pat;B-A;C-A;C-B;A-B;A-C;B-C\n"
+"_\n"
+"0;000;001;011;111;110;100\n"
+"1;001;000;010;110;111;101\n"
+"2;000;010;011;111;101;100\n"
+"3;001;011;010;110;100;101\n"
+"4;010;011;001;101;100;110\n"
+"5;011;010;000;100;101;111\n"
+"6;010;000;001;101;111;110\n"
+"7;011;001;000;100;110;111\n"
+"8;000;001;101;111;110;010\n"
+"9;001;000;100;110;111;011\n"
+"10;000;010;110;111;101;001\n"
+"11;001;011;111;110;100;000\n"
+"12;010;011;111;101;100;000\n"
+"13;011;010;110;100;101;001\n"
+"14;010;000;100;101;111;011\n"
+"15;011;001;101;100;110;010\n"
+"16;000;100;101;111;011;010\n"
+"17;001;101;100;110;010;011\n"
+"18;000;100;110;111;011;001\n"
+"19;001;101;111;110;010;000\n"
+"20;010;110;111;101;001;000\n"
+"21;011;111;110;100;000;001\n"
+"22;010;110;100;101;001;011\n"
+"23;011;111;101;100;000;010\n"
+"24;100;101;111;011;010;000\n"
+"25;101;100;110;010;011;001\n"
+"26;100;110;111;011;001;000\n"
+"27;101;111;110;010;000;001\n"
+"28;110;111;101;001;000;010\n"
+"29;111;110;100;000;001;011\n"
+"30;110;100;101;001;011;010\n"
+"31;111;101;100;000;010;011\n"
+"32;100;101;001;011;010;110\n"
+"33;101;100;000;010;011;111\n"
+"34;100;110;010;011;001;101\n"
+"35;101;111;011;010;000;100\n"
+"36;110;111;011;001;000;100\n"
+"37;111;110;010;000;001;101\n"
+"38;110;100;000;001;011;111\n"
+"39;111;101;001;000;010;110\n"
+"40;100;000;001;011;111;110\n"
+"41;101;001;000;010;110;111\n"
+"42;100;000;010;011;111;101\n"
+"43;101;001;011;010;110;100\n"
+"44;110;010;011;001;101;100\n"
+"45;111;011;010;000;100;101\n"
+"46;110;010;000;001;101;111\n"
+"47;111;011;001;000;100;110\n"
+".TE\n"
+"\\}\n"
+msgstr ""
+
+#. type: TH
+#: man/man9/blend.9:9
+#, no-wrap
+msgid "BLEND"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/blend.9:13
+msgid "blend - Perform linear interpolation between two values"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/blend.9:16
+msgid "B<loadrt blend [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/blend.9:17
+#, no-wrap
+msgid "B<blend.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/blend.9:21
+#, no-wrap
+msgid "B<blend.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/blend.9:24
+msgid "First input.  If select is equal to 1.0, the output is equal to in1"
+msgstr ""
+
+#. type: TP
+#: man/man9/blend.9:24
+#, no-wrap
+msgid "B<blend.>I<N>B<.in2> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/blend.9:27
+msgid "Second input.  If select is equal to 0.0, the output is equal to in2"
+msgstr ""
+
+#. type: TP
+#: man/man9/blend.9:27
+#, no-wrap
+msgid "B<blend.>I<N>B<.select> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/blend.9:30
+msgid ""
+"Select input.  For values between 0.0 and 1.0, the output changes linearly "
+"from in2 to in1"
+msgstr ""
+
+#. type: TP
+#: man/man9/blend.9:30
+#, no-wrap
+msgid "B<blend.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/blend.9:33
+msgid "Output value."
+msgstr ""
+
+#. type: TP
+#: man/man9/blend.9:34
+#, no-wrap
+msgid "B<blend.>I<N>B<.open> bit rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/blend.9:37
+msgid ""
+"If true, select values outside the range 0.0 to 1.0 give values outside the "
+"range in2 to in1.  If false, outputs are clamped to the the range in2 to in1"
+msgstr ""
+
+#. type: TH
+#: man/man9/carousel.9:9
+#, no-wrap
+msgid "CAROUSEL"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:13
+msgid "carousel - Orient a toolchanger carousel using various encoding schemes"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:19
+msgid ""
+"B<loadrt carousel pockets=>I<N>[,I<N>] B<encoding=>I<ssss>[,I<sss>] "
+"B<num_sense=>I<N>[,I<N>] B<dir=>I<N>[,I<N]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:21
+#, no-wrap
+msgid "B<pockets> The number of pockets in each toolchanger."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:24
+msgid ""
+"Use up to 8 numbers separated by commas to create multiple carousel "
+"components."
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:24
+#, no-wrap
+msgid "B<encoding> The position encoding."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:27
+msgid "gray, binary, bcd, index, edge, counts or single. Default = 'gray'"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:27
+#, no-wrap
+msgid "B<num_sense> The number of position sense pins."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:30
+msgid "Default = 4."
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:30
+#, no-wrap
+msgid "B<dir> Set to 1 for unidirectional or  2 for bidirectional operation."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:33
+msgid "Default = bidirectional"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:33
+#, no-wrap
+msgid "B<parity> Set to 1 for odd parity, 0 for even parity checking."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:36
+msgid "Default = 0 (even)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:41
+msgid ""
+"This component is intended to help operate various types of carousel-type "
+"toolchangers."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:51
+msgid ""
+"The component can be configured to operate with binary, binary-coded decimal "
+"(BCD)  or gray-coded position feedback ('binary;, 'bcd' and 'gray' modes)  "
+"It can alternatively work with an individual sensor for each tool position "
+"('single' mode) or with a sensor at each tool position and a separate index "
+"('index' mode). Systems using a stepper motor or quadrature encoder are also "
+"supported ('counts' mode).  B<edge> is a special case of index mode for tool "
+"changers with pockets on both the rising and falling edges of the position "
+"sensor.  (Seen on at least one Denford Orac.)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:54
+msgid ""
+"Both unidirectional and bidirectional systems are supported and those that "
+"reverse against a stop when in position."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:57
+msgid ""
+"The number of carousel component instances created depends on the number of "
+"entries in the 'pockets' modparam. For example"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:59
+msgid "B<loadrt carousel pockets=10,10,8>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:63
+msgid ""
+"Would create 3 carousel instances with 10, 10 and 8 pockets. The other "
+"parameters are optional. If absent then defaults will be used. Any missing "
+"entry will assume the previous value."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:70
+msgid ""
+"When the enable pin is set to true the component will immediately set the "
+"\"active\" pin to true and then (for a bidirectional instance) calculate the "
+"shortest path to the requested pocket number. The appropriate motor "
+"direction output pins will then be set. Bit outputs for forward and reverse "
+"are provided as well as a three-state velocity output for driving a DC motor "
+"PWM or a velocity-mode stepgen."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:74
+msgid ""
+"The component will monitor the carousel position and, when the correct "
+"position is reached, set the motor-control pins to 0, set \"active\" to 0 "
+"and set \"ready\" to 1."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:82
+msgid ""
+"In 'index', 'edge' or 'counts'mode there is a need to find the initial home "
+"position of the carousel.  The first time that the \"enable\" pin is set; "
+"the carousel will rotate forwards searching for a home signal. In 'index' "
+"and 'edge' mode this is when both the index and pulse inputs are true. In "
+"'counts' mode only the index input needs to be set to set home. Additionally "
+"in 'counts' mode the usual index-enable logic of the encoder counters is "
+"supported."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:92
+msgid ""
+"With some carousel designs the carousel will not stop immediately. To allow "
+"for this set the B<lign-dc> pin to a low velocity to be used for a final "
+"latching move, and set theB<decel-time> to a suitable value.  Once the "
+"decel-time has expired the carousel will, if it was moving forwards, reverse "
+"back on to the position marker, off of the arker and then bak on to the FWD "
+"edge. If moving in reverse it will continue off the marker and then reverse "
+"slowly on to the FWD edge.  This algnment is only possible with a motor-vel "
+"controlled bidirectional carousel, Other combinations will be accepted but "
+"probably won't have the desired behaviour.  Some tuning will be needed of "
+"align-dc and decel-time to achieve reliable operation."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:95
+msgid ""
+"In the unusual case that the index and pulse signals do not align it is "
+"possible to use HAL logic to achieve the desired pin switching during "
+"homing."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:100
+msgid ""
+"Setting \"enable\" low does not halt the homing move, so if homing on first "
+"tool change is not needed then the enable pin can be toggled by an axis "
+"homing pin or a script and the homing process will continue even if that "
+"driving signal resets during the carousel homing move."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:111
+msgid ""
+"To operate the component with an encoder or stepgen use mode \"C\". The "
+"B<scale> pin should be the number of steps or encoder counts between pocket "
+"centres. The B<width> pin can be used to stop the motor some distance before "
+"the centre of the pocket to allow the motor time to decelerate.  In mode "
+"\"C\" it is possible to use either the speed/direction control used in other "
+"modes or to use direct position mode using the counts-target pin. The "
+"internal scaling of the encoder or stepgen should be set to 1.0. A PID hal "
+"component will be needed for encoder applications whereas stepgen "
+"configurations can use a stepgen in position control mode or in velocity "
+"control mode with a PID."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:116
+msgid ""
+"For tool changers which lock the carousel against a stop the B<rev-pulse> "
+"pin can be set to a non-zero value. The motor-rev pin will then be set for "
+"this many seconds at the completion of the tool search and at the same time "
+"the reverse duty/cycle velocity value will be sent to the motor-vel pin."
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:118
+#, no-wrap
+msgid "B<carousel.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:122
+#, no-wrap
+msgid "B<carousel.>I<N>B<.pocket-number> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:128
+msgid ""
+"The pocket to move to when the .enable pin goes high. If the value passed is "
+"higher than the number of pockets specified in the \"pockets\" modparam then "
+"modulo arithmetic is used. This is intended to allow the use of multiple "
+"tools in the same holder, as is sometimes useful with lathes."
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:128
+#, no-wrap
+msgid "B<carousel.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:131
+msgid "Set this pin high to start movement. Setting it low will stop movement"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:131
+#, no-wrap
+msgid "B<carousel.>I<N>B<.active> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:134
+msgid "indicates that the component is active"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:134
+#, no-wrap
+msgid "B<carousel.>I<N>B<.ready> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:137
+msgid "This pin goes high when the carousel is in-position"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:137
+#, no-wrap
+msgid "B<carousel.>I<N>B<.strobe> bit in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:141
+msgid ""
+"Use this pin to indicate that the position feedback is valid. Often provided "
+"by binary encoders"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:141
+#, no-wrap
+msgid "B<carousel.>I<N>B<.parity> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:145
+msgid ""
+"Some encoders supply a parity bit, if this is connected then the "
+"parity-error output bit will indicate parity errors"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:145
+#, no-wrap
+msgid "B<carousel.>I<N>B<.sense->I<M> bit in (M=0..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:149
+msgid ""
+"Carousel position feedback pins. In 'index' mode there will be only 2 "
+"pins. sense-0 is the index and sense-1 is the pocket sensor."
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:149
+#, no-wrap
+msgid "B<carousel.>I<N>B<.rev-pulse> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:153
+msgid ""
+"The duration in seconds for which a ratchet changer (Boxford, Emco)  should "
+"pulse the reverse pin to lock the holder"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:153
+#, no-wrap
+msgid "B<carousel.>I<N>B<.fwd-dc> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:156
+msgid "Velocity or duty cycle when forwards rotation is desired"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:156
+#, no-wrap
+msgid "B<carousel.>I<N>B<.rev-dc> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:159
+msgid "Velocity or duty cycle when reverse rotation is desired"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:159
+#, no-wrap
+msgid "B<carousel.>I<N>B<.hold-dc> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:162
+msgid "Duty cycle when carousel is in-position (to hold against stop)"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:162
+#, no-wrap
+msgid "B<carousel.>I<N>B<.align-dc> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:166
+msgid ""
+"Use this pin to set the speed of a slower alignment move once the changer is "
+"in position. Such a system almost certainly needs decel-time setting too"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:166
+#, no-wrap
+msgid "B<carousel.>I<N>B<.decel-time> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:169
+msgid "Time to wait for carousel to stop before final alignment and position check"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:169
+#, no-wrap
+msgid "B<carousel.>I<N>B<.counts> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:172
+msgid "Connect to the rawcounts of an encoder or a stepgen in 'counts' mode"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:172
+#, no-wrap
+msgid "B<carousel.>I<N>B<.scale> s32 in (default: I<100>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:175
+msgid "The number of stepgen or encoder counts between successive pockets"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:175
+#, no-wrap
+msgid "B<carousel.>I<N>B<.width> s32 in (default: I<10>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:178
+msgid "How far each side of the exact scale to signal a new pocket"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:178
+#, no-wrap
+msgid "B<carousel.>I<N>B<.home-offset> s32 in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:181
+msgid "The offset (in counts) between the index and pocket 1"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:181
+#, no-wrap
+msgid "B<carousel.>I<N>B<.index-enable> bit io "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:184
+msgid "Used to home to an encoder index"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:184
+#, no-wrap
+msgid "B<carousel.>I<N>B<.jog-fwd> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:187
+msgid "Jog the carousel forwards one tool position"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:187
+#, no-wrap
+msgid "B<carousel.>I<N>B<.jog-rev> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:192
+msgid ""
+"Jog the carousel in reverse (only if dir = 2).  It is very important that "
+"these pins should be debounced and should probably also be interlocked to "
+"only operate when the machine is idle."
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:192
+#, no-wrap
+msgid "B<carousel.>I<N>B<.motor-fwd> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:195
+msgid "Indicates the motor should run forwards (bigger numbers)"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:195
+#, no-wrap
+msgid "B<carousel.>I<N>B<.motor-rev> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:198
+msgid "Indicates the motor should run reverse."
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:198
+#, no-wrap
+msgid "B<carousel.>I<N>B<.parity-error> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:201
+msgid "Indicates a parity error"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:201
+#, no-wrap
+msgid "B<carousel.>I<N>B<.current-position> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:204
+msgid "This pin indicates the current position feedback"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:204
+#, no-wrap
+msgid "B<carousel.>I<N>B<.motor-vel> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:207
+msgid "The duty-cycle or velocity to drive a DC motor or stepgen"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:207
+#, no-wrap
+msgid "B<carousel.>I<N>B<.homed> bit out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:210
+msgid "Shows that homing is complete. Only used in index and edge modes"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:210
+#, no-wrap
+msgid "B<carousel.>I<N>B<.unhome> bit in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:213
+msgid "Should only really be necessary for testing"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:213
+#, no-wrap
+msgid "B<carousel.>I<N>B<.counts-target> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:216
+msgid "Target position for a stepgen or external PID controller"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:217
+#, no-wrap
+msgid "B<carousel.>I<N>B<.state> s32 r (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:220
+msgid "Current component state"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:220
+#, no-wrap
+msgid "B<carousel.>I<N>B<.homing> bit r (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:223
+msgid "Shows that homing is in progress. Only used for index mode"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:223
+#, no-wrap
+msgid "B<carousel.>I<N>B<.timer> float r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:226
+msgid "Shows the value of the internal timer"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:226
+#, no-wrap
+msgid "B<carousel.>I<N>B<.motor-dir> s32 r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:229
+msgid "Internal tag for search direction"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:229
+#, no-wrap
+msgid "B<carousel.>I<N>B<.counts-offset> s32 r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:232
+msgid "Internal offset of index pin"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:232
+#, no-wrap
+msgid "B<carousel.>I<N>B<.debounce> u32 rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:235
+msgid "How many thread cycles to wait for the position to stabilise"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:235
+#, no-wrap
+msgid "B<carousel.>I<N>B<.target> s32 r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/carousel.9:238
+msgid "Current target pocket, debug"
+msgstr ""
+
+#. type: TP
+#: man/man9/carousel.9:238
+#, no-wrap
+msgid "B<carousel.>I<N>B<.base-counts> s32 r (default: I<0>)"
+msgstr ""
+
+#. type: TH
+#: man/man9/charge_pump.9:9
+#, no-wrap
+msgid "CHARGE_PUMP"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/charge_pump.9:13
+msgid ""
+"charge_pump - Create a square-wave for the 'charge pump' input of some "
+"controller boards"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/charge_pump.9:16
+msgid "B<loadrt charge_pump>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/charge_pump.9:25
+msgid ""
+"The 'Charge Pump' should be added to the base thread function.  When enabled "
+"the output is on for one period and off for one period. To calculate the "
+"frequency of the output 1/(period time in seconds x 2) = Hz. For example if "
+"you have a base period of 100,000ns that is 0.0001 seconds and the formula "
+"would be 1/(0.0001 x 2) = 5,000 Hz or 5 kHz. Two additional outputs are "
+"provided that run a factor of 2 and 4 slower for hardware that requires a "
+"lower frequency."
+msgstr ""
+
+#. type: TP
+#: man/man9/charge_pump.9:26
+#, no-wrap
+msgid "B<charge-pump>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/charge_pump.9:29
+msgid "Toggle the output bit (if enabled)"
+msgstr ""
+
+#. type: TP
+#: man/man9/charge_pump.9:30
+#, no-wrap
+msgid "B<charge-pump.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/charge_pump.9:33
+msgid "Square wave if 'enable' is TRUE or unconnected, low if 'enable' is FALSE"
+msgstr ""
+
+#. type: TP
+#: man/man9/charge_pump.9:33
+#, no-wrap
+msgid "B<charge-pump.out-2> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/charge_pump.9:36
+msgid "Square wave at half the frequency of 'out'"
+msgstr ""
+
+#. type: TP
+#: man/man9/charge_pump.9:36
+#, no-wrap
+msgid "B<charge-pump.out-4> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/charge_pump.9:39
+msgid "Square wave at a quarter of the frequency of 'out'"
+msgstr ""
+
+#. type: TP
+#: man/man9/charge_pump.9:39
+#, no-wrap
+msgid "B<charge-pump.enable> bit in (default: I<TRUE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/charge_pump.9:42
+msgid "If FALSE, forces all 'out' pins to be low"
+msgstr ""
+
+#. type: TH
+#: man/man9/clarke2.9:9
+#, no-wrap
+msgid "CLARKE2"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke2.9:13
+msgid "clarke2 - Two input version of Clarke transform"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke2.9:16
+msgid "B<loadrt clarke2 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke2.9:21
+msgid ""
+"The Clarke transform can be used to translate a vector quantity from a three "
+"phase system (three components 120 degrees apart) to a two phase Cartesian "
+"system."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke2.9:30
+msgid ""
+"B<clarke2> implements a special case of the Clarke transform, which only "
+"needs two of the three input phases.  In a three wire three phase system, "
+"the sum of the three phase currents or voltages must always be zero.  As a "
+"result only two of the three are needed to completely define the current or "
+"voltage.  B<clarke2> assumes that the sum is zero, so it only uses phases A "
+"and B of the input.  Since the H (homopolar) output will always be zero in "
+"this case, it is not generated."
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke2.9:31
+#, no-wrap
+msgid "B<clarke2.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke2.9:35
+#, no-wrap
+msgid "B<clarke2.>I<N>B<.a> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke2.9:39
+#, no-wrap
+msgid "B<clarke2.>I<N>B<.b> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke2.9:42
+msgid "first two phases of three phase input"
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke2.9:42
+#, no-wrap
+msgid "B<clarke2.>I<N>B<.x> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke2.9:46
+#, no-wrap
+msgid "B<clarke2.>I<N>B<.y> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke2.9:49 man/man9/clarke3.9:50
+msgid "cartesian components of output"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke2.9:53
+msgid ""
+"B<clarke3>(9) for the general case, B<clarkeinv>(9) for the inverse "
+"transform."
+msgstr ""
+
+#. type: TH
+#: man/man9/clarke3.9:9
+#, no-wrap
+msgid "CLARKE3"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke3.9:13
+msgid "clarke3 - Clarke (3 phase to cartesian) transform"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke3.9:16
+msgid "B<loadrt clarke3 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke3.9:22
+msgid ""
+"The Clarke transform can be used to translate a vector quantity from a three "
+"phase system (three components 120 degrees apart) to a two phase Cartesian "
+"system (plus a homopolar component if the three phases don't sum to zero)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke3.9:27
+msgid ""
+"B<clarke3> implements the general case of the transform, using all three "
+"phases.  If the three phases are known to sum to zero, see B<clarke2> for a "
+"simpler version."
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke3.9:28
+#, no-wrap
+msgid "B<clarke3.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke3.9:32
+#, no-wrap
+msgid "B<clarke3.>I<N>B<.a> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke3.9:36
+#, no-wrap
+msgid "B<clarke3.>I<N>B<.b> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke3.9:40
+#, no-wrap
+msgid "B<clarke3.>I<N>B<.c> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke3.9:43
+msgid "three phase input vector"
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke3.9:43
+#, no-wrap
+msgid "B<clarke3.>I<N>B<.x> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke3.9:47
+#, no-wrap
+msgid "B<clarke3.>I<N>B<.y> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarke3.9:50
+#, no-wrap
+msgid "B<clarke3.>I<N>B<.h> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke3.9:53
+msgid "homopolar component of output"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarke3.9:57
+msgid ""
+"B<clarke2>(9) for the 'a+b+c=0' case, B<clarkeinv>(9) for the inverse "
+"transform."
+msgstr ""
+
+#. type: TH
+#: man/man9/clarkeinv.9:9
+#, no-wrap
+msgid "CLARKEINV"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarkeinv.9:13
+msgid "clarkeinv - Inverse Clarke transform"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarkeinv.9:16
+msgid "B<loadrt clarkeinv [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarkeinv.9:21
+msgid ""
+"The inverse Clarke transform can be used rotate a vector quantity and then "
+"translate it from Cartesian coordinate system to a three phase system (three "
+"components 120 degrees apart)."
+msgstr ""
+
+#. type: TP
+#: man/man9/clarkeinv.9:22
+#, no-wrap
+msgid "B<clarkeinv.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/clarkeinv.9:26
+#, no-wrap
+msgid "B<clarkeinv.>I<N>B<.x> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarkeinv.9:30
+#, no-wrap
+msgid "B<clarkeinv.>I<N>B<.y> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarkeinv.9:33
+msgid "cartesian components of input"
+msgstr ""
+
+#. type: TP
+#: man/man9/clarkeinv.9:33
+#, no-wrap
+msgid "B<clarkeinv.>I<N>B<.h> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarkeinv.9:36
+msgid "homopolar component of input (usually zero)"
+msgstr ""
+
+#. type: TP
+#: man/man9/clarkeinv.9:36
+#, no-wrap
+msgid "B<clarkeinv.>I<N>B<.theta> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarkeinv.9:39
+msgid "rotation angle: 0.00 to 1.00 = 0 to 360 degrees"
+msgstr ""
+
+#. type: TP
+#: man/man9/clarkeinv.9:39
+#, no-wrap
+msgid "B<clarkeinv.>I<N>B<.a> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarkeinv.9:43
+#, no-wrap
+msgid "B<clarkeinv.>I<N>B<.b> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/clarkeinv.9:47
+#, no-wrap
+msgid "B<clarkeinv.>I<N>B<.c> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarkeinv.9:50
+msgid "three phase output vector"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/clarkeinv.9:53
+msgid "B<clarke2>(9) and B<clarke3>(9) for the forward transform."
+msgstr ""
+
+#. type: TH
+#: man/man9/comp.9:9
+#, no-wrap
+msgid "COMP"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:13
+msgid "comp - Two input comparator with hysteresis"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:16
+msgid "B<loadrt comp [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/comp.9:17
+#, no-wrap
+msgid "B<comp.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:20
+msgid "Update the comparator"
+msgstr ""
+
+#. type: TP
+#: man/man9/comp.9:21
+#, no-wrap
+msgid "B<comp.>I<N>B<.in0> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:24
+msgid "Inverting input to the comparator"
+msgstr ""
+
+#. type: TP
+#: man/man9/comp.9:24
+#, no-wrap
+msgid "B<comp.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:27
+msgid "Non-inverting input to the comparator"
+msgstr ""
+
+#. type: TP
+#: man/man9/comp.9:27
+#, no-wrap
+msgid "B<comp.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:30
+msgid ""
+"Normal output. True when B<in1> E<gt> B<in0> (see parameter B<hyst> for "
+"details)"
+msgstr ""
+
+#. type: TP
+#: man/man9/comp.9:30
+#, no-wrap
+msgid "B<comp.>I<N>B<.equal> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:33
+msgid ""
+"Match output.  True when difference between B<in1> and B<in0> is less than "
+"B<hyst>/2"
+msgstr ""
+
+#. type: TP
+#: man/man9/comp.9:34
+#, no-wrap
+msgid "B<comp.>I<N>B<.hyst> float rw (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:37
+msgid "Hysteresis of the comparator (default 0.0)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/comp.9:43
+msgid ""
+"With zero hysteresis, the output is true when B<in1> E<gt> B<in0>.  With "
+"nonzero hysteresis, the output switches on and off at two different values, "
+"separated by distance B<hyst> around the point where B<in1> = B<in0>.  Keep "
+"in mind that floating point calculations are never absolute and it is wise "
+"to always set B<hyst> if you intend to use equal"
+msgstr ""
+
+#. type: TH
+#: man/man9/constant.9:9
+#, no-wrap
+msgid "CONSTANT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/constant.9:13
+msgid "constant - Use a parameter to set the value of a pin"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/constant.9:16
+msgid "B<loadrt constant [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/constant.9:17
+#, no-wrap
+msgid "B<constant.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/constant.9:21
+#, no-wrap
+msgid "B<constant.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/constant.9:24
+#, no-wrap
+msgid "B<constant.>I<N>B<.value> float rw "
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_bit_float.9:9
+#, no-wrap
+msgid "CONV_BIT_FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_bit_float.9:13
+msgid "conv_bit_float - Convert a value from bit to float"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_bit_float.9:16
+msgid "B<loadrt conv_bit_float [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_float.9:17
+#, no-wrap
+msgid "B<conv-bit-float.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_bit_float.9:20 man/man9/conv_bit_s32.9:20
+#: man/man9/conv_bit_u32.9:20 man/man9/conv_float_s32.9:20
+#: man/man9/conv_float_u32.9:20 man/man9/conv_s32_bit.9:20
+#: man/man9/conv_s32_float.9:20 man/man9/conv_s32_u32.9:20
+#: man/man9/conv_u32_bit.9:20 man/man9/conv_u32_float.9:20
+#: man/man9/conv_u32_s32.9:20
+msgid "Update 'out' based on 'in'"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_float.9:21
+#, no-wrap
+msgid "B<conv-bit-float.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_float.9:25
+#, no-wrap
+msgid "B<conv-bit-float.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_bit_s32.9:9
+#, no-wrap
+msgid "CONV_BIT_S32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_bit_s32.9:13
+msgid "conv_bit_s32 - Convert a value from bit to s32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_bit_s32.9:16
+msgid "B<loadrt conv_bit_s32 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_s32.9:17
+#, no-wrap
+msgid "B<conv-bit-s32.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_s32.9:21
+#, no-wrap
+msgid "B<conv-bit-s32.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_s32.9:25
+#, no-wrap
+msgid "B<conv-bit-s32.>I<N>B<.out> s32 out "
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_bit_u32.9:9
+#, no-wrap
+msgid "CONV_BIT_U32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_bit_u32.9:13
+msgid "conv_bit_u32 - Convert a value from bit to u32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_bit_u32.9:16
+msgid "B<loadrt conv_bit_u32 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_u32.9:17
+#, no-wrap
+msgid "B<conv-bit-u32.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_u32.9:21
+#, no-wrap
+msgid "B<conv-bit-u32.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_bit_u32.9:25
+#, no-wrap
+msgid "B<conv-bit-u32.>I<N>B<.out> u32 out "
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_float_s32.9:9
+#, no-wrap
+msgid "CONV_FLOAT_S32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_float_s32.9:13
+msgid "conv_float_s32 - Convert a value from float to s32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_float_s32.9:16
+msgid "B<loadrt conv_float_s32 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_s32.9:17
+#, no-wrap
+msgid "B<conv-float-s32.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_s32.9:21
+#, no-wrap
+msgid "B<conv-float-s32.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_s32.9:25
+#, no-wrap
+msgid "B<conv-float-s32.>I<N>B<.out> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_s32.9:29
+#, no-wrap
+msgid "B<conv-float-s32.>I<N>B<.out-of-range> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_float_s32.9:32 man/man9/conv_u32_s32.9:32
+msgid "TRUE when 'in' is not in the range of s32"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_s32.9:33
+#, no-wrap
+msgid "B<conv-float-s32.>I<N>B<.clamp> bit rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_float_s32.9:36 man/man9/conv_u32_s32.9:36
+msgid ""
+"If TRUE, then clamp to the range of s32.  If FALSE, then allow the value to "
+"\"wrap around\"."
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_float_u32.9:9
+#, no-wrap
+msgid "CONV_FLOAT_U32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_float_u32.9:13
+msgid "conv_float_u32 - Convert a value from float to u32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_float_u32.9:16
+msgid "B<loadrt conv_float_u32 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_u32.9:17
+#, no-wrap
+msgid "B<conv-float-u32.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_u32.9:21
+#, no-wrap
+msgid "B<conv-float-u32.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_u32.9:25
+#, no-wrap
+msgid "B<conv-float-u32.>I<N>B<.out> u32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_u32.9:29
+#, no-wrap
+msgid "B<conv-float-u32.>I<N>B<.out-of-range> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_float_u32.9:32 man/man9/conv_s32_u32.9:32
+msgid "TRUE when 'in' is not in the range of u32"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_float_u32.9:33
+#, no-wrap
+msgid "B<conv-float-u32.>I<N>B<.clamp> bit rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_float_u32.9:36 man/man9/conv_s32_u32.9:36
+msgid ""
+"If TRUE, then clamp to the range of u32.  If FALSE, then allow the value to "
+"\"wrap around\"."
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_s32_bit.9:9
+#, no-wrap
+msgid "CONV_S32_BIT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_s32_bit.9:13
+msgid "conv_s32_bit - Convert a value from s32 to bit"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_s32_bit.9:16
+msgid "B<loadrt conv_s32_bit [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_bit.9:17
+#, no-wrap
+msgid "B<conv-s32-bit.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_bit.9:21
+#, no-wrap
+msgid "B<conv-s32-bit.>I<N>B<.in> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_bit.9:25
+#, no-wrap
+msgid "B<conv-s32-bit.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_bit.9:29
+#, no-wrap
+msgid "B<conv-s32-bit.>I<N>B<.out-of-range> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_s32_bit.9:32 man/man9/conv_u32_bit.9:32
+msgid "TRUE when 'in' is not in the range of bit"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_bit.9:33
+#, no-wrap
+msgid "B<conv-s32-bit.>I<N>B<.clamp> bit rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_s32_bit.9:36 man/man9/conv_u32_bit.9:36
+msgid ""
+"If TRUE, then clamp to the range of bit.  If FALSE, then allow the value to "
+"\"wrap around\"."
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_s32_float.9:9
+#, no-wrap
+msgid "CONV_S32_FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_s32_float.9:13
+msgid "conv_s32_float - Convert a value from s32 to float"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_s32_float.9:16
+msgid "B<loadrt conv_s32_float [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_float.9:17
+#, no-wrap
+msgid "B<conv-s32-float.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_float.9:21
+#, no-wrap
+msgid "B<conv-s32-float.>I<N>B<.in> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_float.9:25
+#, no-wrap
+msgid "B<conv-s32-float.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_s32_u32.9:9
+#, no-wrap
+msgid "CONV_S32_U32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_s32_u32.9:13
+msgid "conv_s32_u32 - Convert a value from s32 to u32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_s32_u32.9:16
+msgid "B<loadrt conv_s32_u32 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_u32.9:17
+#, no-wrap
+msgid "B<conv-s32-u32.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_u32.9:21
+#, no-wrap
+msgid "B<conv-s32-u32.>I<N>B<.in> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_u32.9:25
+#, no-wrap
+msgid "B<conv-s32-u32.>I<N>B<.out> u32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_u32.9:29
+#, no-wrap
+msgid "B<conv-s32-u32.>I<N>B<.out-of-range> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_s32_u32.9:33
+#, no-wrap
+msgid "B<conv-s32-u32.>I<N>B<.clamp> bit rw "
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_u32_bit.9:9
+#, no-wrap
+msgid "CONV_U32_BIT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_u32_bit.9:13
+msgid "conv_u32_bit - Convert a value from u32 to bit"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_u32_bit.9:16
+msgid "B<loadrt conv_u32_bit [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_bit.9:17
+#, no-wrap
+msgid "B<conv-u32-bit.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_bit.9:21
+#, no-wrap
+msgid "B<conv-u32-bit.>I<N>B<.in> u32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_bit.9:25
+#, no-wrap
+msgid "B<conv-u32-bit.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_bit.9:29
+#, no-wrap
+msgid "B<conv-u32-bit.>I<N>B<.out-of-range> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_bit.9:33
+#, no-wrap
+msgid "B<conv-u32-bit.>I<N>B<.clamp> bit rw "
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_u32_float.9:9
+#, no-wrap
+msgid "CONV_U32_FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_u32_float.9:13
+msgid "conv_u32_float - Convert a value from u32 to float"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_u32_float.9:16
+msgid "B<loadrt conv_u32_float [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_float.9:17
+#, no-wrap
+msgid "B<conv-u32-float.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_float.9:21
+#, no-wrap
+msgid "B<conv-u32-float.>I<N>B<.in> u32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_float.9:25
+#, no-wrap
+msgid "B<conv-u32-float.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TH
+#: man/man9/conv_u32_s32.9:9
+#, no-wrap
+msgid "CONV_U32_S32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_u32_s32.9:13
+msgid "conv_u32_s32 - Convert a value from u32 to s32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/conv_u32_s32.9:16
+msgid "B<loadrt conv_u32_s32 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_s32.9:17
+#, no-wrap
+msgid "B<conv-u32-s32.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_s32.9:21
+#, no-wrap
+msgid "B<conv-u32-s32.>I<N>B<.in> u32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_s32.9:25
+#, no-wrap
+msgid "B<conv-u32-s32.>I<N>B<.out> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_s32.9:29
+#, no-wrap
+msgid "B<conv-u32-s32.>I<N>B<.out-of-range> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/conv_u32_s32.9:33
+#, no-wrap
+msgid "B<conv-u32-s32.>I<N>B<.clamp> bit rw "
+msgstr ""
+
+#. type: TH
+#: man/man9/corexy_by_hal.9:9
+#, no-wrap
+msgid "COREXY_BY_HAL"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:13
+msgid "corexy_by_hal - CoreXY kinematics"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:16
+msgid "B<loadrt corexy_by_hal [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:22
+msgid ""
+"Implement B<CoreXY> forward and inverse transformations B<in HAL>.  This "
+"component provides an alternative method for implementing B<CoreXY> "
+"kinematics."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:24
+msgid "In the INI file, use:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:26
+msgid "B<[KINS]KINEMATICS=trivkins coordinates=xyz kinstype=both>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:34
+msgid ""
+"This component accepts two joint (B<j0,j1>) motor position commands for a "
+"trivkins coordinates=xyz configuration and computes equivalent B<CoreXY> "
+"motor commands for two motors identified as B<alpha,beta>.  Similarly, the "
+"component accepts feedback values for the B<alpha,beta> motor controllers "
+"and converts to equivalent joint (B<j0,j1>) motor position feedback values."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:39
+msgid ""
+"1) Using B<trivkins> with this module allows home switches to trigger "
+"according to the B<Cartesian x,y> positions"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:44
+msgid ""
+"2) Joint pin names are based on B<coordinates=xyz> and the corresponding "
+"joint number assignments used by B<trivkins> so B<j0==x, j1==y> (man "
+"trivkins for more information)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:49
+msgid ""
+"3) B<CoreXY> kinematics can also be implemented using the kinematics module "
+"named B<corexykins> with home switches triggered by the B< j0,j1 motor> "
+"positions.  (man kins for more information)"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:51
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:55
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N>B<.alpha-fb> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:58
+msgid "typ: feedback from alpha motor controller"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:58
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N>B<.beta-fb> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:61
+msgid "typ: feedback from beta motor controller"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:61
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N>B<.j0-motor-pos-cmd> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:64
+msgid "typ: from joint.0.motor-pos-cmd"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:64
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N>B<.j1-motor-pos-cmd> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:67
+msgid "typ: from joint.1.motor-pos-cmd"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:67
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N>B<.j0-motor-pos-fb> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:70
+msgid "typ: to joint.0.motor-pos-fb"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:70
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N>B<.j1-motor-pos-fb> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:73
+msgid "typ: to joint.1.motor-pos-fb"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:73
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N>B<.alpha-cmd> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:76
+msgid "typ: command to alpha motor"
+msgstr ""
+
+#. type: TP
+#: man/man9/corexy_by_hal.9:76
+#, no-wrap
+msgid "B<corexy-by-hal.>I<N>B<.beta-cmd> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:79
+msgid "typ: command to beta ts motor"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/corexy_by_hal.9:82
+msgid "Dewey Garrett based on forum post from nbremond"
+msgstr ""
+
+#. type: TH
+#: man/man9/dbounce.9:9
+#, no-wrap
+msgid "DBOUNCE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/dbounce.9:13
+msgid "dbounce - alternative debounce component"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/dbounce.9:16
+msgid "This component is similar to the B<debounce> component"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/dbounce.9:18
+msgid "(man B<debounce>) but uses settable delay pins for each instance"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/dbounce.9:20
+msgid "and supports B<count>= or B<names>= parameters"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/dbounce.9:22
+msgid "(groups are not used)"
+msgstr ""
+
+#. type: TP
+#: man/man9/dbounce.9:23
+#, no-wrap
+msgid "B<dbounce.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/dbounce.9:27
+#, no-wrap
+msgid "B<dbounce.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/dbounce.9:31
+#, no-wrap
+msgid "B<dbounce.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/dbounce.9:35
+#, no-wrap
+msgid "B<dbounce.>I<N>B<.delay> u32 in (default: I<5>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/dbounce.9:40 man/man9/eoffset_per_angle.9:136
+#: man/man9/histobins.9:144 man/man9/latencybins.9:104
+#: man/man9/sim_home_switch.9:51 man/man9/userkins.9:76
+#: man/man9/xhc_hb04_util.9:136
+msgid "Dewey Garrett"
+msgstr ""
+
+#. type: TH
+#: man/man9/ddt.9:9
+#, no-wrap
+msgid "DDT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ddt.9:13
+msgid "ddt - Compute the derivative of the input function"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ddt.9:16
+msgid "B<loadrt ddt [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ddt.9:22
+msgid ""
+"For every function call from the real time thread, calculate the difference "
+"between the old and current input value divided by the timer elapsed since "
+"the last call."
+msgstr ""
+
+#. type: TP
+#: man/man9/ddt.9:24
+#, no-wrap
+msgid "B<ddt.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/ddt.9:28
+#, no-wrap
+msgid "B<ddt.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/ddt.9:32
+#, no-wrap
+msgid "B<ddt.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ddt.9:42
+msgid ""
+"As this only work on two consecutive input values, it will only work well if "
+"the input change every function call, and not work so well if the rate of "
+"change is very low and the input change do not happen every time the real "
+"time function is called."
+msgstr ""
+
+#. type: TH
+#: man/man9/deadzone.9:9
+#, no-wrap
+msgid "DEADZONE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/deadzone.9:13
+msgid "deadzone - Return the center if within the threshold"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/deadzone.9:16
+msgid "B<loadrt deadzone [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/deadzone.9:17
+#, no-wrap
+msgid "B<deadzone.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/deadzone.9:20
+msgid "Update B<out> based on B<in> and the parameters."
+msgstr ""
+
+#. type: TP
+#: man/man9/deadzone.9:21
+#, no-wrap
+msgid "B<deadzone.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/deadzone.9:25
+#, no-wrap
+msgid "B<deadzone.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/deadzone.9:28
+#, no-wrap
+msgid "B<deadzone.>I<N>B<.center> float rw (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/deadzone.9:31
+msgid "The center of the dead zone"
+msgstr ""
+
+#. type: TP
+#: man/man9/deadzone.9:31
+#, no-wrap
+msgid "B<deadzone.>I<N>B<.threshold> float rw (default: I<1.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/deadzone.9:34
+msgid "The dead zone is B<center> \\(+- (B<threshold>/2)"
+msgstr ""
+
+#. type: TH
+#: man/man9/demux.9:9
+#, no-wrap
+msgid "DEMUX"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/demux.9:13
+msgid ""
+"demux - Select one of several output pins by integer and/or or individual "
+"bits."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/demux.9:16
+msgid ""
+"B<loadrt demux [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]] "
+"[personality=>I<P1,P2,...>B<]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/demux.9:27
+msgid ""
+"This component creates a number of output bits defined by the "
+"\"personality\" command-line parameter. One of these bits will be set based "
+"on interpreting the bit-inputs as a binary number and then adding on the "
+"integer input. Most uses will use only one or the other, but it is possible "
+"to use the bits as a \"\"shift\"\" if required.  An optional operating mode "
+"is enabled by setting the \"bargraph\" parameter to true, in this case all "
+"bits up to the selected bit will be set, as might be required for an LED "
+"bargraph display."
+msgstr ""
+
+#. type: TP
+#: man/man9/demux.9:28
+#, no-wrap
+msgid "B<demux.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/demux.9:32
+#, no-wrap
+msgid "B<demux.>I<N>B<.sel-bit->I<MM> bit in (MM=00..04) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/demux.9:35
+msgid "Binary-number bit selectors"
+msgstr ""
+
+#. type: TP
+#: man/man9/demux.9:35
+#, no-wrap
+msgid "B<demux.>I<N>B<.sel-u32> u32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/demux.9:38
+msgid "Integer selection input"
+msgstr ""
+
+#. type: TP
+#: man/man9/demux.9:38
+#, no-wrap
+msgid "B<demux.>I<N>B<.out->I<MM> bit out (MM=00..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/demux.9:41
+msgid "The set of output bits"
+msgstr ""
+
+#. type: TP
+#: man/man9/demux.9:42
+#, no-wrap
+msgid "B<demux.>I<N>B<.bargraph> bit rw (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/demux.9:47
+msgid "B<select8>(9)"
+msgstr ""
+
+#. type: TH
+#: man/man9/differential.9:9
+#, no-wrap
+msgid "DIFFERENTIAL"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:13
+msgid "differential - kinematics for a differential transmission"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:16
+msgid "B<loadrt differential [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:17
+#, no-wrap
+msgid "B<differential.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:21
+#, no-wrap
+msgid "B<differential.>I<N>B<.roll-cmd> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:24
+msgid "position command for roll (in degrees)"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:24
+#, no-wrap
+msgid "B<differential.>I<N>B<.pitch-cmd> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:27
+msgid "position command for pitch (in degrees)"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:27
+#, no-wrap
+msgid "B<differential.>I<N>B<.roll-fb> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:30
+msgid "position feedback for roll (in degrees)"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:30
+#, no-wrap
+msgid "B<differential.>I<N>B<.pitch-fb> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:33
+msgid "position feedback for pitch (in degrees)"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:33
+#, no-wrap
+msgid "B<differential.>I<N>B<.motor0-cmd> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:36
+msgid "position command to motor0 (based on roll & pitch inputs)"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:36
+#, no-wrap
+msgid "B<differential.>I<N>B<.motor1-cmd> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:39
+msgid "position command to motor1 (based on roll & pitch inputs)"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:39
+#, no-wrap
+msgid "B<differential.>I<N>B<.motor0-fb> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:42
+msgid "position feedback from motor0"
+msgstr ""
+
+#. type: TP
+#: man/man9/differential.9:42
+#, no-wrap
+msgid "B<differential.>I<N>B<.motor1-fb> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/differential.9:45
+msgid "position feedback from motor1"
+msgstr ""
+
+#. type: TH
+#: man/man9/edge.9:9
+#, no-wrap
+msgid "EDGE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:13
+msgid "edge - Edge detector"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:16
+msgid "B<loadrt edge [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:17
+#, no-wrap
+msgid "B<edge.>I<N>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:20 man/man9/oneshot.9:28
+msgid "Produce output pulses from input edges"
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:21
+#, no-wrap
+msgid "B<edge.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:25
+#, no-wrap
+msgid "B<edge.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:28
+msgid "Goes high when the desired edge is seen on 'in'"
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:28
+#, no-wrap
+msgid "B<edge.>I<N>B<.out-invert> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:31
+msgid "Goes low when the desired edge is seen on 'in'"
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:32
+#, no-wrap
+msgid "B<edge.>I<N>B<.both> bit rw (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:35
+msgid ""
+"If TRUE, selects both edges.  Otherwise, selects one edge according to "
+"in-edge"
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:35
+#, no-wrap
+msgid "B<edge.>I<N>B<.in-edge> bit rw (default: I<TRUE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:38
+msgid ""
+"If both is FALSE, selects the one desired edge: TRUE means falling, FALSE "
+"means rising"
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:38
+#, no-wrap
+msgid "B<edge.>I<N>B<.out-width-ns> s32 rw (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:41
+msgid "Time in nanoseconds of the output pulse"
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:41
+#, no-wrap
+msgid "B<edge.>I<N>B<.time-left-ns> s32 r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:44
+msgid "Time left in this output pulse"
+msgstr ""
+
+#. type: TP
+#: man/man9/edge.9:44
+#, no-wrap
+msgid "B<edge.>I<N>B<.last-in> bit r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/edge.9:47
+msgid "Previous input value"
+msgstr ""
+
+#. type: TH
+#: man/man9/eoffset_per_angle.9:9
+#, no-wrap
+msgid "EOFFSET_PER_ANGLE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:13
+msgid "eoffset_per_angle - Compute External Offset Per Angle"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:16
+msgid ""
+"B<loadrt eoffset_per_angle "
+"[count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:23
+msgid ""
+"An offset is computed (from one of several functions) based on an input "
+"angle in degrees.  The angle could be a rotary coordinate value or a spindle "
+"angle."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:31
+msgid ""
+"The computed offset is represented as an s32 B<kcounts> output pin that is a "
+"compatible input to external offset pins like B<axis.L.eoffset-counts> where "
+"B<L> is the coordinate letter.  Scaling of the s32 B<kcounts> is controlled "
+"by the input (B<k>) -- its reciprocal value is presented on an output pin "
+"(B<kreciprocal>) for connection to B<axis.L.eoffset-scale>.  The default "
+"value for B<k> should be suitable for most uses."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:36
+msgid ""
+"The built-in functions use pins B<fmult> and B<rfraction> to control the "
+"output frequency (or number of polygon sides)  and amplitude respectively.  "
+"The B<rfraction> pin controls the offset amplitude as a fraction of the "
+"B<radius-ref> pin."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:42
+#, no-wrap
+msgid ""
+"One of the four built-in functions is specified by the B<fnum> pin:\n"
+"  B<0>: f0 inside  polygon  (requires B<fmult> == nsides E<gt>= 3)\n"
+"  B<1>: f1 outside polygon  (requires B<fmult> == nsides E<gt>= 3)\n"
+"  B<2>: f2 sinusoid\n"
+"  B<3>: f3 square wave\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:44
+msgid "Unsupported B<fnum> values default to use function f0."
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:46
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:50
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.active> bit in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:53
+msgid "From: motion.eoffset-active"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:53
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.is-on> bit in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:56
+msgid "From: halui.machine.is-on"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:56
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.enable-in> bit in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:59
+msgid "Enable Input"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:59
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.radius-ref> float in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:62
+msgid "Radius reference (see notes)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:62
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.angle> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:65
+msgid "Input angle (in degrees)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:65
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.start-angle> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:68
+msgid "Start angle (in degrees)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:68
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.fnum> s32 in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:71
+msgid "Function selector (default 0)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:71
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.rfraction> float in (default: I<0.1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:74
+msgid "Offset amplitude (+/- fraction of radius_ref)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:74
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.fmult> float in (default: I<6>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:77
+msgid "Offset frequency multiplier"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:77
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.k> u32 in (default: I<10000>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:80
+msgid "Scaling Factor (if 0, use 10000)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:80
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.is-off> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:83
+msgid "invert is_on (for convenience)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:83
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.enable-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:86
+msgid "To: axis.L.eoffset-enable"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:86
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.clear> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:89
+msgid "To: axis.L.eoffset-clear"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:89
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.kcounts> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:92
+msgid "To: axis.L.eoffset-counts"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:92
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.kreciprocal> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:95
+msgid "To: axis.L.eoffset-scale (1/k)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:95
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.eoffset-dbg> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:98
+msgid "offset (debug pin--use kcounts & kreciprocal)"
+msgstr ""
+
+#. type: TP
+#: man/man9/eoffset_per_angle.9:98
+#, no-wrap
+msgid "B<eoffset-per-angle.>I<N>B<.state-dbg> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:101
+msgid "state (debug pin)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:109
+msgid ""
+"An example simulation configuration is provided at: "
+"B<configs/sim/axis/external_offsets/opa.ini>.  A simulated XZC machine uses "
+"the B<C> coordinate angle to offset the transverse B<X> coordinate according "
+"to the selected B<fnum> function."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:118
+msgid ""
+"B<radius-ref>: The computed offsets are based on the B<radius-ref> pin "
+"value.  This pin may be set to a constant radius value or controlled by a "
+"user interface or by g code program (using B<M68> and a "
+"B<motion.analog-out-NN pin for instance).>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:125
+msgid ""
+"B<Stopping>: When the B<enable-in> pin is deasserted, the offset is returned "
+"to zero respecting the allocated acceleration and velocity limits.  The "
+"allocations for coordinate B<L> are typically controlled by an ini file "
+"setting: B<[AXIS_L]OFFSET_AV_RATIO>."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/eoffset_per_angle.9:132
+msgid ""
+"If unsupported parameters are supplied to a function (for instance a polygon "
+"with fewer than three sides), the current offset will be returned to zero "
+"(respecting velocity and acceleration constraints).  After correcting the "
+"offending parameter, the B<enable-in> pin must be toggled to resume offset "
+"computations."
+msgstr ""
+
+#. type: TH
+#: man/man9/estop_latch.9:9
+#, no-wrap
+msgid "ESTOP_LATCH"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:13
+msgid "estop_latch - Software ESTOP latch"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:16
+msgid "B<loadrt estop_latch [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:20
+msgid "This component can be used as a part of a simple software ESTOP chain."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:22
+msgid "It has two states: \"OK\" and \"Faulted\"."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:31
+msgid ""
+"The initial state is \"Faulted\".  When faulted, the B<out-ok> output is "
+"false, the B<fault-out> output is true, and the B<watchdog> output is "
+"unchanging."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:35
+msgid ""
+"The state changes from \"Faulted\" to \"OK\" when B<all> these conditions "
+"are true:"
+msgstr ""
+
+#. type: IP
+#: man/man9/estop_latch.9:36 man/man9/estop_latch.9:39
+#: man/man9/estop_latch.9:42 man/man9/estop_latch.9:59
+#: man/man9/estop_latch.9:62 man/man9/logic.9:37 man/man9/logic.9:39
+#: man/man9/logic.9:41 man/man9/logic.9:43 man/man9/logic.9:45
+#: man/man9/logic.9:47
+#, no-wrap
+msgid "\\(bu"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:39
+msgid "B<fault-in> is false"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:42
+msgid "B<ok-in> is true"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:45
+msgid "B<reset> changes from false to true"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:54
+msgid ""
+"When \"OK\", the B<out-ok> output is true, the B<fault-out> output is false, "
+"and the B<watchdog> output is toggling."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:58
+msgid ""
+"The state changes from \"OK\" to \"Faulted\" when B<any> of the following "
+"are true:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:62
+msgid "B<fault-in> is true"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:65
+msgid "B<ok-in> is false"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:74
+msgid ""
+"To facilitate using only a single fault source, B<ok-in> and B<fault-en> are "
+"both set to the non-fault-causing value when no signal is connected.  For "
+"estop-latch to ever be able to signal a fault, at least one of these inputs "
+"must be connected."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:78
+msgid ""
+"Typically, an external fault or estop input is connected to B<fault-in>, "
+"B<iocontrol.0.user-request-enable> is connected to B<reset>, and B<ok-out> "
+"is connected to B<iocontrol.0.emc-enable-in.>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/estop_latch.9:81
+msgid ""
+"B<In more complex systems, it may be more appropriate to use classicladder "
+"to manage the software portion of the estop chain.>"
+msgstr ""
+
+#. type: TP
+#: man/man9/estop_latch.9:83
+#, no-wrap
+msgid "B<estop-latch.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/estop_latch.9:87
+#, no-wrap
+msgid "B<estop-latch.>I<N>B<.ok-in> bit in (default: I<true>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/estop_latch.9:91
+#, no-wrap
+msgid "B<estop-latch.>I<N>B<.fault-in> bit in (default: I<false>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/estop_latch.9:95
+#, no-wrap
+msgid "B<estop-latch.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/estop_latch.9:99
+#, no-wrap
+msgid "B<estop-latch.>I<N>B<.ok-out> bit out (default: I<false>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/estop_latch.9:103
+#, no-wrap
+msgid "B<estop-latch.>I<N>B<.fault-out> bit out (default: I<true>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/estop_latch.9:107
+#, no-wrap
+msgid "B<estop-latch.>I<N>B<.watchdog> bit out "
+msgstr ""
+
+#. type: TH
+#: man/man9/feedcomp.9:9
+#, no-wrap
+msgid "FEEDCOMP"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:13
+msgid ""
+"feedcomp - Multiply the input by the ratio of current velocity to the feed "
+"rate."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:16
+msgid "B<loadrt feedcomp [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/feedcomp.9:17
+#, no-wrap
+msgid "B<feedcomp.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/feedcomp.9:21
+#, no-wrap
+msgid "B<feedcomp.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:24
+msgid "Proportionate output value"
+msgstr ""
+
+#. type: TP
+#: man/man9/feedcomp.9:24
+#, no-wrap
+msgid "B<feedcomp.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:27
+msgid "Reference value"
+msgstr ""
+
+#. type: TP
+#: man/man9/feedcomp.9:27
+#, no-wrap
+msgid "B<feedcomp.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:30
+msgid "Turn compensation on or off."
+msgstr ""
+
+#. type: TP
+#: man/man9/feedcomp.9:30
+#, no-wrap
+msgid "B<feedcomp.>I<N>B<.vel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:33
+msgid "Current velocity"
+msgstr ""
+
+#. type: TP
+#: man/man9/feedcomp.9:34
+#, no-wrap
+msgid "B<feedcomp.>I<N>B<.feed> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:37
+msgid "Feed rate reference value"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:40
+msgid "Note that if enable is false, out = in."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/feedcomp.9:43
+msgid "Eric H. Johnson"
+msgstr ""
+
+#. type: TH
+#: man/man9/filter_kalman.9:9
+#, no-wrap
+msgid "FILTER_KALMAN"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:13
+msgid ""
+"filter_kalman - Unidimensional Kalman filter, also known as linear quadratic "
+"estimation (LQE)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:16
+msgid "B<loadrt filter_kalman [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:20
+msgid ""
+"Useful for reducing input signal noise (e.g. from the voltage or temperature "
+"sensor)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:22
+msgid ""
+"More information can be found at "
+"https://en.wikipedia.org/wiki/Kalman_filter."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:24
+msgid "Adjusting B<Qr> and B<Qk> covariances:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:27
+msgid ""
+"Default values of B<Rk> and B<Qk> are given for informational purpose "
+"only. The nature of the filter requires the parameters to be individually "
+"computed."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:33
+msgid ""
+"One of the possible and quite practical method (probably far from being the "
+"best) of estimating the B<Rk> covariance is to collect the raw data from the "
+"sensor by either asserting the B<debug> pin or using B<halscope> and then "
+"compute the covariance using B<cov()> function from B<Octave> package. Ready "
+"to use script can be found at "
+"https://github.com/dwrobel/TrivialKalmanFilter/blob/master/examples/DS18B20Test/covariance.m."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:37
+msgid ""
+"Adjusting B<Qk> covariance mostly depends on the required response time of "
+"the filter.  There is a relationship between B<Qk> and response time of the "
+"filter that the lower the B<Qk> covariance is the slower the response of the "
+"filter is."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:40
+msgid ""
+"Common practice is also to conservatively set B<Rk> and B<Qk> slightly "
+"larger then computed ones to get robustness."
+msgstr ""
+
+#. type: TP
+#: man/man9/filter_kalman.9:42
+#, no-wrap
+msgid "B<filter-kalman.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:45
+msgid "Update B<xk-out> based on B<zk> input."
+msgstr ""
+
+#. type: TP
+#: man/man9/filter_kalman.9:46
+#, no-wrap
+msgid "B<filter-kalman.>I<N>B<.debug> bit in (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:49
+msgid "When asserted, prints out measured and estimated values."
+msgstr ""
+
+#. type: TP
+#: man/man9/filter_kalman.9:49
+#, no-wrap
+msgid "B<filter-kalman.>I<N>B<.passthrough> bit in (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:52
+msgid "When asserted, copies measured value into estimated value."
+msgstr ""
+
+#. type: TP
+#: man/man9/filter_kalman.9:52
+#, no-wrap
+msgid "B<filter-kalman.>I<N>B<.reset> bit in (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:56
+msgid ""
+"When asserted, resets filter to its initial state and returns 0 as an "
+"estimated value (B<reset> pin has higher priority than B<passthrough> pin)."
+msgstr ""
+
+#. type: TP
+#: man/man9/filter_kalman.9:56
+#, no-wrap
+msgid "B<filter-kalman.>I<N>B<.zk> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:59
+msgid "Measured value."
+msgstr ""
+
+#. type: TP
+#: man/man9/filter_kalman.9:59
+#, no-wrap
+msgid "B<filter-kalman.>I<N>B<.xk-out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:62
+msgid "Estimated value."
+msgstr ""
+
+#. type: TP
+#: man/man9/filter_kalman.9:63
+#, no-wrap
+msgid "B<filter-kalman.>I<N>B<.Rk> float rw (default: I<1.17549e-38>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:66
+msgid "Estimation of the noise covariances (process)."
+msgstr ""
+
+#. type: TP
+#: man/man9/filter_kalman.9:66
+#, no-wrap
+msgid "B<filter-kalman.>I<N>B<.Qk> float rw (default: I<1.17549e-38>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:69
+msgid "Estimation of the noise covariances (observation)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:72
+msgid "Dmian Wrobel E<lt>dwrobel@ertelnet.rybnik.plE<gt>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/filter_kalman.9:74
+msgid "GPL-2.0-or-later"
+msgstr ""
+
+#. type: TH
+#: man/man9/flipflop.9:9
+#, no-wrap
+msgid "FLIPFLOP"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/flipflop.9:13
+msgid "flipflop - D type flip-flop"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/flipflop.9:16
+msgid "B<loadrt flipflop [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/flipflop.9:17
+#, no-wrap
+msgid "B<flipflop.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/flipflop.9:21
+#, no-wrap
+msgid "B<flipflop.>I<N>B<.data> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/flipflop.9:24
+msgid "data input"
+msgstr ""
+
+#. type: TP
+#: man/man9/flipflop.9:24
+#, no-wrap
+msgid "B<flipflop.>I<N>B<.clk> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/flipflop.9:27
+msgid "clock, rising edge writes data to out"
+msgstr ""
+
+#. type: TP
+#: man/man9/flipflop.9:27
+#, no-wrap
+msgid "B<flipflop.>I<N>B<.set> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/flipflop.9:30
+msgid "when true, force out true"
+msgstr ""
+
+#. type: TP
+#: man/man9/flipflop.9:30
+#, no-wrap
+msgid "B<flipflop.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/flipflop.9:33
+msgid "when true, force out false; overrides set"
+msgstr ""
+
+#. type: TP
+#: man/man9/flipflop.9:33
+#, no-wrap
+msgid "B<flipflop.>I<N>B<.out> bit io "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/flipflop.9:36
+msgid "output"
+msgstr ""
+
+#. type: TP
+#: man/man9/flipflop.9:36
+#, no-wrap
+msgid "B<flipflop.>I<N>B<.out-not> bit io "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/flipflop.9:39
+msgid "inverted output"
+msgstr ""
+
+#. type: TH
+#: man/man9/gantry.9:9
+#, no-wrap
+msgid "GANTRY"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:13
+msgid ""
+"gantry - LinuxCNC HAL component for driving multiple joints from a single "
+"axis."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:16
+msgid ""
+"B<loadrt gantry [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]] "
+"[personality=>I<P1,P2,...>B<]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:20
+msgid "Drives multiple physical motors (joints) from a single axis input"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:23
+msgid ""
+"The `personality' value is the number of joints to control.  Two is typical, "
+"but up to seven is supported (a three joint setup has been tested with "
+"hardware)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:32
+msgid ""
+"All controlled joints track the commanded position (with a per-joint offset) "
+"unless in the process of homing.  Homing is when the commanded position is "
+"moving towards the homing switches (as determined by the sign of search-vel)  "
+"and the joint home switches are not all in the same state.  When the system "
+"is homing and a joint home switch activates, the command value sent to that "
+"joint is \"frozen\" and the joint offset value is updated instead.  Once all "
+"home switches are active, there are no more adjustments made to the offset "
+"values and all joints run in lock-step once more."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:35
+msgid ""
+"For best results, set HOME_SEARCH_VEL and HOME_LATCH_VEL to the same "
+"direction and as slow as practical.  When a joint home switch trips, the "
+"commanded velocity will drop immediately from HOME_SEARCH_VEL to zero, with "
+"no limit on acceleration."
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:37
+#, no-wrap
+msgid "B<gantry.>I<N>B<.read> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:40
+msgid "Update position-fb and home/limit outputs based on joint values."
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:40
+#, no-wrap
+msgid "B<gantry.>I<N>B<.write> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:43
+msgid "Update joint pos-cmd outputs based on position-cmd in."
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:44
+#, no-wrap
+msgid "B<gantry.>I<N>B<.joint.>I<MM>B<.pos-cmd> float out (MM=00..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:47
+msgid "Per-joint commanded position"
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:47
+#, no-wrap
+msgid "B<gantry.>I<N>B<.joint.>I<MM>B<.pos-fb> float in (MM=00..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:50
+msgid "Per-joint position feedback"
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:50
+#, no-wrap
+msgid "B<gantry.>I<N>B<.joint.>I<MM>B<.home> bit in (MM=00..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:53
+msgid "Per-joint home switch"
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:53
+#, no-wrap
+msgid "B<gantry.>I<N>B<.joint.>I<MM>B<.offset> float out (MM=00..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:56
+msgid "(debugging) Per-joint offset value, updated when homing."
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:56
+#, no-wrap
+msgid "B<gantry.>I<N>B<.position-cmd> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:59
+msgid "Commanded position from motion"
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:59
+#, no-wrap
+msgid "B<gantry.>I<N>B<.position-fb> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:62
+msgid "Position feedback to motion"
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:62
+#, no-wrap
+msgid "B<gantry.>I<N>B<.home> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:65
+msgid "Combined home signal, true if all joint home inputs are true."
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:65
+#, no-wrap
+msgid "B<gantry.>I<N>B<.limit> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:68
+msgid "Combined limit signal, true if any joint home input is true."
+msgstr ""
+
+#. type: TP
+#: man/man9/gantry.9:68
+#, no-wrap
+msgid "B<gantry.>I<N>B<.search-vel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:71
+msgid "HOME_SEARCH_VEL from INI file"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gantry.9:74
+msgid "Charles Steinkuehler"
+msgstr ""
+
+#. type: TH
+#: man/man9/gearchange.9:9
+#, no-wrap
+msgid "GEARCHANGE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:13
+msgid "gearchange - Select from one two speed ranges"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:20
+msgid ""
+"The output will be a value scaled for the selected gear, and clamped to the "
+"min/max values for that gear.  The scale of gear 1 is assumed to be 1, so "
+"the output device scale should be chosen accordingly.  The scale of gear 2 "
+"is relative to gear 1, so if gear 2 runs the spindle 2.5 times as fast as "
+"gear 1, scale2 should be set to 2.5."
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:21
+#, no-wrap
+msgid "B<gearchange.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:25
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.sel> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:28
+msgid "Gear selection input"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:28
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.speed-in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:31
+msgid "Speed command input"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:31
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.speed-out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:34
+msgid "Speed command to DAC/PWM"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:34
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.dir-in> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:37
+msgid "Direction command input"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:37
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.dir-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:40
+msgid "Direction output - possibly inverted for second gear"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:41
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.min1> float rw (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:44
+msgid "Minimum allowed speed in gear range 1"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:44
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.max1> float rw (default: I<100000>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:47
+msgid "Maximum allowed speed in gear range 1"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:47
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.min2> float rw (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:50
+msgid "Minimum allowed speed in gear range 2"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:50
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.max2> float rw (default: I<100000>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:53
+msgid "Maximum allowed speed in gear range 2"
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:53
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.scale2> float rw (default: I<1.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:58
+msgid ""
+"Relative scale of gear 2 vs. gear 1.  Since it is assumed that gear 2 is "
+"\"high gear\", B<scale2> must be greater than 1, and will be reset to 1 if "
+"set lower."
+msgstr ""
+
+#. type: TP
+#: man/man9/gearchange.9:58
+#, no-wrap
+msgid "B<gearchange.>I<N>B<.reverse> bit rw (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:61
+msgid "Set to 1 to reverse the spindle in second gear."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gearchange.9:64 man/man9/invert.9:38 man/man9/sample_hold.9:37
+#: man/man9/select8.9:36 man/man9/updown.9:49
+msgid "Stephen Wille Padnos"
+msgstr ""
+
+#. type: TH
+#: man/man9/gray2bin.9:9
+#, no-wrap
+msgid "GRAY2BIN"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gray2bin.9:13
+msgid "gray2bin - convert a gray-code input to binary"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gray2bin.9:16
+msgid "B<loadrt gray2bin [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gray2bin.9:19
+msgid "Converts a gray-coded number into the corresponding binary value"
+msgstr ""
+
+#. type: TP
+#: man/man9/gray2bin.9:20
+#, no-wrap
+msgid "B<gray2bin.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/gray2bin.9:24
+#, no-wrap
+msgid "B<gray2bin.>I<N>B<.in> u32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gray2bin.9:27
+msgid "gray code in"
+msgstr ""
+
+#. type: TP
+#: man/man9/gray2bin.9:27
+#, no-wrap
+msgid "B<gray2bin.>I<N>B<.out> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/gray2bin.9:30
+msgid "binary code out"
+msgstr ""
+
+#. type: TH
+#: man/man9/histobins.9:9
+#, no-wrap
+msgid "HISTOBINS"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/histobins.9:13
+msgid "histobins - histogram bins utility for scripts/hal-histogram"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/histobins.9:27
+#, no-wrap
+msgid ""
+"Usage:\n"
+"  Read availablebins pin for the number of bins available.\n"
+"  Set the minvalue, binsize, and nbins pins.\n"
+"    Ensure nbins E<lt>= availablebins\n"
+"    For nbins = N, the bins are numbered: 0 ... N-1 \n"
+"  Iterate:\n"
+"    Set index pin to a bin number: 0 E<lt>= index E<lt> nbins.\n"
+"    Read check pin and verify that check pin == index pin.\n"
+"    Read outputs: binvalue, pextra, nextra pins.\n"
+"         (binvalue is count for the indexed bin)\n"
+"         (pextra   is count for all inputs E<gt> maxvalue)\n"
+"         (nextra   is count for all bins   E<lt> minvalue)\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/histobins.9:47
+#, no-wrap
+msgid ""
+" If index is out of range (index E<lt> 0 or index E<gt> maxbinnumber)\n"
+" then binvalue == -1.\n"
+" The input-error pin is set when input rules are violated\n"
+" and updates cease.\n"
+" The reset pin may be used to restart.\n"
+" The input used is selected based on pintype:\n"
+"   pintype  inputpin\n"
+"   -------  -----------\n"
+"         0  input\n"
+"         1  input-s32\n"
+"         2  input-u32\n"
+"         3  input-bit\n"
+" Additional output statistics pins:\n"
+"   input-min\n"
+"   input-max\n"
+"   nsamples\n"
+"   variance\n"
+"   mean\n"
+" The method input pin selects an alternate variance calculation.\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/histobins.9:49
+msgid "Maintainers note: hardcoded for MAXBINNUMBER==200"
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:51
+#, no-wrap
+msgid "B<histobins.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:55
+#, no-wrap
+msgid "B<histobins.>I<N>B<.pintype> u32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:59
+#, no-wrap
+msgid "B<histobins.>I<N>B<.input> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:63
+#, no-wrap
+msgid "B<histobins.>I<N>B<.input-s32> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:67
+#, no-wrap
+msgid "B<histobins.>I<N>B<.input-u32> u32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:71
+#, no-wrap
+msgid "B<histobins.>I<N>B<.input-bit> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:75
+#, no-wrap
+msgid "B<histobins.>I<N>B<.nbins> u32 in (default: I<20>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:79
+#, no-wrap
+msgid "B<histobins.>I<N>B<.binsize> float in (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:83
+#, no-wrap
+msgid "B<histobins.>I<N>B<.minvalue> float in (default: I<0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:87
+#, no-wrap
+msgid "B<histobins.>I<N>B<.index> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:91
+#, no-wrap
+msgid "B<histobins.>I<N>B<.check> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:95
+#, no-wrap
+msgid "B<histobins.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:99
+#, no-wrap
+msgid "B<histobins.>I<N>B<.method> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:103
+#, no-wrap
+msgid "B<histobins.>I<N>B<.input-error> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:107
+#, no-wrap
+msgid "B<histobins.>I<N>B<.binvalue> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:111
+#, no-wrap
+msgid "B<histobins.>I<N>B<.pextra> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:115
+#, no-wrap
+msgid "B<histobins.>I<N>B<.nextra> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:119
+#, no-wrap
+msgid "B<histobins.>I<N>B<.input-min> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:123
+#, no-wrap
+msgid "B<histobins.>I<N>B<.input-max> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:127
+#, no-wrap
+msgid "B<histobins.>I<N>B<.nsamples> u32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:131
+#, no-wrap
+msgid "B<histobins.>I<N>B<.variance> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:135
+#, no-wrap
+msgid "B<histobins.>I<N>B<.mean> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/histobins.9:139
+#, no-wrap
+msgid "B<histobins.>I<N>B<.availablebins> s32 out (default: I<200>)"
+msgstr ""
+
+#. type: TH
+#: man/man9/hypot.9:9
+#, no-wrap
+msgid "HYPOT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/hypot.9:13
+msgid "hypot - Three-input hypotenuse (Euclidean distance) calculator"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/hypot.9:16
+msgid "B<loadrt hypot [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/hypot.9:17
+#, no-wrap
+msgid "B<hypot.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/hypot.9:21
+#, no-wrap
+msgid "B<hypot.>I<N>B<.in0> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/hypot.9:25
+#, no-wrap
+msgid "B<hypot.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/hypot.9:29
+#, no-wrap
+msgid "B<hypot.>I<N>B<.in2> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/hypot.9:33
+#, no-wrap
+msgid "B<hypot.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/hypot.9:36
+msgid "out = sqrt(in0^2 + in1^2 + in2^2)"
+msgstr ""
+
+#. type: TH
+#: man/man9/ilowpass.9:9
+#, no-wrap
+msgid "ILOWPASS"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:13
+msgid "ilowpass - Low-pass filter with integer inputs and outputs"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:16
+msgid "B<loadrt ilowpass [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:20
+msgid ""
+"While it may find other applications, this component was written to create "
+"smoother motion while jogging with an MPG."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:25
+msgid ""
+"In a machine with high acceleration, a short jog can behave almost like a "
+"step function.  By putting the B<ilowpass> component between the MPG encoder "
+"B<counts> output and the axis jog-counts input, this can be smoothed."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:31
+msgid ""
+"Choose B<scale> conservatively so that during a single session there will "
+"never be more than about 2e9/B<scale> pulses seen on the MPG.  Choose "
+"B<gain> according to the smoothing level desired.  Divide the "
+"axis.I<N>.jog-scale values by B<scale>."
+msgstr ""
+
+#. type: TP
+#: man/man9/ilowpass.9:32
+#, no-wrap
+msgid "B<ilowpass.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:35
+msgid "Update the output based on the input and parameters."
+msgstr ""
+
+#. type: TP
+#: man/man9/ilowpass.9:36
+#, no-wrap
+msgid "B<ilowpass.>I<N>B<.in> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/ilowpass.9:40
+#, no-wrap
+msgid "B<ilowpass.>I<N>B<.out> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:44
+msgid ""
+"B<out> tracks B<in>*B<scale> through a low-pass filter of B<gain> per "
+"period."
+msgstr ""
+
+#. type: TP
+#: man/man9/ilowpass.9:45
+#, no-wrap
+msgid "B<ilowpass.>I<N>B<.scale> float rw (default: I<1024>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:49
+msgid "A scale factor applied to the output value of the low-pass filter."
+msgstr ""
+
+#. type: TP
+#: man/man9/ilowpass.9:49
+#, no-wrap
+msgid "B<ilowpass.>I<N>B<.gain> float rw (default: I<.5>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ilowpass.9:56
+msgid ""
+"Together with the period, sets the rate at which the output changes.  Useful "
+"range is between 0 and 1, with higher values causing the input value to be "
+"tracked more quickly.  For instance, a setting of 0.9 causes the output "
+"value to go 90% of the way towards the input value in each period."
+msgstr ""
+
+#. type: TH
+#: man/man9/integ.9:9
+#, no-wrap
+msgid "INTEG"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/integ.9:13
+msgid "integ - Integrator with gain pin and windup limits"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/integ.9:16
+msgid "B<loadrt integ [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/integ.9:17
+#, no-wrap
+msgid "B<integ.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/integ.9:21
+#, no-wrap
+msgid "B<integ.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/integ.9:25
+#, no-wrap
+msgid "B<integ.>I<N>B<.gain> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/integ.9:29
+#, no-wrap
+msgid "B<integ.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/integ.9:32
+msgid "The discrete integral of 'gain * in' since 'reset' was deasserted"
+msgstr ""
+
+#. type: TP
+#: man/man9/integ.9:32
+#, no-wrap
+msgid "B<integ.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/integ.9:35
+msgid "When asserted, set out to 0"
+msgstr ""
+
+#. type: TP
+#: man/man9/integ.9:35
+#, no-wrap
+msgid "B<integ.>I<N>B<.max> float in (default: I<1e20>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/integ.9:39
+#, no-wrap
+msgid "B<integ.>I<N>B<.min> float in (default: I<-1e20>)"
+msgstr ""
+
+#. type: TH
+#: man/man9/invert.9:9
+#, no-wrap
+msgid "INVERT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/invert.9:13
+msgid "invert - Compute the inverse of the input signal"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/invert.9:17
+msgid ""
+"The output will be the mathematical inverse of the input, ie B<out> = "
+"1/B<in>.  The parameter B<deadband> can be used to control how close to 0 "
+"the denominator can be before the output is clamped to 0.  B<deadband> must "
+"be at least 1e-8, and must be positive."
+msgstr ""
+
+#. type: TP
+#: man/man9/invert.9:18
+#, no-wrap
+msgid "B<invert.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/invert.9:22
+#, no-wrap
+msgid "B<invert.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/invert.9:25
+#, no-wrap
+msgid "B<invert.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/invert.9:28
+msgid "Analog output value"
+msgstr ""
+
+#. type: TP
+#: man/man9/invert.9:29
+#, no-wrap
+msgid "B<invert.>I<N>B<.deadband> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/invert.9:32
+msgid "The B<out> will be zero if B<in> is between -B<deadband> and +B<deadband>."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/invert.9:35 man/man9/mult2.9:35
+#, no-wrap
+msgid " invert(9), div2(9) \n"
+msgstr ""
+
+#. type: TH
+#: man/man9/joyhandle.9:9
+#, no-wrap
+msgid "JOYHANDLE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:13
+msgid "joyhandle - sets nonlinear joypad movements, deadbands and scales"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:16
+msgid "B<loadrt joyhandle [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:20
+msgid ""
+"The component B<joyhandle> uses the following formula for a non linear "
+"joypad movements:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:22
+msgid "B<y = (scale * (a*x^power + b*x)) + offset>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:24
+msgid ""
+"The parameters a and b are adjusted in such a way, that the function starts "
+"at (deadband,offset) and ends at (1,scale+offset)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:26
+msgid ""
+"Negative values will be treated point symmetrically to origin. Values "
+"-deadband E<lt> x E<lt> +deadband will be set to zero."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:28
+msgid ""
+"Values x E<gt> 1 and x E<lt> -1 will be skipped to "
+"\\(+-(scale+offset). Invert transforms the function to a progressive "
+"movement."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:30
+msgid ""
+"With power one can adjust the nonlinearity (default = 2). Default for "
+"deadband is 0."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:32
+msgid ""
+"Valid values are: power E<gt>= 1.0 (reasonable values are 1.x .. 4\\(hy5, "
+"take higher power\\(hyvalues for higher deadbands (E<gt>0.5), if you want to "
+"start with a nearly horizontal slope), 0 E<lt>= deadband E<lt> 0.99 "
+"(reasonable 0.1)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:34
+msgid "An additional offset component can be set in special cases (default = 0)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:36
+msgid "All values can be adjusted for each instance separately."
+msgstr ""
+
+#. type: TP
+#: man/man9/joyhandle.9:38
+#, no-wrap
+msgid "B<joyhandle.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/joyhandle.9:42
+#, no-wrap
+msgid "B<joyhandle.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/joyhandle.9:46
+#, no-wrap
+msgid "B<joyhandle.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/joyhandle.9:49
+#, no-wrap
+msgid "B<joyhandle.>I<N>B<.power> float rw (default: I<2.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/joyhandle.9:53
+#, no-wrap
+msgid "B<joyhandle.>I<N>B<.deadband> float rw (default: I<0.>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/joyhandle.9:57
+#, no-wrap
+msgid "B<joyhandle.>I<N>B<.scale> float rw (default: I<1.>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/joyhandle.9:61
+#, no-wrap
+msgid "B<joyhandle.>I<N>B<.offset> float rw (default: I<0.>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/joyhandle.9:65
+#, no-wrap
+msgid "B<joyhandle.>I<N>B<.inverse> bit rw (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/joyhandle.9:70
+msgid "Paul Willutzki"
+msgstr ""
+
+#. type: TH
+#: man/man9/knob2float.9:9
+#, no-wrap
+msgid "KNOB2FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/knob2float.9:13
+msgid "knob2float - Convert counts (probably from an encoder) to a float value"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/knob2float.9:16
+msgid "B<loadrt knob2float [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/knob2float.9:17
+#, no-wrap
+msgid "B<knob2float.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/knob2float.9:21
+#, no-wrap
+msgid "B<knob2float.>I<N>B<.counts> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/knob2float.9:24
+msgid "Counts"
+msgstr ""
+
+#. type: TP
+#: man/man9/knob2float.9:24
+#, no-wrap
+msgid "B<knob2float.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/knob2float.9:27
+msgid "When TRUE, output is controlled by count, when FALSE, output is fixed"
+msgstr ""
+
+#. type: TP
+#: man/man9/knob2float.9:27
+#, no-wrap
+msgid "B<knob2float.>I<N>B<.scale> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/knob2float.9:30
+msgid "Amount of output change per count"
+msgstr ""
+
+#. type: TP
+#: man/man9/knob2float.9:30
+#, no-wrap
+msgid "B<knob2float.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/knob2float.9:33 man/man9/tristate_bit.9:27
+#: man/man9/tristate_float.9:27
+msgid "Output value"
+msgstr ""
+
+#. type: TP
+#: man/man9/knob2float.9:34
+#, no-wrap
+msgid "B<knob2float.>I<N>B<.max-out> float rw (default: I<1.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/knob2float.9:37
+msgid "Maximum output value, further increases in count will be ignored"
+msgstr ""
+
+#. type: TP
+#: man/man9/knob2float.9:37
+#, no-wrap
+msgid "B<knob2float.>I<N>B<.min-out> float rw (default: I<0.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/knob2float.9:40
+msgid "Minimum output value, further decreases in count will be ignored"
+msgstr ""
+
+#. type: TH
+#: man/man9/latencybins.9:9
+#, no-wrap
+msgid "LATENCYBINS"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/latencybins.9:13
+msgid "latencybins - comp utility for scripts/latency-histogram"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/latencybins.9:34
+#, no-wrap
+msgid ""
+"Usage:\n"
+"  Read availablebins pin for the number of bins available.\n"
+"  Set the maxbinnumber pin for the number of \\(+- bins.\n"
+"    Ensure maxbinnumber E<lt>= availablebins\n"
+"    For maxbinnumber = N, the bins are numbered:\n"
+"       -N ... 0 ... + N bins\n"
+"    (the -0 bin is not populated)\n"
+"    (total effective bins = 2*maxbinnumber +1)\n"
+"  Set nsbinsize pin for the binsize (ns)\n"
+"  Iterate:\n"
+"    Set index pin to a bin number: 0 E<lt>= index E<lt>= maxbinnumber.\n"
+"    Read check pin and verify that check pin == index pin.\n"
+"    Read output pins:\n"
+"         pbinvalue is count for bin = +index\n"
+"         nbinvalue is count for bin = -index\n"
+"         pextra    is count for all bins E<gt> maxbinnumber\n"
+"         nextra    is count for all bins E<lt> maxbinnumber\n"
+"         latency-min is max negative latency\n"
+"         latency-max is max positive latency\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/latencybins.9:39
+#, no-wrap
+msgid ""
+"   If index is out of range ( index E<lt> 0 or index E<gt> maxbinnumber)\n"
+"   then pbinvalue = nbinvalue = -1.\n"
+"   The reset pin may be used to restart.\n"
+"   The latency pin outputs the instantaneous latency.\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/latencybins.9:41
+msgid "Maintainers note: hardcoded for MAXBINNUMBER==1000"
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:43
+#, no-wrap
+msgid "B<latencybins.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:47
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.maxbinnumber> s32 in (default: I<1000>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:51
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.index> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:55
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:59
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.nsbinsize> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:63
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.check> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:67
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.latency> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:71
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.latency-max> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:75
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.latency-min> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:79
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.pbinvalue> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:83
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.nbinvalue> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:87
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.pextra> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:91
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.nextra> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:95
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.variance> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/latencybins.9:99
+#, no-wrap
+msgid "B<latencybins.>I<N>B<.availablebins> s32 out (default: I<1000>)"
+msgstr ""
+
+#. type: TH
+#: man/man9/limit1.9:9
+#, no-wrap
+msgid "LIMIT1"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit1.9:13
+msgid "limit1 - Limit the output signal to fall between min and max"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit1.9:16
+msgid "B<loadrt limit1 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit1.9:17
+#, no-wrap
+msgid "B<limit1.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit1.9:21
+#, no-wrap
+msgid "B<limit1.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/limit1.9:25
+#, no-wrap
+msgid "B<limit1.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/limit1.9:29
+#, no-wrap
+msgid "B<limit1.>I<N>B<.min> float in (default: I<-1e20>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit1.9:33
+#, no-wrap
+msgid "B<limit1.>I<N>B<.max> float in (default: I<1e20>)"
+msgstr ""
+
+#. type: TH
+#: man/man9/limit2.9:9
+#, no-wrap
+msgid "LIMIT2"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit2.9:13
+msgid ""
+"limit2 - Limit the output signal to fall between min and max and limit its "
+"slew rate to less than maxv per second.  When the signal is a position, this "
+"means that position and velocity are limited."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit2.9:16
+msgid "B<loadrt limit2 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit2.9:17
+#, no-wrap
+msgid "B<limit2.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit2.9:21
+#, no-wrap
+msgid "B<limit2.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/limit2.9:25
+#, no-wrap
+msgid "B<limit2.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/limit2.9:29
+#, no-wrap
+msgid "B<limit2.>I<N>B<.load> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit2.9:32
+msgid "When TRUE, immediately set B<out to in>, ignoring maxv"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit2.9:32
+#, no-wrap
+msgid "B<limit2.>I<N>B<.min> float in (default: I<-1e20>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit2.9:36
+#, no-wrap
+msgid "B<limit2.>I<N>B<.max> float in (default: I<1e20>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit2.9:40
+#, no-wrap
+msgid "B<limit2.>I<N>B<.maxv> float in (default: I<1e20>)"
+msgstr ""
+
+#. type: TH
+#: man/man9/limit3.9:9
+#, no-wrap
+msgid "LIMIT3"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit3.9:13
+msgid "limit3 - Follow input signal while obeying limits"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit3.9:18
+msgid ""
+"Limit the output signal to fall between min and max, limit its slew rate to "
+"less than maxv per second, and limit its second derivative to less than maxa "
+"per second squared.  When the signal is a position, this means that the "
+"position, velocity, and acceleration are limited."
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:19
+#, no-wrap
+msgid "B<limit3.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:23
+#, no-wrap
+msgid "B<limit3.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:27
+#, no-wrap
+msgid "B<limit3.>I<N>B<.enable> bit in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit3.9:30
+msgid "1: out follows in, 0: out returns to 0 (always per constraints)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:30
+#, no-wrap
+msgid "B<limit3.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:34
+#, no-wrap
+msgid "B<limit3.>I<N>B<.load> bit in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit3.9:38
+msgid "When TRUE, immediately set B<out to in>, ignoring maxv and maxa"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:38
+#, no-wrap
+msgid "B<limit3.>I<N>B<.min> float in (default: I<-1e20>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:42
+#, no-wrap
+msgid "B<limit3.>I<N>B<.max> float in (default: I<1e20>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:46
+#, no-wrap
+msgid "B<limit3.>I<N>B<.maxv> float in (default: I<1e20>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:50
+#, no-wrap
+msgid "B<limit3.>I<N>B<.maxa> float in (default: I<1e7>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit3.9:54
+msgid ""
+"Max Acceleration. Note that the component becomes unstable with maxa greater "
+"than about 1e7 in a 1kHz thread"
+msgstr ""
+
+#. type: TP
+#: man/man9/limit3.9:54
+#, no-wrap
+msgid "B<limit3.>I<N>B<.smooth-steps> u32 in (default: I<2>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/limit3.9:59
+msgid ""
+"Smooth out acceleration this many periods before reaching input or max/min "
+"limit.  Higher values avoid oscillation, but will accelerate slightly more "
+"slowly."
+msgstr ""
+
+#. type: TH
+#: man/man9/lincurve.9:9
+#, no-wrap
+msgid "LINCURVE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:13
+msgid "lincurve - one-dimensional lookup table"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:16
+msgid ""
+"B<loadrt lincurve [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]] "
+"[personality=>I<P1,P2,...>B<]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:23
+msgid ""
+"This component can be used to map any floating-point input to a "
+"floating-point output. Typical uses would include linearisation of "
+"thermocouples, defining PID gains that vary with external factors or to "
+"substitute for any mathematical function where absolute accuracy is not "
+"required."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:28
+msgid ""
+"The component can be thought of as a 2-dimensional graph of points in (x,y)  "
+"space joined by straight lines. The input value is located on the x axis, "
+"followed up until it touches the line, and the output of the component is "
+"set to the corresponding y-value."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:31
+msgid ""
+"The (x,y) points are defined by the x-val-NN and y-val-NN parameters which "
+"need to be set in the HAL file using \"setp\" commands."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:33
+msgid "The maximum number if (x,y) points supported is 16."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:37
+msgid ""
+"For input values less than the x-val-00 breakpoint the y-val-00 is "
+"returned.  For x greater than the largest x-val-NN the yval corresponding to "
+"x-max is returned (ie, no extrapolation is performed.)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:40
+msgid ""
+"Sample usage: loadrt lincurve count=3 personality=4,4,4 for a set of three "
+"4-element graphs."
+msgstr ""
+
+#. type: TP
+#: man/man9/lincurve.9:42
+#, no-wrap
+msgid "B<lincurve.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/lincurve.9:46
+#, no-wrap
+msgid "B<lincurve.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/lincurve.9:49
+#, no-wrap
+msgid "B<lincurve.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:52 man/man9/offset.9:33
+msgid "The output value"
+msgstr ""
+
+#. type: TP
+#: man/man9/lincurve.9:52
+#, no-wrap
+msgid "B<lincurve.>I<N>B<.out-io> float io "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:55
+msgid "The output value, compatible with PID gains"
+msgstr ""
+
+#. type: TP
+#: man/man9/lincurve.9:56
+#, no-wrap
+msgid "B<lincurve.>I<N>B<.x-val->I<MM> float rw (MM=00..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:59
+msgid "axis breakpoints"
+msgstr ""
+
+#. type: TP
+#: man/man9/lincurve.9:59
+#, no-wrap
+msgid "B<lincurve.>I<N>B<.y-val->I<MM> float rw (MM=00..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lincurve.9:62
+msgid "output values to be interpolated"
+msgstr ""
+
+#. type: TH
+#: man/man9/logic.9:9
+#, no-wrap
+msgid "LOGIC"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:13
+msgid "logic - LinuxCNC HAL component providing configurable logic functions"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:18
+msgid ""
+"B<loadrt logic> B<[count=N|names=name1[,name2...]]> "
+"B<personality=0xXXXX[,0xXXXX...]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:19
+#, no-wrap
+msgid "B<count> The number of logical gates."
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:21
+#, no-wrap
+msgid "B<names> The named logical gates to create."
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:23
+#, no-wrap
+msgid "B<personality> Comma separated list of hexadecimal number."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:27
+msgid ""
+"Each number defines the behaviour of the individual logic gate.  The list "
+"must have the same number of personalities as the N count."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:34
+msgid ""
+"General `logic function' component.  Can perform `and', `or', `nand', `nor' "
+"and `xor' of up to 16 inputs."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:37
+msgid ""
+"Determine the proper value for `personality' by adding the inputs and "
+"outputs then convert to hex:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:39
+msgid "The number of input pins, usually from 2 to 16"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:41
+msgid "256 (0x100)  if the `and' output is desired"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:43
+msgid "512 (0x200)  if the `or' output is desired"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:45
+msgid "1024 (0x400)  if the `xor' (exclusive or) output is desired"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:47
+msgid "2048 (0x800)  if the `nand' output is desired"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:49
+msgid "4096 (0x1000)  if the `nor' output is desired"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:52
+msgid ""
+"Outputs can be combined, for example 2 + 256 + 1024 = 1282 converted to hex "
+"would be 0x502 and would have two inputs and have both `xor' and `and' "
+"outputs."
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:54
+#, no-wrap
+msgid "B<logic.>I<N>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:57
+msgid "Read the inputs and toggle the output bit."
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:58
+#, no-wrap
+msgid "B<logic.>I<N>B<.in->I<MM> bit in (MM=00..personality & 0xff) "
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:62
+#, no-wrap
+msgid "B<logic.>I<N>B<.and> bit out [if personality & 0x100] "
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:66
+#, no-wrap
+msgid "B<logic.>I<N>B<.or> bit out [if personality & 0x200] "
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:70
+#, no-wrap
+msgid "B<logic.>I<N>B<.xor> bit out [if personality & 0x400] "
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:74
+#, no-wrap
+msgid "B<logic.>I<N>B<.nand> bit out [if personality & 0x800] "
+msgstr ""
+
+#. type: TP
+#: man/man9/logic.9:78
+#, no-wrap
+msgid "B<logic.>I<N>B<.nor> bit out [if personality & 0x1000] "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:88
+msgid ""
+"This is an OR circuit connected to three different signals, two inputs named "
+"sig-in-0 and sig-in-1, and one output named sig-out.  First the circuit is "
+"defined, then its function is connected to the servo real time thread, last, "
+"its pins are connected to the wanted signals."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:95
+#, no-wrap
+msgid ""
+"loadrt logic count=1 personality=0x202\n"
+"addf logic.0 servo-thread\n"
+"net sig-in-0 =E<gt> logic.0.in-00\n"
+"net sig-in-1 =E<gt> logic.0.in-01\n"
+"net sig-out  E<lt>= logic.0.or\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:99
+msgid "This is a named AND circuit with two inputs and one output."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:106
+#, no-wrap
+msgid ""
+"loadrt logic names=both personality=0x102\n"
+"addf both servo-thread\n"
+"net sig-in-0 =E<gt> both.in-00\n"
+"net sig-in-1 =E<gt> both.in-01\n"
+"net sig-out  E<lt>= both.and\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/logic.9:117
+msgid "B<and2>(9), B<lut5>(9), B<not>(9), B<or2>(9), B<xor2>(9)"
+msgstr ""
+
+#. type: TH
+#: man/man9/lowpass.9:9
+#, no-wrap
+msgid "LOWPASS"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:13
+msgid "lowpass - Low-pass filter"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:16
+msgid "B<loadrt lowpass [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/lowpass.9:17
+#, no-wrap
+msgid "B<lowpass.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/lowpass.9:21
+#, no-wrap
+msgid "B<lowpass.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/lowpass.9:25
+#, no-wrap
+msgid "B<lowpass.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:28
+#, no-wrap
+msgid " out += (in - out) * gain \n"
+msgstr ""
+
+#. type: TP
+#: man/man9/lowpass.9:28
+#, no-wrap
+msgid "B<lowpass.>I<N>B<.load> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:31
+msgid "When TRUE, copy B<in> to B<out> instead of applying the filter equation."
+msgstr ""
+
+#. type: TP
+#: man/man9/lowpass.9:32
+#, no-wrap
+msgid "B<lowpass.>I<N>B<.gain> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:39
+msgid "B<gain> pin setting"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:45
+msgid ""
+"The digital filter implemented is equivalent to a unity-gain continuous-time "
+"single-pole low-pass filter that is preceded by a zero-order-hold and "
+"sampled at a fixed period.  For a pole at B<-a> (radians/seconds) the "
+"corresponding continuous-time lowpass filter LaPlace transfer function is:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:47
+msgid "B<H(s) = a/(s + a)>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:49
+msgid ""
+"For a sampling period B<T> (seconds), the gain for this HAL lowpass "
+"component is:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:51
+msgid "B<gain = 1 - e^(-a * T)>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:53
+msgid "e = 2.71828 https://en.wikipedia.org/wiki/E_(mathematical_constant)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:58
+#, no-wrap
+msgid ""
+"B<Examples:>\n"
+"     T = 0.001 seconds (typical servo thread period)\n"
+"     a = (2*pi*100)    (B<100Hz> bandwidth single pole)\n"
+"  gain = B<0.466>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:62
+#, no-wrap
+msgid ""
+"     T = 0.001 seconds (typical servo thread period)\n"
+"     a = (2*pi*10)     ( B<10Hz> bandwidth single pole)\n"
+"  gain = B<0.0609>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lowpass.9:66
+#, no-wrap
+msgid ""
+"     T = 0.001 seconds (typical servo thread period)\n"
+"     a = (2*pi*1)      ( B<1Hz> bandwidth single pole)\n"
+"  gain = B<0.0063>\n"
+msgstr ""
+
+#. type: TH
+#: man/man9/lut5.9:9
+#, no-wrap
+msgid "LUT5"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:13
+msgid "lut5 - Arbitrary 5-input logic function based on a look-up table"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:16
+msgid "B<loadrt lut5 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:25
+msgid ""
+"B<lut5> constructs a logic function with up to 5 inputs using a "
+"B<l>ook-B<u>p B<t>able.  The value for B<function> can be determined by "
+"writing the truth table, and computing the sum of B<all> the B<weights> for "
+"which the output value would be TRUE.  The weights are hexadecimal not "
+"decimal so hexadecimal math must be used to sum the weights.  A wiki page "
+"has a calculator to assist in computing the proper value for function."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:27
+msgid "https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Lut5"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:31
+msgid ""
+"Note that LUT5 will generate any of the 4,294,967,296 logical functions of 5 "
+"inputs so B<AND>, B<OR>, B<NAND>, B<NOR>, B<XOR> and every other "
+"combinatorial function is possible."
+msgstr ""
+
+#. type: SS
+#: man/man9/lut5.9:32
+#, no-wrap
+msgid "Example Functions"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:36
+msgid ""
+"A 5-input I<and> function is TRUE only when all the inputs are true, so the "
+"correct value for B<function> is B<0x80000000>."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:39
+msgid ""
+"A 2-input I<or> function would be the sum of B<0x2> + B<0x4> + B<0x8>, so "
+"the correct value for B<function> is B<0xe>."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:44
+msgid ""
+"A 5-input I<or> function is TRUE whenever any of the inputs are true, so the "
+"correct value for B<function> is B<0xfffffffe>. Because every weight except "
+"B<0x1> is true the function is the sum of every line except the first one."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:50
+msgid ""
+"A 2-input I<xor> function is TRUE whenever exactly one of the inputs is "
+"true, so the correct value for B<function> is B<0x6>.  Only B<in-0> and "
+"B<in-1> should be connected to signals, because if any other bit is B<TRUE> "
+"then the output will be B<FALSE>."
+msgstr ""
+
+#. type: groff code
+#: man/man9/lut5.9:51
+#, no-wrap
+msgid ""
+".ie  '\\*[.T]'html' \\{\\\n"
+".HTML \\\n"
+"<STYLE> \\\n"
+"#weight TD { text-align: center; padding-left: .5ex; padding-right: .5ex } "
+"\\\n"
+"#weight TH { text-align: center; padding-left: .5ex; padding-right: .5ex } "
+"\\\n"
+"#weight TD.W { text-align: right; } \\\n"
+"</STYLE> \\\n"
+"<TABLE ID=\"weight\" STYLE=\"border: 1px solid black; border-collapse: "
+"collapse\"> \\\n"
+"    <COL SPAN=5 STYLE=\"margin: .2ex\"><COL SPAN=1 STYLE=\"border-left: 1px "
+"solid black\"> \\\n"
+"<TR STYLE=\"border-bottom: 1px solid black\"> \\\n"
+"    <TH COLSPAN=6>Weights for each line of truth table \\\n"
+"<TR STYLE=\"border-bottom: 1px solid black\"> \\\n"
+"    <TH>Bit 4<TH>Bit 3<TH>Bit 2<TH>Bit 1<TH>Bit 0<TH> Weight \\\n"
+"<TR><TD>0<TD>0<TD>0<TD>0<TD>0<TD CLASS=\"w\">0x1 \\\n"
+"<TR><TD>0<TD>0<TD>0<TD>0<TD>1<TD CLASS=\"w\">0x2 \\\n"
+"<TR><TD>0<TD>0<TD>0<TD>1<TD>0<TD CLASS=\"w\">0x4 \\\n"
+"<TR><TD>0<TD>0<TD>0<TD>1<TD>1<TD CLASS=\"w\">0x8 \\\n"
+"<TR><TD>0<TD>0<TD>1<TD>0<TD>0<TD CLASS=\"w\">0x10 \\\n"
+"<TR><TD>0<TD>0<TD>1<TD>0<TD>1<TD CLASS=\"w\">0x20 \\\n"
+"<TR><TD>0<TD>0<TD>1<TD>1<TD>0<TD CLASS=\"w\">0x40 \\\n"
+"<TR><TD>0<TD>0<TD>1<TD>1<TD>1<TD CLASS=\"w\">0x80 \\\n"
+"<TR><TD>0<TD>1<TD>0<TD>0<TD>0<TD CLASS=\"w\">0x100 \\\n"
+"<TR><TD>0<TD>1<TD>0<TD>0<TD>1<TD CLASS=\"w\">0x200 \\\n"
+"<TR><TD>0<TD>1<TD>0<TD>1<TD>0<TD CLASS=\"w\">0x400 \\\n"
+"<TR><TD>0<TD>1<TD>0<TD>1<TD>1<TD CLASS=\"w\">0x800 \\\n"
+"<TR><TD>0<TD>1<TD>1<TD>0<TD>0<TD CLASS=\"w\">0x1000 \\\n"
+"<TR><TD>0<TD>1<TD>1<TD>0<TD>1<TD CLASS=\"w\">0x2000 \\\n"
+"<TR><TD>0<TD>1<TD>1<TD>1<TD>0<TD CLASS=\"w\">0x4000 \\\n"
+"<TR><TD>0<TD>1<TD>1<TD>1<TD>1<TD CLASS=\"w\">0x8000 \\\n"
+"<TR><TD>1<TD>0<TD>0<TD>0<TD>0<TD CLASS=\"w\">0x10000 \\\n"
+"<TR><TD>1<TD>0<TD>0<TD>0<TD>1<TD CLASS=\"w\">0x20000 \\\n"
+"<TR><TD>1<TD>0<TD>0<TD>1<TD>0<TD CLASS=\"w\">0x40000 \\\n"
+"<TR><TD>1<TD>0<TD>0<TD>1<TD>1<TD CLASS=\"w\">0x80000 \\\n"
+"<TR><TD>1<TD>0<TD>1<TD>0<TD>0<TD CLASS=\"w\">0x100000 \\\n"
+"<TR><TD>1<TD>0<TD>1<TD>0<TD>1<TD CLASS=\"w\">0x200000 \\\n"
+"<TR><TD>1<TD>0<TD>1<TD>1<TD>0<TD CLASS=\"w\">0x400000 \\\n"
+"<TR><TD>1<TD>0<TD>1<TD>1<TD>1<TD CLASS=\"w\">0x800000 \\\n"
+"<TR><TD>1<TD>1<TD>0<TD>0<TD>0<TD CLASS=\"w\">0x1000000 \\\n"
+"<TR><TD>1<TD>1<TD>0<TD>0<TD>1<TD CLASS=\"w\">0x2000000 \\\n"
+"<TR><TD>1<TD>1<TD>0<TD>1<TD>0<TD CLASS=\"w\">0x4000000 \\\n"
+"<TR><TD>1<TD>1<TD>0<TD>1<TD>1<TD CLASS=\"w\">0x8000000 \\\n"
+"<TR><TD>1<TD>1<TD>1<TD>0<TD>0<TD CLASS=\"w\">0x10000000 \\\n"
+"<TR><TD>1<TD>1<TD>1<TD>0<TD>1<TD CLASS=\"w\">0x20000000 \\\n"
+"<TR><TD>1<TD>1<TD>1<TD>1<TD>0<TD CLASS=\"w\">0x40000000 \\\n"
+"<TR><TD>1<TD>1<TD>1<TD>1<TD>1<TD CLASS=\"w\">0x80000000 \\\n"
+"</TABLE>\n"
+"\\}\n"
+".el \\{\\\n"
+".TS\n"
+"box tab(;);\n"
+"cb s s s s s\n"
+"cb cb cb cb cb | cb\n"
+"c  c  c  c  c  | r.\n"
+"Weights for each line of truth table\n"
+"_\n"
+"Bit 4;Bit 3;Bit 2;Bit 1;Bit 0; Weight\n"
+"_\n"
+"0;0;0;0;0;0x1\n"
+"0;0;0;0;1;0x2\n"
+"0;0;0;1;0;0x4\n"
+"0;0;0;1;1;0x8\n"
+"0;0;1;0;0;0x10\n"
+"0;0;1;0;1;0x20\n"
+"0;0;1;1;0;0x40\n"
+"0;0;1;1;1;0x80\n"
+"0;1;0;0;0;0x100\n"
+"0;1;0;0;1;0x200\n"
+"0;1;0;1;0;0x400\n"
+"0;1;0;1;1;0x800\n"
+"0;1;1;0;0;0x1000\n"
+"0;1;1;0;1;0x2000\n"
+"0;1;1;1;0;0x4000\n"
+"0;1;1;1;1;0x8000\n"
+"1;0;0;0;0;0x10000\n"
+"1;0;0;0;1;0x20000\n"
+"1;0;0;1;0;0x40000\n"
+"1;0;0;1;1;0x80000\n"
+"1;0;1;0;0;0x100000\n"
+"1;0;1;0;1;0x200000\n"
+"1;0;1;1;0;0x400000\n"
+"1;0;1;1;1;0x800000\n"
+"1;1;0;0;0;0x1000000\n"
+"1;1;0;0;1;0x2000000\n"
+"1;1;0;1;0;0x4000000\n"
+"1;1;0;1;1;0x8000000\n"
+"1;1;1;0;0;0x10000000\n"
+"1;1;1;0;1;0x20000000\n"
+"1;1;1;1;0;0x40000000\n"
+"1;1;1;1;1;0x80000000\n"
+".TE\n"
+"\\}\n"
+msgstr ""
+
+#. type: TP
+#: man/man9/lut5.9:144
+#, no-wrap
+msgid "B<lut5.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/lut5.9:148
+#, no-wrap
+msgid "B<lut5.>I<N>B<.in-0> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/lut5.9:152
+#, no-wrap
+msgid "B<lut5.>I<N>B<.in-1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/lut5.9:156
+#, no-wrap
+msgid "B<lut5.>I<N>B<.in-2> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/lut5.9:160
+#, no-wrap
+msgid "B<lut5.>I<N>B<.in-3> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/lut5.9:164
+#, no-wrap
+msgid "B<lut5.>I<N>B<.in-4> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/lut5.9:168
+#, no-wrap
+msgid "B<lut5.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/lut5.9:171
+#, no-wrap
+msgid "B<lut5.>I<N>B<.function> u32 rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/lut5.9:181
+msgid "B<and>(9), B<logic>(9), B<not>(9), B<or2>(9), B<xor2>(9)."
+msgstr ""
+
+#. type: TH
+#: man/man9/maj3.9:9
+#, no-wrap
+msgid "MAJ3"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/maj3.9:13
+msgid "maj3 - Compute the majority of 3 inputs"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/maj3.9:16
+msgid "B<loadrt maj3 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/maj3.9:17
+#, no-wrap
+msgid "B<maj3.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/maj3.9:21
+#, no-wrap
+msgid "B<maj3.>I<N>B<.in1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/maj3.9:25
+#, no-wrap
+msgid "B<maj3.>I<N>B<.in2> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/maj3.9:29
+#, no-wrap
+msgid "B<maj3.>I<N>B<.in3> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/maj3.9:33
+#, no-wrap
+msgid "B<maj3.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/maj3.9:36
+#, no-wrap
+msgid "B<maj3.>I<N>B<.invert> bit rw "
+msgstr ""
+
+#. type: TH
+#: man/man9/match8.9:9
+#, no-wrap
+msgid "MATCH8"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/match8.9:13
+msgid "match8 - 8-bit binary match detector"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/match8.9:16
+msgid "B<loadrt match8 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:17
+#, no-wrap
+msgid "B<match8.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:21
+#, no-wrap
+msgid "B<match8.>I<N>B<.in> bit in (default: I<TRUE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/match8.9:24
+msgid "cascade input - if false, output is false regardless of other inputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:24
+#, no-wrap
+msgid "B<match8.>I<N>B<.a0> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:28
+#, no-wrap
+msgid "B<match8.>I<N>B<.a1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:32
+#, no-wrap
+msgid "B<match8.>I<N>B<.a2> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:36
+#, no-wrap
+msgid "B<match8.>I<N>B<.a3> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:40
+#, no-wrap
+msgid "B<match8.>I<N>B<.a4> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:44
+#, no-wrap
+msgid "B<match8.>I<N>B<.a5> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:48
+#, no-wrap
+msgid "B<match8.>I<N>B<.a6> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:52
+#, no-wrap
+msgid "B<match8.>I<N>B<.a7> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:56
+#, no-wrap
+msgid "B<match8.>I<N>B<.b0> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:60
+#, no-wrap
+msgid "B<match8.>I<N>B<.b1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:64
+#, no-wrap
+msgid "B<match8.>I<N>B<.b2> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:68
+#, no-wrap
+msgid "B<match8.>I<N>B<.b3> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:72
+#, no-wrap
+msgid "B<match8.>I<N>B<.b4> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:76
+#, no-wrap
+msgid "B<match8.>I<N>B<.b5> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:80
+#, no-wrap
+msgid "B<match8.>I<N>B<.b6> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:84
+#, no-wrap
+msgid "B<match8.>I<N>B<.b7> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/match8.9:88
+#, no-wrap
+msgid "B<match8.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/match8.9:91
+msgid "true only if in is true and a[m] matches b[m] for m = 0 thru 7"
+msgstr ""
+
+#. type: TH
+#: man/man9/matrix_kb.9:10
+#, no-wrap
+msgid "MATRIX_KB"
+msgstr ""
+
+#. type: TH
+#: man/man9/matrix_kb.9:10 man/man9/mux_generic.9:10 man/man9/pid.9:10
+#: man/man9/pwmgen.9:10 man/man9/sim_encoder.9:10
+#, no-wrap
+msgid "10/05/2024"
+msgstr ""
+
+#. type: groff code
+#: man/man9/matrix_kb.9:18 man/man9/mux_generic.9:18 man/man9/pid.9:18
+#: man/man9/pwmgen.9:18 man/man9/sim_encoder.9:18
+#, no-wrap
+msgid ""
+".ie  \\n(.g .ds Aq \\(aq\n"
+".el       .ds Aq '\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:32
+msgid ""
+"matrix_kb - Convert integers to HAL pins\\&. Optionally scan a matrix of I/O "
+"ports to create those integers\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:35
+msgid ""
+"B<loadrt matrix_kb "
+"config=>I<RxCs>,I<RxCs>\\&... B<names=>I<name1>,I<name2>\\&..."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:37
+msgid ""
+"Creates a component configured for R rows and N columns of matrix "
+"keyboard\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:39
+msgid ""
+"If the B<s> option is specified then a set of output rows will be cyclically "
+"toggled, and a set of input columns will be scanned\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:41
+msgid ""
+"The B<names> parameter is optional, but if used then the HAL pins and "
+"functions will use the specified names rather than the default ones\\&. This "
+"can be useful for readability and 2-pass HAL parsing\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:43
+msgid "There must be no spaces in the parameter lists\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:46
+msgid ""
+"This component was written to convert matrix keyboard scancodes into HAL "
+"pins\\&. However, it might also find uses in converting integers from 0 to "
+"I<N> into I<N> HAL pins\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:48
+msgid ""
+"The component can work in two ways, and the HAL pins created vary according "
+"to mode\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:50
+msgid ""
+"In the default mode the component expects to be given a scan code from a "
+"separate driver but could be any integer from any source\\&. Most typically "
+"this will be the keypad scancode from a Mesa 7I73\\&. The default codes for "
+"keyup and keydown are based on the Mesa 7I73 specification with 0x40 "
+"indicating a keydown and 0x80 a keyup event\\&. If using the 7I73 it is "
+"important to match the keypad size jumpers with the HAL component\\&. Valid "
+"configs for the 7I73 are 4x8 and 8x8\\&. Note that the component will only "
+"work properly with the version 12 (0xC) 7I73 firmware\\&. The firmware "
+"version is visible on the component parameters in HAL\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:52
+msgid ""
+"In the optional scan-generation mode the B<matrix_kb\\&.>I<N>B<\\&.keycode> "
+"pin changes to an output pin and a set of output row pins and input column "
+"pins are created\\&. These need to be connected to physical inputs and "
+"outputs to scan the matrix and return values to HAL\\&. Note the "
+"B<negative-logic> parameter described below, this will need to be set on the "
+"most common forms of inputs which float high when unconnected\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:54
+msgid ""
+"In both modes a set of HAL output pins are created corresponding to each "
+"node of the matrix\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:57
+msgid "B<matrix_kb\\&.>I<N>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:59
+msgid ""
+"Perform all requested functions\\&. Should be run in a slow thread for "
+"effective debouncing\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:63
+msgid "B<matrix_kb\\&.>I<N>B<\\&.col->I<CC>B<-in> bit in*"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:65
+msgid "The input pin corresponding to column C\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:68
+msgid "B<matrix_kb\\&.>I<N>B<\\&.key\\&.r>I<R>B<c>I<C> bit out*"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:70
+msgid "The pin corresponding to the key at row R column C of the matrix\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:73
+msgid "B<matrix_kb\\&.>I<N>B<\\&.keycode> unsigned in or out, depending on mode"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:75
+msgid ""
+"This pin should be connected to the scancode generator if hardware such as a "
+"7I73 is being used\\&. In this mode it is an input pin\\&. In the "
+"internally-generated scanning mode this pin is an output, but will not "
+"normally be connected\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:78
+msgid "B<matrix_kb\\&.>I<N>B<\\&.row->I<RR>B<-out> bit out*"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:80
+msgid ""
+"The row scan drive pins\\&. Should be connected to external hardware pins "
+"connected to the keypad\\&. The row scan drive pins\\&.Should be connected "
+"to external hardware pins connected to the keypad\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:84
+msgid "B<matrix_kb\\&.>I<N>B<\\&.key_rollover>* unsigned r/w (default 2)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:86
+msgid ""
+"With most matrix keyboards the scancodes are only unambiguous with 1 or 2 "
+"keys pressed\\&. With more keys pressed phantom keystrokes can "
+"appear\\&. Some keyboards are optimised to reduce this problem, and some "
+"have internal diodes so that any number of keys may be pressed "
+"simultaneously\\&. Increase the value of this parameter if such a keyboard "
+"is connected, or if phantom keystrokes are more acceptable than only two "
+"keys being active at one time\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:89
+msgid ""
+"B<matrix_kb\\&.>I<N>B<\\&.negative-logic> bit r/w (default 1), only in scan "
+"mode"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/matrix_kb.9:91
+msgid ""
+"When no keys are pressed a typical digital input will float high\\&. The "
+"input will then be pulled low by the keypad when the corresponding poll line "
+"is low\\&. Set this parameter to 0 if the I/O in use requires one row at a "
+"time to be high, and a high input corresponds to a button press\\&."
+msgstr ""
+
+#. type: TH
+#: man/man9/max31855.9:9
+#, no-wrap
+msgid "MAX31855"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:13
+msgid ""
+"max31855 - Support for the MAX31855 Thermocouple-to-Digital converter using "
+"bitbanged spi"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:16
+msgid ""
+"B<loadrt max31855 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]] "
+"[personality=>I<P1,P2,...>B<]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:19
+msgid "The component requires at least 3 pins to bitbang spi protocol, for example:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:21
+#, no-wrap
+msgid " B<loadrt max31855 personality=1>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:24
+#, no-wrap
+msgid ""
+" B<setp hm2_6i25.0.gpio.023.is_output true>\n"
+" B<setp hm2_6i25.0.gpio.024.is_output true>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:28
+#, no-wrap
+msgid ""
+" B<net spi.clk.in    hm2_6i25.0.gpio.023.out     max31855.0.clk.out>\n"
+" B<net spi.cs.in     hm2_6i25.0.gpio.024.out     max31855.0.cs.out>\n"
+" B<net spi.data0.in  hm2_6i25.0.gpio.033.in_not  max31855.0.data.0.in>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:30
+#, no-wrap
+msgid " B<addf max31855.0.bitbang-spi servo-thread >\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:34
+msgid ""
+"The MAX31855 supports a range of -270C to 1800C, however linearization data "
+"is only available for the -200C to 1350C range, beyond which raw temperature "
+"is returned."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:37
+msgid ""
+"Temperature pins are provided for readings in Celsius, Fahrenheit and "
+"Kelvin, temperature values are not updated while a fault condition is "
+"present."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:41
+msgid ""
+"The personality parameter is used to indicate the number of sensors.  "
+"Multiple sensors share the clk and cs pins, but connect to discrete data "
+"input pins.  A maximum of 15 sensors are supported."
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:44
+#, no-wrap
+msgid "B<max31855.>I<N>B<.bitbang-spi> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:48
+#, no-wrap
+msgid "B<max31855.>I<N>B<.data.>I<M>B<.in> bit in (M=0..( personality & 0xf )) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:51
+msgid "Pin(s) connected to data out."
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:51
+#, no-wrap
+msgid "B<max31855.>I<N>B<.cs.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:54
+msgid "Pin connected to cs, pulled low to shift data, pulled high for data refresh."
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:54
+#, no-wrap
+msgid "B<max31855.>I<N>B<.clk.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:57
+msgid "Pin connected to clk."
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:57
+#, no-wrap
+msgid "B<max31855.>I<N>B<.temp-celsius.>I<M> float out (M=0..( personality & 0xf )) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:60
+msgid "Temperature output values in Celsius."
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:60
+#, no-wrap
+msgid ""
+"B<max31855.>I<N>B<.temp-fahrenheit.>I<M> float out (M=0..( personality & 0xf "
+")) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:63
+msgid "Temperature in Fahrenheit."
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:63
+#, no-wrap
+msgid "B<max31855.>I<N>B<.temp-kelvin.>I<M> float out (M=0..( personality & 0xf )) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:66
+msgid "Temperature in Kelvin."
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:66
+#, no-wrap
+msgid "B<max31855.>I<N>B<.fault.>I<M> bit out (M=0..( personality & 0xf )) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:69
+msgid "Fault condition detected."
+msgstr ""
+
+#. type: TP
+#: man/man9/max31855.9:69
+#, no-wrap
+msgid "B<max31855.>I<N>B<.fault-flags.>I<M> u32 out (M=0..( personality & 0xf )) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:72
+msgid "Fault flags: 0x1 = open sensor, 0x2 short to gnd, 0x3 short to vcc."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/max31855.9:75
+msgid "Joseph Calderon"
+msgstr ""
+
+#. type: TH
+#: man/man9/mesa_7i65.9:9
+#, no-wrap
+msgid "MESA_7I65"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:13
+msgid "mesa_7i65 - Support for the Mesa 7i65 Octuple Servo Card"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:16
+msgid "B<loadrt mesa_7i65>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:20
+msgid ""
+"The component takes parameters in the form of a comma-separated list of bspi "
+"(buffered SPI) instance names, for example:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:22
+#, no-wrap
+msgid " B<loadrt mesa_7i65 bspi_chans=hm2_5i23.0.bspi.0, hm2_5i23.0.bspi.1>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:27
+msgid ""
+"The BSPI instances are printed to the dmesg buffer during the Hostmot2 setup "
+"sequence, one for each bspi instance included in the bitfile loaded to each "
+"installed card during the Hostmot2 setup sequence. Type \"dmesg\" at the "
+"terminal prompt to view the output."
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_7i65.9:28
+#, no-wrap
+msgid "B<mesa-7i65.>I<N>B<.analogue.>I<M>B<.out> float in (M=0..7) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:32
+msgid "Analogue output values. The value will be limited to a -1.0 to +1.0 range"
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_7i65.9:32
+#, no-wrap
+msgid "B<mesa-7i65.>I<N>B<.analogue.>I<M>B<.in> float out (M=0..7) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:35
+msgid "Analogue outputs read by the 7i65 (in Volts)"
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_7i65.9:35
+#, no-wrap
+msgid "B<mesa-7i65.>I<N>B<.digital.>I<M>B<.in> bit out (M=0..3) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:38
+msgid "Miscellaneous Digital Inputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_7i65.9:38
+#, no-wrap
+msgid "B<mesa-7i65.>I<N>B<.enable.>I<M>B<.out> bit in (M=0..7) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:41
+msgid "Amplifier-enable control pins"
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_7i65.9:41
+#, no-wrap
+msgid "B<mesa-7i65.>I<N>B<.watchdog.has-bit> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:45
+msgid ""
+"Indicates the status of the 7i65 Watchdog (which is separate from the FPGA "
+"card watchdog"
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_7i65.9:46
+#, no-wrap
+msgid "B<mesa-7i65.>I<N>B<.scale->I<M> float rw (M=0..7) (default: I<10>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:50
+msgid ""
+"Analogue output scale factor. For example if the scale is 7 then an input of "
+"1.0 will give 7V on the output terminals"
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_7i65.9:50
+#, no-wrap
+msgid "B<mesa-7i65.>I<N>B<.is-bipolar->I<M> bit rw (M=0..7) (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:54
+msgid ""
+"Set this value to TRUE for a plus/minus \"scale\" output. Set to 0 for a "
+"0-\"scale\" output"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_7i65.9:57
+msgid "Andy Pugh / Cliff Blackburn"
+msgstr ""
+
+#. type: TH
+#: man/man9/mesa_pktgyro_test.9:9
+#, no-wrap
+msgid "MESA_PKTGYRO_TEST"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:13
+msgid "mesa_pktgyro_test - PktUART simple test with Microstrain 3DM-GX3-15 gyro"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:16
+msgid ""
+"B<loadrt mesa_pktgyro_test "
+"[count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:20
+msgid ""
+"This component is written in order to test the PktUART driver for Mesa. It "
+"resembles partly Andy Pugh's mesa_uart.comp ."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:26
+msgid ""
+"This module uses the names= mode of loadrt declaration to specify which "
+"PktUART instances to enable. A check is included to ensure that the count= "
+"option is not used instead.  For simplicity we test only one PktUART "
+"instance, therefore load the component like this:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:28
+#, no-wrap
+msgid " B<loadrt mesa_uart names=hm2_5i25.0.pktuart.0>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:35
+msgid ""
+"The PktUART instance names are printed to the dmesg buffer during the "
+"Hostmot2 setup sequence, one for each PktUART instance included in the "
+"bitfile loaded to each installed card during the Hostmot2 setup "
+"sequence. Type \"dmesg\" at the terminal prompt to view the output.  If you "
+"want to work with more than one PktUART instance, consult Andy Pugh's "
+"mesa_uart.comp"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:38
+#, no-wrap
+msgid ""
+"In order to compile and install do:\n"
+" B<halcompile --install src/hal/drivers/mesa_pktgyro_test.comp>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:48
+#, no-wrap
+msgid ""
+"The component exports only one function, namely receive, which needs to be "
+"added\n"
+"to a realtime thread.\n"
+"To test this component  set DEBUG=5 before and execute this HAL script:\n"
+" B<loadrt hostmot2>\n"
+" B<loadrt hm2_pci>\n"
+" B<loadrt mesa_pktgyro_test names=hm2_5i25.0.pktuart.0>\n"
+" B<loadrt threads name1=test1 period1=10000000>\n"
+" B<addf hm2_5i25.0.pktuart.0.receive test1>\n"
+" B<start>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:50
+msgid "Check linuxcnc.log for debug output."
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_pktgyro_test.9:53
+#, no-wrap
+msgid "B<mesa-pktgyro-test.>I<N>B<.receive> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/mesa_pktgyro_test.9:57
+#, no-wrap
+msgid "B<mesa-pktgyro-test.>I<N>B<.rxbytes> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:60
+msgid "Number of Bytes received or negative Error code"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mesa_pktgyro_test.9:63
+msgid "Boris Skegin"
+msgstr ""
+
+#. type: TH
+#: man/man9/message.9:9
+#, no-wrap
+msgid "MESSAGE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:13
+msgid "message - Display a message"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:16
+msgid ""
+"B<loadrt message [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]] "
+"[messages=>I<N>B<]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/message.9:17
+#, no-wrap
+msgid "B<messages>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:25
+msgid ""
+"The messages to display. These should be listed, comma-delimited, inside a "
+"single set of quotes. See the \"Description\" section for an example.  If "
+"there are more messages than \"count\" or \"names\" then the excess will be "
+"ignored. If there are fewer messages than \"count\" or \"names\" then an "
+"error will be raised and the component will not load."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:34
+#, no-wrap
+msgid ""
+"Allows HAL pins to trigger a message. Example hal commands:\n"
+" loadrt message names=oillow,oilpressure,inverterfail messages=\"Slideway "
+"oil low,No oil\n"
+"pressure,Spindle inverter fault\"\n"
+" addf oillow servo-thread\n"
+" addf oilpressure servo-thread\n"
+" addf inverterfail servo-thread\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:39
+#, no-wrap
+msgid ""
+" setp oillow.edge 0 #this pin should be active low\n"
+" net no-oil classicladder.0.out-21 oillow.trigger\n"
+" net no-pressure classicladder.0.out-22 oilpressure.trigger\n"
+" net no-inverter classicladder.0.out-23 inverterfail.trigger\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:41
+msgid "When any pin goes active, the corresponding message will be displayed."
+msgstr ""
+
+#. type: TP
+#: man/man9/message.9:42
+#, no-wrap
+msgid "B<message.>I<N>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:45
+msgid "Display a message"
+msgstr ""
+
+#. type: TP
+#: man/man9/message.9:46
+#, no-wrap
+msgid "B<message.>I<N>B<.trigger> bit in (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:49
+msgid "signal that triggers the message"
+msgstr ""
+
+#. type: TP
+#: man/man9/message.9:49
+#, no-wrap
+msgid "B<message.>I<N>B<.force> bit in (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:53
+msgid ""
+"A FALSE-E<gt>TRUE transition forces the message to be displayed again if the "
+"trigger is active"
+msgstr ""
+
+#. type: TP
+#: man/man9/message.9:54
+#, no-wrap
+msgid "B<message.>I<N>B<.edge> bit rw (default: I<TRUE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:58
+msgid "Selects the desired edge: FALSE means falling, TRUE means rising"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:61 man/man9/spindle.9:145
+msgid "Les Newell"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/message.9:63
+msgid "GPL v2"
+msgstr ""
+
+#. type: TH
+#: man/man9/millturn.9:9
+#, no-wrap
+msgid "MILLTURN"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:13
+msgid "millturn - Switchable kinematics for a mill-turn machine"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:16
+msgid "B<loadrt millturn [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: groff code
+#: man/man9/millturn.9:19 man/man9/userkins.9:19
+#, no-wrap
+msgid ".if  \\n[.g] .mso www.tmac\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:23
+msgid ""
+"This is a switchable kinematics module using 3 cartesian linear joints (XYZ)  "
+"and 1 angular joint (A). The module contains two kinematic models:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:26
+msgid "type0 (default) is a mill (XYZA) configuration with A being a rotary axis."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:28
+msgid "type1 is a turn (Z-YX) configuration with A configured to be a spindle."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:30
+msgid ""
+"For an example configuration, run the sim config: "
+"'configs/sim/axis/vismach/millturn/millturn.ini'."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:32
+msgid ""
+"Further explanations can be found in the README in "
+"'configs/sim/axis/vismach/millturn'."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:35
+msgid "millturn.comp was constructed by modifying the template file: userkins.comp."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:38
+msgid ""
+"For more information on how to modify userkins.comp run: $ man userkins.  "
+"Also, see additional information inside: 'userkins.comp'."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:43
+msgid ""
+"For information on kinematics in general see the kinematics document chapter "
+"(docs/src/motion/kinematics.txt) and for switchable kinematics in particular "
+"see the switchkins document chapter (docs/src/motion/switchkins.txt)"
+msgstr ""
+
+#. type: TP
+#: man/man9/millturn.9:46
+#, no-wrap
+msgid "B<millturn.>I<N>B<.fdemo> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/millturn.9:50
+#, no-wrap
+msgid "B<millturn.>I<N>B<.fpin> s32 out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:53 man/man9/userkins.9:73
+msgid "pin to demonstrate use of a conventional (non-kinematics) function fdemo"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/millturn.9:56
+msgid "David Mueller"
+msgstr ""
+
+#. type: TH
+#: man/man9/minmax.9:9
+#, no-wrap
+msgid "MINMAX"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/minmax.9:13
+msgid "minmax - Track the minimum and maximum values of the input to the outputs"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/minmax.9:16
+msgid "B<loadrt minmax [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/minmax.9:17
+#, no-wrap
+msgid "B<minmax.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/minmax.9:21
+#, no-wrap
+msgid "B<minmax.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/minmax.9:25
+#, no-wrap
+msgid "B<minmax.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/minmax.9:28
+msgid "When reset is asserted, 'in' is copied to the outputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/minmax.9:28
+#, no-wrap
+msgid "B<minmax.>I<N>B<.max> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/minmax.9:32
+#, no-wrap
+msgid "B<minmax.>I<N>B<.min> float out "
+msgstr ""
+
+#. type: TH
+#: man/man9/moveoff.9:9
+#, no-wrap
+msgid "MOVEOFF"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:13
+msgid "moveoff - Component for HAL-only offsets"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:16
+msgid ""
+"B<loadrt moveoff [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]] "
+"[personality=>I<P1,P2,...>B<]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:28
+msgid ""
+"The axis offset pin values (offset-in-M) are continuously applied "
+"(respecting limits on value, velocity, and acceleration)  to the output pins "
+"(offset-current-M, pos-plusoffset-M, fb-minusoffset-M) when both enabling "
+"input pins (apply-offsets and move-enable) are TRUE.  The two enabling "
+"inputs are anded internally.  A B<warning> pin is set and a message issued "
+"if the apply-offsets pin is deasserted while offsets are applied.  The "
+"warning pin remains TRUE until the offsets are removed or the apply-offsets "
+"pin is set."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:33
+msgid ""
+"Applied offsets are B<automatically returned> to zero (respecting limits) "
+"when either of the enabling inputs is deactivated.  The zero value tolerance "
+"is specified by the epsilon input pin value."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:43
+msgid ""
+"Backtracking through waypoints results in B<slower> movement rates as the "
+"moves are point-to-point respecting velocity and acceleration settings.  The "
+"velocity and acceleration limit pins can be managed dynamically to control "
+"offsets at all times."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:46
+msgid ""
+"When backtrack-enable is FALSE, the auto-return move is B<NOT> coordinated, "
+"each axis returns to zero at its own rate.  If a controlled path is wanted "
+"in this condition, each axis should be manually returned to zero before "
+"deasserting an enabling pin."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:52
+msgid ""
+"The offsets-applied output pin is provided to indicate the current state to "
+"a GUI so that program resumption can be managed.  If the offset(s) are "
+"non-zero when the apply-offsets pin is deasserted (for example when resuming "
+"a program when offsetting during a pause), offsets are returned to zero "
+"(respecting limits) and an B<Error> message is issued."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:55
+msgid ""
+"B<Caution:> If offsets are enabled and applied and the machine is turned off "
+"for any reason, any B<external> HAL logic that manages the enabling pins and "
+"the offset-in-M inputs is responsible for their state when the machine is "
+"subsequently turned on again."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:61
+msgid ""
+"This HAL-only means of offsetting is typically not known to LinuxCNC nor "
+"available in GUI preview displays.  B<No protection is provided> for offset "
+"moves that exceed soft limits managed by LinuxCNC.  Since soft limits are "
+"not honored, an offset move may encounter hard limits (or B<CRASH> if there "
+"are no limit switches).  Use of the offset-min-M and offset-max-M inputs to "
+"limit travel is recommended.  Triggering a hard limit will turn off the "
+"machine -- see B<Caution> above."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:65
+msgid ""
+"The offset-in-M values may be set with inifile settings, controlled by a "
+"GUI, or managed by other HAL components and connections.  Fixed values may "
+"be appropriate in simple cases where the direction and amount of offset is "
+"well-defined but a control method is required to deactivate an enabling pin "
+"in order to return offsets to zero.  GUIs may provide means for users to "
+"set, increment, decrement, and accumulate offset values for each axis and "
+"may set offset-in-M values to zero before deasserting an enabling pin."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:69
+msgid ""
+"The default values for accel, vel, min, max, epsilon, waypoint-sample-secs, "
+"and waypoint-threshold may not be suitable for any particular application.  "
+"This HAL component is unaware of limits enforced elsewhere by LinuxCNC.  "
+"Users should test usage in a simulator application and understand all "
+"hazards B<before> use on hardware."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:71
+msgid ""
+"The module personality item sets the number of joints supported (default==3, "
+"maximum is 9)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:74
+#, no-wrap
+msgid ""
+"Use of the names= option for naming is B<required> for compatibility with "
+"the gui provided as scripts/moveoff_gui:\n"
+"  loadrt moveoff names=B<mv> personality=number_of_joints\n"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:77
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.read-inputs> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:80
+msgid "Read all inputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:80
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.write-outputs> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:85
+msgid ""
+"Write computed offset outputs (offset-current-M, pos-plusoffset-M, "
+"fb-minusoffset-M).  All other outputs are updated by read-inputs()."
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:86
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.power-on> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:89
+msgid "Connect to motion.motion-enabled"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:89
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.move-enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:92
+msgid "Enable offsets (Enabling requires apply-offset TRUE also)"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:92
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.apply-offsets> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:95
+msgid "Enable offsets (Enabling requires move-enable TRUE also)"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:95
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.backtrack-enable> bit in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:98
+msgid "Enable backtrack on auto-return"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:98
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.epsilon> float in (default: I<0.0005>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:101
+msgid ""
+"When enabling pins are deactivated, return to un-offsetted position within "
+"epsilon units.  Warning: values that are too small in value may cause "
+"overshoot.  A minimum value of 0.0001 is B<silently enforced>."
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:101
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.waypoint-threshold> float in (default: I<0.02>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:104
+msgid "Minimum distance (in a single axis) for a new waypoint"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:104
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.waypoint-sample-secs> float in (default: I<0.02>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:107
+msgid "Minimum sample interval (in seconds) for a new waypoint"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:107
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.warning> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:110
+msgid "Set TRUE if apply-offsets is deasserted while offset-applied is TRUE."
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:110
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.offset-applied> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:113
+msgid "TRUE if one or more offsets are applied."
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:113
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.waypoint-limit> bit out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:116
+msgid ""
+"Indicates waypoint limit reached (motion ceases), an enabling pin must be "
+"deasserted to initiate return to original position."
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:116
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.waypoint-ct> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:119
+msgid "Waypoint count (for debugging)"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:119
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.waypoint-percent-used> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:122
+msgid "Percent of available waypoints used"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:122
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.offset-in->I<M> float in (M=0..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:125
+msgid "Joint offset input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:125
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.pos->I<M> float in (M=0..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:128
+msgid "Joint position (typ: axis.0.motor-pos-cmd)"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:128
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.fb->I<M> float in (M=0..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:131
+msgid "Joint feedback (typ from encoder and input to pid controller (pid.feedback))"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:131
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.offset-current->I<M> float out (M=0..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:134
+msgid "Joint offset current value"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:134
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.pos-plusoffset->I<M> float out (M=0..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:137
+msgid "Computed joint position plus offset (typically connect to pid command input)"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:137
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.fb-minusoffset->I<M> float out (M=0..personality) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:140
+msgid ""
+"Computed Joint feedback minus offset (typically connected to "
+"axis.0.motor-pos-fb)"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:140
+#, no-wrap
+msgid ""
+"B<moveoff.>I<N>B<.offset-vel->I<M> float in (M=0..personality) (default: "
+"I<10>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:143
+msgid "Joint offset velocity limit"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:143
+#, no-wrap
+msgid ""
+"B<moveoff.>I<N>B<.offset-accel->I<M> float in (M=0..personality) (default: "
+"I<100>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:146
+msgid "Joint offset acceleration limit"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:146
+#, no-wrap
+msgid ""
+"B<moveoff.>I<N>B<.offset-min->I<M> float in (M=0..personality) (default: "
+"I<-1e20>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:149
+msgid "Minimum limit for applied joint offset (typ negative)"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:149
+#, no-wrap
+msgid ""
+"B<moveoff.>I<N>B<.offset-max->I<M> float in (M=0..personality) (default: "
+"I<1e20>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:152
+msgid "Maximum limit for applied offset (typ positive)"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:152
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.dbg-waypoint-limit-test> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:155
+msgid "Debug input to test with limited number of waypoints"
+msgstr ""
+
+#. type: TP
+#: man/man9/moveoff.9:155
+#, no-wrap
+msgid "B<moveoff.>I<N>B<.dbg-state> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:158
+msgid "Debug output for current state of state machine"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:165
+msgid ""
+"Example simulator configs that demonstrate the moveoff component and a "
+"simple gui (scripts/moveoff_gui) are located in "
+"configs/sim/axis/moveoff. The AXIS GUI is used for the demonstrations and "
+"the configs can be adapted for other GUIs like Touchy and Gscreen.  An "
+"example with the Touchy GUI is provided in configs/sim/touchy/ngcgui/."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:171
+msgid "B<moveoff_gui>(1)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/moveoff.9:175
+msgid "Dewey Garrett and Andy Pugh"
+msgstr ""
+
+#. type: TH
+#: man/man9/mult2.9:9
+#, no-wrap
+msgid "MULT2"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mult2.9:13
+msgid "mult2 - Product of two inputs"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mult2.9:16
+msgid "B<loadrt mult2 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mult2.9:17
+#, no-wrap
+msgid "B<mult2.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/mult2.9:21
+#, no-wrap
+msgid "B<mult2.>I<N>B<.in0> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mult2.9:25
+#, no-wrap
+msgid "B<mult2.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mult2.9:29
+#, no-wrap
+msgid "B<mult2.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mult2.9:32
+msgid "out = in0 * in1"
+msgstr ""
+
+#. type: TH
+#: man/man9/multiclick.9:9
+#, no-wrap
+msgid "MULTICLICK"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:13
+msgid "multiclick - Single-, double-, triple-, and quadruple-click detector"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:16
+msgid "B<loadrt multiclick [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:21
+msgid ""
+"A click is defined as a rising edge on the 'in' pin, followed by the 'in' "
+"pin being True for at most 'max-hold-ns' nanoseconds, followed by a falling "
+"edge."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:24
+msgid ""
+"A double-click is defined as two clicks, separated by at most 'max-space-ns' "
+"nanoseconds with the 'in' pin in the False state."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:26
+msgid "I bet you can guess the definition of triple- and quadruple-click."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:30
+msgid ""
+"You probably want to run the input signal through a debounce component "
+"before feeding it to the multiclick detector, if the input is at all noisy."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:33
+msgid ""
+"The '*-click' pins go high as soon as the input detects the correct number "
+"of clicks."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:37
+msgid ""
+"The '*-click-only' pins go high a short while after the click, after the "
+"click separator space timeout has expired to show that no further click is "
+"coming.  This is useful for triggering halui MDI commands."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:38
+#, no-wrap
+msgid "B<multiclick.>I<N>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:41
+msgid "Detect single-, double-, triple-, and quadruple-clicks"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:42
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:45
+msgid "The input line, this is where we look for clicks."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:45
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.single-click> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:48
+msgid "Goes high briefly when a single-click is detected on the 'in' pin."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:48
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.single-click-only> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:52
+msgid ""
+"Goes high briefly when a single-click is detected on the 'in' pin and no "
+"second click followed it."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:52
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.double-click> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:55
+msgid "Goes high briefly when a double-click is detected on the 'in' pin."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:55
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.double-click-only> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:59
+msgid ""
+"Goes high briefly when a double-click is detected on the 'in' pin and no "
+"third click followed it."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:59
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.triple-click> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:62
+msgid "Goes high briefly when a triple-click is detected on the 'in' pin."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:62
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.triple-click-only> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:66
+msgid ""
+"Goes high briefly when a triple-click is detected on the 'in' pin and no "
+"fourth click followed it."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:66
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.quadruple-click> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:69
+msgid "Goes high briefly when a quadruple-click is detected on the 'in' pin."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:69
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.quadruple-click-only> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:73
+msgid ""
+"Goes high briefly when a quadruple-click is detected on the 'in' pin and no "
+"fifth click followed it."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:73
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.state> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:76
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.invert-input> bit rw (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:80
+msgid ""
+"If FALSE (the default), clicks start with rising edges.  If TRUE, clicks "
+"start with falling edges."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:80
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.max-hold-ns> u32 rw (default: I<250000000>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:84
+msgid ""
+"If the input is held down longer than this, it's not part of a multi-click.  "
+"(Default 250,000,000 ns, 250 ms.)"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:84
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.max-space-ns> u32 rw (default: I<250000000>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:88
+msgid ""
+"If the input is released longer than this, it's not part of a multi-click.  "
+"(Default 250,000,000 ns, 250 ms.)"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiclick.9:88
+#, no-wrap
+msgid "B<multiclick.>I<N>B<.output-hold-ns> u32 rw (default: I<100000000>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiclick.9:92
+msgid ""
+"Positive pulses on the output pins last this long.  (Default 100,000,000 ns, "
+"100 ms.)"
+msgstr ""
+
+#. type: TH
+#: man/man9/multiswitch.9:9
+#, no-wrap
+msgid "MULTISWITCH"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:13
+msgid ""
+"multiswitch - This component toggles between a specified number of output "
+"bits."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:16
+msgid "B<loadrt multiswitch personality=>I<P>B< [cfg=>I<N>B<]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiswitch.9:17
+#, no-wrap
+msgid "B<cfg>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:21
+msgid ""
+"cfg should be a comma-separated list of sizes, for example cfg=2,4,6 would "
+"create 3 instances of 2, 4 and 6 bits respectively.  Ignore the "
+"\"personality\" parameter, that is auto-generated."
+msgstr ""
+
+#. type: TP
+#: man/man9/multiswitch.9:23
+#, no-wrap
+msgid "B<multiswitch.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiswitch.9:27
+#, no-wrap
+msgid "B<multiswitch.>I<N>B<.up> bit in (default: I<false>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:30
+msgid "Receives signal to toggle up"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiswitch.9:30
+#, no-wrap
+msgid "B<multiswitch.>I<N>B<.down> bit in (default: I<false>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:33
+msgid "Receives signal to toggle down"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiswitch.9:33
+#, no-wrap
+msgid ""
+"B<multiswitch.>I<N>B<.bit->I<MM> bit out (MM=00..personality) (default: "
+"I<false>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:36
+msgid "Output bits"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiswitch.9:37
+#, no-wrap
+msgid "B<multiswitch.>I<N>B<.top-position> u32 rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:40
+msgid "Number of positions"
+msgstr ""
+
+#. type: TP
+#: man/man9/multiswitch.9:40
+#, no-wrap
+msgid "B<multiswitch.>I<N>B<.position> s32 rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:43
+msgid "Current state (may be set in the HAL)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/multiswitch.9:46
+msgid "ArcEye schooner30@tiscali.co.uk / Andy Pugh andy@bodgesoc.org"
+msgstr ""
+
+#. type: TH
+#: man/man9/mux16.9:9
+#, no-wrap
+msgid "MUX16"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:13
+msgid "mux16 - Select from one of sixteen input values"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:16
+msgid "B<loadrt mux16 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:17
+#, no-wrap
+msgid "B<mux16.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:21
+#, no-wrap
+msgid "B<mux16.>I<N>B<.use-graycode> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:26
+msgid ""
+"This signifies the input will use Gray code instead of binary.  Gray code is "
+"a good choice when using physical switches because for each increment only "
+"one select input changes at a time."
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:27
+#, no-wrap
+msgid "B<mux16.>I<N>B<.suppress-no-input> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:32
+msgid ""
+"This suppresses changing the output if all select lines are false.  This "
+"stops unwanted jumps in output between transitions of input.  but make in00 "
+"unavailable."
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:33
+#, no-wrap
+msgid "B<mux16.>I<N>B<.debounce-time> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:38
+msgid ""
+"sets debounce time in seconds.  eg. .10 = a tenth of a second input must be "
+"stable this long before outputs changes. This helps to ignore 'noisy' "
+"switches."
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:39
+#, no-wrap
+msgid "B<mux16.>I<N>B<.sel>I<M> bit in (M=0..3) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:42 man/man9/mux4.9:28 man/man9/mux8.9:32
+msgid "Together, these determine which B<in>I<N> value is copied to B<out>."
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:43
+#, no-wrap
+msgid "B<mux16.>I<N>B<.out-f> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:47
+#, no-wrap
+msgid "B<mux16.>I<N>B<.out-s> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:52
+msgid ""
+"Follows the value of one of the B<in>I<N> values according to the four "
+"B<sel> values and whether use-graycode is active.  The s32 value will be "
+"trunuated and limited to the max and min values of signed values."
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:53
+#, no-wrap
+msgid "B<sel3=FALSE>, B<sel2=FALSE>, B<sel1=FALSE>, B<sel0=FALSE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:56 man/man9/mux4.9:36 man/man9/mux8.9:40
+msgid "B<out> follows B<in0>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:56
+#, no-wrap
+msgid "B<sel3=FALSE>, B<sel2=FALSE>, B<sel1=FALSE>, B<sel0=TRUE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:59 man/man9/mux4.9:39 man/man9/mux8.9:43
+msgid "B<out> follows B<in1>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:59
+#, no-wrap
+msgid "etc."
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:63
+#, no-wrap
+msgid "B<mux16.>I<N>B<.in>I<MM> float in (MM=00..15) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:66
+msgid "array of selectable outputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:67
+#, no-wrap
+msgid "B<mux16.>I<N>B<.elapsed> float r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:71
+#, no-wrap
+msgid ""
+"Current value of the internal debounce timer\n"
+" for debugging.\n"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux16.9:71
+#, no-wrap
+msgid "B<mux16.>I<N>B<.selected> s32 r "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:75
+#, no-wrap
+msgid ""
+"Current value of the internal selection variable after conversion\n"
+" for debugging\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:78
+msgid "mux2(9), mux4(9), mux8(9), mux_generic(9)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux16.9:81 man/man9/sim_axis_hardware.9:514
+#: man/man9/sim_matrix_kb.9:51 man/man9/sim_parport.9:408
+#: man/man9/simple_tp.9:44
+msgid "Chris S Morley"
+msgstr ""
+
+#. type: TH
+#: man/man9/mux2.9:9
+#, no-wrap
+msgid "MUX2"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux2.9:13
+msgid "mux2 - Select from one of two input values"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux2.9:16
+msgid "B<loadrt mux2 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux2.9:17
+#, no-wrap
+msgid "B<mux2.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux2.9:21
+#, no-wrap
+msgid "B<mux2.>I<N>B<.sel> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux2.9:25
+#, no-wrap
+msgid "B<mux2.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux2.9:28
+msgid "Follows the value of in0 if sel is FALSE, or in1 if sel is TRUE"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux2.9:28
+#, no-wrap
+msgid "B<mux2.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux2.9:32
+#, no-wrap
+msgid "B<mux2.>I<N>B<.in0> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux2.9:37
+msgid "mux4(9), mux8(9), mux16(9), mux_generic(9)."
+msgstr ""
+
+#. type: TH
+#: man/man9/mux4.9:9
+#, no-wrap
+msgid "MUX4"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux4.9:13
+msgid "mux4 - Select from one of four input values"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux4.9:16
+msgid "B<loadrt mux4 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:17
+#, no-wrap
+msgid "B<mux4.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:21
+#, no-wrap
+msgid "B<mux4.>I<N>B<.sel0> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:25
+#, no-wrap
+msgid "B<mux4.>I<N>B<.sel1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:29
+#, no-wrap
+msgid "B<mux4.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux4.9:32
+msgid ""
+"Follows the value of one of the B<in>I<N> values according to the two B<sel> "
+"values"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:33
+#, no-wrap
+msgid "B<sel1=FALSE>, B<sel0=FALSE>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:36
+#, no-wrap
+msgid "B<sel1=FALSE>, B<sel0=TRUE>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:39
+#, no-wrap
+msgid "B<sel1=TRUE>, B<sel0=FALSE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux4.9:42 man/man9/mux8.9:46
+msgid "B<out> follows B<in2>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:42
+#, no-wrap
+msgid "B<sel1=TRUE>, B<sel0=TRUE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux4.9:45 man/man9/mux8.9:49
+msgid "B<out> follows B<in3>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:47
+#, no-wrap
+msgid "B<mux4.>I<N>B<.in0> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:51
+#, no-wrap
+msgid "B<mux4.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:55
+#, no-wrap
+msgid "B<mux4.>I<N>B<.in2> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux4.9:59
+#, no-wrap
+msgid "B<mux4.>I<N>B<.in3> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux4.9:64
+msgid "mux2(9), mux8(9), mux16(9), mux_generic(9)."
+msgstr ""
+
+#. type: TH
+#: man/man9/mux8.9:9
+#, no-wrap
+msgid "MUX8"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:13
+msgid "mux8 - Select from one of eight input values"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:16
+msgid "B<loadrt mux8 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:17
+#, no-wrap
+msgid "B<mux8.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:21
+#, no-wrap
+msgid "B<mux8.>I<N>B<.sel0> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:25
+#, no-wrap
+msgid "B<mux8.>I<N>B<.sel1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:29
+#, no-wrap
+msgid "B<mux8.>I<N>B<.sel2> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:33
+#, no-wrap
+msgid "B<mux8.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:36
+msgid ""
+"Follows the value of one of the B<in>I<N> values according to the three "
+"B<sel> values"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:37
+#, no-wrap
+msgid "B<sel2=FALSE>, B<sel1=FALSE>, B<sel0=FALSE>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:40
+#, no-wrap
+msgid "B<sel2=FALSE>, B<sel1=FALSE>, B<sel0=TRUE>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:43
+#, no-wrap
+msgid "B<sel2=FALSE>, B<sel1=TRUE>, B<sel0=FALSE>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:46
+#, no-wrap
+msgid "B<sel2=FALSE>, B<sel1=TRUE>, B<sel0=TRUE>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:49
+#, no-wrap
+msgid "B<sel2=TRUE>, B<sel1=FALSE>, B<sel0=FALSE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:52
+msgid "B<out> follows B<in4>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:52
+#, no-wrap
+msgid "B<sel2=TRUE>, B<sel1=FALSE>, B<sel0=TRUE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:55
+msgid "B<out> follows B<in5>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:55
+#, no-wrap
+msgid "B<sel2=TRUE>, B<sel1=TRUE>, B<sel0=FALSE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:58
+msgid "B<out> follows B<in6>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:58
+#, no-wrap
+msgid "B<sel2=TRUE>, B<sel1=TRUE>, B<sel0=TRUE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:61
+msgid "B<out> follows B<in7>"
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:63
+#, no-wrap
+msgid "B<mux8.>I<N>B<.in0> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:67
+#, no-wrap
+msgid "B<mux8.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:71
+#, no-wrap
+msgid "B<mux8.>I<N>B<.in2> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:75
+#, no-wrap
+msgid "B<mux8.>I<N>B<.in3> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:79
+#, no-wrap
+msgid "B<mux8.>I<N>B<.in4> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:83
+#, no-wrap
+msgid "B<mux8.>I<N>B<.in5> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:87
+#, no-wrap
+msgid "B<mux8.>I<N>B<.in6> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/mux8.9:91
+#, no-wrap
+msgid "B<mux8.>I<N>B<.in7> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:96
+msgid "mux2(9), mux4(9), mux16(9), mux_generic(9)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux8.9:99
+msgid "Stuart Stevenson"
+msgstr ""
+
+#. type: TH
+#: man/man9/mux_generic.9:10
+#, no-wrap
+msgid "MUX_GENERIC"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:32
+msgid "mux_generic - choose one from several input values"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:35
+msgid "B<loadrt mux_generic config=\">bb8,fu12\\&...\\&.B<\">"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:38
+msgid ""
+"B<mux-gen\\&.>I<NN> Depending on the data types can run in either a floating "
+"point or non-floating point thread\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:41
+msgid "B<mux-gen\\&.>I<NN>B<\\&.suppress-no-input> bit in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:43
+msgid ""
+"This suppresses changing the output if all select lines are false\\&. This "
+"stops unwanted jumps in output between transitions of input but makes in00 "
+"unavailable\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:46
+msgid "B<mux-gen\\&.>I<NN>*B<\\&.debounce-us> unsigned in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:50
+msgid ""
+"sets debounce time in microseconds, e\\&.g\\&. 100000 = a tenth of a "
+"second\\&. The selection inputs must be stable this long before the output "
+"changes\\&. This helps to ignore I<noisy> switches\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:53
+msgid ""
+"B<mux-gen\\&.>I<NN>**\\&.sel-bit-*I<MM> bit in (M=0\\&.\\&.N), "
+"B<mux-gen\\&.>I<NN>*B<\\&.sel-int> unsigned in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:58
+msgid ""
+"Together, these determine which B<in>I<N> value is copied to "
+"B<output>\\&. The bit pins are interpreted as binary bits, and the result is "
+"simply added on to the integer pin input\\&. It is expected that either one "
+"or the other would normally be used\\&. However, the possibility exists to "
+"use a higher-order bit to \"shift\" the values set by the integer "
+"pin\\&. The sel-bit pins are only created when the size of the mux_gen "
+"component is an integer power of two\\&. This component (unlike mux16) does "
+"not offer the option of decoding Gray-code, however the same effect can be "
+"achieved by arranging the order of the input values to suit\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:61
+msgid ""
+"B<mux-gen\\&.>I<NN>B<\\&.out->[B<bit>/B<float>/B<s32>/B<u32>] variable-type "
+"out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:64
+msgid ""
+"Follows the value of one of the *in*I<N> values according to the selection "
+"bits and/or the selection number\\&. Values will be converted/truncated "
+"according to standard C rules\\&. This means, for example that a float input "
+"greater than 2147483647 will give an S32 output of -2147483648\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:67
+msgid ""
+"B<mux-gen\\&.>I<NN>B<\\&.in->[B<bit>/B<float>/B<s32>/B<u32>]B<->I<MM> "
+"variable-type in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:69
+msgid "The possible output values that are selected by the selection pins\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:73
+msgid "B<mux-gen\\&.>I<N>B<\\&.elapsed> float r"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:75
+msgid "Current value of the internal debounce timer for debugging\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:78
+msgid "B<mux-gen\\&.>I<N>B<\\&.selected> s32 r"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:80
+msgid ""
+"Current value of the internal selection variable after conversion for "
+"debugging\\&. Possibly useful for setting up gray-code switches\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:84
+msgid ""
+"This component is a more general version of the other multiplexing "
+"components\\&. It allows the creation of arbitrary-size multiplexers (up to "
+"1024 entries) and also supports differing data types on the input and output "
+"pins\\&. The configuration string is a comma-separated list of code-letters "
+"and numbers, such as \"bb4,fu12\"\\&. This would create a 4-element "
+"bit-to-bit mux and a 12-element float-to-unsigned mux\\&. The code letters "
+"are b = bit, f = float, s = signed integer, u = unsigned integer\\&. The "
+"first letter code is the input type, the second is the output type\\&. The "
+"codes are not case-sensitive\\&. The order of the letters is significant but "
+"the position in the string is not\\&. Do not insert any spaces in the config "
+"string\\&. Any non-zero float value will be converted to a \"true\" output "
+"in bit form\\&. Be wary that float datatypes can be very, very, close to "
+"zero and not actually be equal to zero\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:86
+msgid ""
+"Each mux has its own HAL function and must be added to a thread "
+"separately\\&. If neither input nor output is of type float then the "
+"function is base-thread (non floating-point) safe\\&. Any mux_generic with a "
+"floating point input or output can only be added to a floating-point "
+"thread\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/mux_generic.9:89
+msgid "mux2(9), mux4(9), mux8(9), mux16(9)"
+msgstr ""
+
+#. type: TH
+#: man/man9/near.9:9
+#, no-wrap
+msgid "NEAR"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/near.9:13
+msgid "near - Determine whether two values are roughly equal."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/near.9:16
+msgid "B<loadrt near [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/near.9:17
+#, no-wrap
+msgid "B<near.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/near.9:21
+#, no-wrap
+msgid "B<near.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/near.9:25
+#, no-wrap
+msgid "B<near.>I<N>B<.in2> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/near.9:29
+#, no-wrap
+msgid "B<near.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/near.9:36
+msgid ""
+"B<out> is true if B<in1> and B<in2> are within a factor of B<scale> (i.e., "
+"for in1 positive, in1/scale E<lt>= in2 E<lt>= in1*scale), OR if their "
+"absolute difference is no greater than B<difference> (i.e., |in1-in2| E<lt>= "
+"difference).  B<out> is false otherwise."
+msgstr ""
+
+#. type: TP
+#: man/man9/near.9:37
+#, no-wrap
+msgid "B<near.>I<N>B<.scale> float rw (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/near.9:41
+#, no-wrap
+msgid "B<near.>I<N>B<.difference> float rw (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/near.9:46
+msgid "Chris Radek"
+msgstr ""
+
+#. type: TH
+#: man/man9/not.9:9
+#, no-wrap
+msgid "NOT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/not.9:13
+msgid "not - Inverter"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/not.9:16
+msgid "B<loadrt not [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/not.9:17
+#, no-wrap
+msgid "B<not.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/not.9:21
+#, no-wrap
+msgid "B<not.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/not.9:25
+#, no-wrap
+msgid "B<not.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/not.9:35
+msgid "B<and2>(9), B<logic>(9), B<lut5>(9), B<or2>(9), B<xor2>(9)."
+msgstr ""
+
+#. type: TH
+#: man/man9/offset.9:9
+#, no-wrap
+msgid "OFFSET"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/offset.9:13
+msgid ""
+"offset - Adds an offset to an input, and subtracts it from the feedback "
+"value."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/offset.9:16
+msgid "B<loadrt offset [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/offset.9:17
+#, no-wrap
+msgid "B<offset.>I<N>B<.update-output> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/offset.9:20
+msgid "Updated the output value by adding the offset to the input."
+msgstr ""
+
+#. type: TP
+#: man/man9/offset.9:20
+#, no-wrap
+msgid "B<offset.>I<N>B<.update-feedback> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/offset.9:23
+msgid "Update the feedback value by subtracting the offset from the feedback."
+msgstr ""
+
+#. type: TP
+#: man/man9/offset.9:24
+#, no-wrap
+msgid "B<offset.>I<N>B<.offset> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/offset.9:27
+msgid "The offset value"
+msgstr ""
+
+#. type: TP
+#: man/man9/offset.9:27
+#, no-wrap
+msgid "B<offset.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/offset.9:30
+#, no-wrap
+msgid "B<offset.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/offset.9:33
+#, no-wrap
+msgid "B<offset.>I<N>B<.fb-in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/offset.9:36
+msgid "The feedback input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/offset.9:36
+#, no-wrap
+msgid "B<offset.>I<N>B<.fb-out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/offset.9:39
+msgid "The feedback output value"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:13
+msgid "ohmic - LinuxCNC HAL component that uses a Mesa THCAD for ohmic sensing"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:16
+msgid "B<loadrt ohmic [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:20
+msgid ""
+"Mesa THCAD Card component to scale input and outputs from the Mesa THCAD2, "
+"THCAD5, THCAD10, and THCAD300 cards."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:22
+msgid "Allows user configurable voltage thresholds for ohmic sensing."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:24
+msgid "Output pins are provided for:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:26
+msgid "ohmic-volts -the voltage sensed on ohmic sensing."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:28
+msgid "thcad-volts -the actual voltage measured by the THCAD."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:30
+msgid ""
+"ohmic-on -true if ohmic-volts E<gt>= ohmic-threshold, false if ohmic-volts "
+"E<lt>= ohmic-low."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:32
+msgid ""
+"A THCAD-5 would often be used for ohmic sensing in conjunction with a 24 "
+"Volt isolated power supply and a 390 k\\[u03A9] series resistor resulting in "
+"a voltage divider of 4.9."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:34
+msgid ""
+"This would result in a full scale reading of 24.5 Volts which is above the "
+"power supply output voltage."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:36
+msgid ""
+"The circuit will remain protected by the THCAD's ability to tolerate a 500 "
+"Volt over-voltage indefinitely."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:38
+msgid ""
+"It is optional that power to the ohmic sensing circuit be disconnected "
+"unless probing is in progress."
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:40
+#, no-wrap
+msgid "B<ohmic.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:44
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.is-probing> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:47
+msgid "True if probing"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:47
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.ohmic-low> float in (default: I<21>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:50
+msgid "The threshold volts below which ohmic sensing is set to be false"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:50
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.ohmic-threshold> float in (default: I<22>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:53
+msgid "The threshold volts above which ohmic sensing is set to be true"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:53
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.thcad-0-volt-freq> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:56
+msgid "0 volt calibration data for THCAD card in Hz"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:56
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.thcad-divide> float in (default: I<32>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:59
+msgid "THCAD divider set by links on THCAD board (1, 32, 64, or 128)"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:59
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.thcad-fullscale> float in (default: I<5>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:62
+msgid "THCAD full scale in Volt (5, 10, or 300 Volt)"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:62
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.thcad-max-volt-freq> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:65
+msgid "Full scale calibration data for THCAD Card in Hz"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:65
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.velocity-in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:68
+msgid "The velocity returned from the THCAD and read by the Mesa encoder input"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:68
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.volt-divider> float in (default: I<4.9>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:71
+msgid "The divide ratio"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:71
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.ohmic-on> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:74
+msgid "True if ohmic circuit is closed (material is sensed)"
+msgstr ""
+
+#. type: TP
+#: man/man9/ohmic.9:74
+#, no-wrap
+msgid "B<ohmic.>I<N>B<.ohmic-volts> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:77
+msgid "Calculated ohmic voltage"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:83
+msgid ""
+"The below HAL example assumes a THCAD5 card using a 1/32 frequency setting "
+"and a voltage divider internal to the plasma cutter with range extended to "
+"24.5 volts by a series 390K external resistor as per the manual.  Additional "
+"information and wiring diagram is contained in the Plasma Primer in the "
+"LinuxCNC documentation."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:85
+msgid ""
+"Example Calibration Data: 0V = 122.9 kHz, 10V = 925.7 kHz should be entered "
+"as 122900 and 925700."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:87
+msgid "loadrt ohmic names=ohmicsense"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:89
+msgid "addf ohmicsense servo-thread"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:91
+msgid "setp ohmicsense.thcad-0-volt-freq 122900"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:93
+msgid "setp ohmicsense.thcad-max-volt-freq 925700"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:95
+msgid "setp ohmicsense.thcad-divide 32"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:97
+msgid "setp ohmicsense.thcad-fullscale 5"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:99
+msgid "setp ohmicsense.volt-divider 4.9"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:101
+msgid "setp ohmicsense.threshold 22"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:103
+msgid "setp ohmicsense.ohmic-low 21"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:105
+msgid "net ohmic-vel ohmicsense.velocity-in E<lt>= hm2_7i76e.0.encoder.00.velocity"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:107
+msgid "net ohmic-enable ohmicsense.is_probing E<lt>= plasmac.ohmic-enable"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:109
+msgid "net ohmic-true ohmicsense.ohmic-on =E<gt> plasmac.ohmic-probe"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/ohmic.9:113
+msgid "Rod Webster"
+msgstr ""
+
+#. type: TH
+#: man/man9/oneshot.9:9
+#, no-wrap
+msgid "ONESHOT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:13
+msgid "oneshot - one-shot pulse generator"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:16
+msgid "B<loadrt oneshot [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:24
+msgid ""
+"creates a variable-length output pulse when the input changes state. This "
+"function needs to run in a thread which supports floating point (typically "
+"the servo thread). This means that the pulse length has to be a multiple of "
+"that thread period, typically 1mS.  For a similar function that can run in "
+"the base thread, and which offers higher resolution, see \"edge\"."
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:25
+#, no-wrap
+msgid "B<oneshot.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:29
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:32
+msgid "Trigger input"
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:32
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:35
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:38
+msgid "Active high pulse"
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:38
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.out-not> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:41
+msgid "Active low pulse"
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:41
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.width> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:44
+msgid "Pulse width in seconds"
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:44
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.time-left> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:47
+msgid "Time left in current output pulse"
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:48
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.retriggerable> bit rw (default: I<TRUE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:51
+msgid "Allow additional edges to extend pulse"
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:51
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.rising> bit rw (default: I<TRUE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:54
+msgid "Trigger on rising edge"
+msgstr ""
+
+#. type: TP
+#: man/man9/oneshot.9:54
+#, no-wrap
+msgid "B<oneshot.>I<N>B<.falling> bit rw (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/oneshot.9:57
+msgid "Trigger on falling edge"
+msgstr ""
+
+#. type: TH
+#: man/man9/or2.9:9
+#, no-wrap
+msgid "OR2"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/or2.9:13
+msgid "or2 - Two-input OR gate"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/or2.9:16
+msgid "B<loadrt or2 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/or2.9:17
+#, no-wrap
+msgid "B<or2.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/or2.9:21
+#, no-wrap
+msgid "B<or2.>I<N>B<.in0> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/or2.9:25
+#, no-wrap
+msgid "B<or2.>I<N>B<.in1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/or2.9:29
+#, no-wrap
+msgid "B<or2.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/or2.9:34 man/man9/xor2.9:33
+msgid ""
+"B<out> is computed from the value of B<in0> and B<in1> according to the "
+"following rule:"
+msgstr ""
+
+#. type: TP
+#: man/man9/or2.9:35
+#, no-wrap
+msgid "B<in0=FALSE in1=FALSE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/or2.9:46
+msgid "B<logic>(9)"
+msgstr ""
+
+#. type: TH
+#: man/man9/orient.9:9
+#, no-wrap
+msgid "ORIENT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:13
+msgid ""
+"orient - Provide a PID command input for orientation mode based on current "
+"spindle position, target angle and orient mode"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:16
+msgid "B<loadrt orient [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:21
+msgid ""
+"This component is designed to support a spindle orientation PID loop by "
+"providing a command value, and fit with the motion spindle-orient support "
+"pins to support the M19 code."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:29
+msgid ""
+"The spindle is assumed to have stopped in an arbitrary position. The spindle "
+"encoder position is linked to the B<position> pin.  The current value of the "
+"position pin is sampled on a positive edge on the B<enable> pin, and "
+"B<command> is computed and set as follows: floor(number of full spindle "
+"revolutions in the B<position> sampled on positive edge)  plus B<angle>/360 "
+"(the fractional revolution) +1/-1/0 depending on B<mode>."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:31
+msgid "The B<mode> pin is interpreted as follows:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:34
+msgid ""
+"0: the spindle rotates in the direction with the lesser angle, which may be "
+"clockwise or counterclockwise."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:36
+msgid "1: the spindle rotates always rotates clockwise to the new angle."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:38
+msgid "2: the spindle rotates always rotates counterclockwise to the new angle."
+msgstr ""
+
+#. type: SH
+#: man/man9/orient.9:40
+#, no-wrap
+msgid "HAL USAGE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:44
+msgid ""
+"On B<spindle.N.orient> disconnect the spindle control and connect to the "
+"orient-pid loop:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:46
+msgid "loadrt orient names=orient"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:48
+msgid "loadrt pid names=orient-pid"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:50
+msgid "net orient-angle spindle.N.orient-angle orient.angle"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:52
+msgid "net orient-mode spindle.N.orient-mode orient.mode"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:54
+msgid "net orient-enable spindle.N.orient orient.enable orient-pid.enable"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:56
+msgid "net spindle-in-pos orient.is-oriented spindle.N.is-oriented"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:58
+msgid "net spindle-pos encoder.position orient.position orient-pid.feedback"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:60
+msgid "net orient-command orient.command orient-pid.command"
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:63
+#, no-wrap
+msgid "B<orient.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:66
+msgid "Update B<command> based on B<enable>, B<position>, B<mode> and B<angle>."
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:67
+#, no-wrap
+msgid "B<orient.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:70
+msgid "enable angular output for orientation mode"
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:70
+#, no-wrap
+msgid "B<orient.>I<N>B<.mode> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:73
+msgid ""
+"0: rotate - shortest move; 1: always rotate clockwise; 2: always rotate "
+"counterclockwise"
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:73
+#, no-wrap
+msgid "B<orient.>I<N>B<.position> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:76
+msgid "spindle position input, unit 1 rev"
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:76
+#, no-wrap
+msgid "B<orient.>I<N>B<.angle> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:79
+msgid "orient target position in degrees, 0 E<lt>= angle E<lt> 360"
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:79
+#, no-wrap
+msgid "B<orient.>I<N>B<.command> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:82
+msgid "target spindle position, input to PID command"
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:82
+#, no-wrap
+msgid "B<orient.>I<N>B<.poserr> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:85
+msgid "in degrees - aid for PID tuning"
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:85
+#, no-wrap
+msgid "B<orient.>I<N>B<.is-oriented> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:88
+msgid ""
+"This pin goes high when poserr E<lt> tolerance. Use to drive "
+"spindle.N.is-oriented"
+msgstr ""
+
+#. type: TP
+#: man/man9/orient.9:88
+#, no-wrap
+msgid "B<orient.>I<N>B<.tolerance> float in (default: I<0.5>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:91
+msgid "The tolerance in degrees for considering the align completed"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/orient.9:94 man/man9/sim_spindle.9:41
+msgid "Michael Haberler"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:32
+msgid ""
+"pid - proportional/integral/derivative controller with automatic tuning "
+"support"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:35
+msgid ""
+"B<loadrt pid> [B<num_chan=>I<num> | B<names=>I<name1>[,I<name2>\\&...I<]] "
+"[debug=*_dbg>]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:38
+msgid ""
+"B<pid> is a classic Proportional/Integral/Derivative controller, used to "
+"control position or speed feedback loops for servo motors and other "
+"closed-loop applications\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:40
+msgid ""
+"B<pid> supports a maximum of sixteen controllers\\&. The number that are "
+"actually loaded is set by the B<num_chan> argument when the module is "
+"loaded\\&. Alternatively, specify names= and unique names separated by "
+"commas\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:42
+msgid ""
+"The B<num_chan=> and B<names=> specifiers are mutually exclusive\\&. If "
+"neither B<num_chan=> nor B<names=> are specified, the default value is "
+"three\\&. If B<debug> is set to 1 (the default is 0), some additional HAL "
+"parameters will be exported, which might be useful for tuning, but are "
+"otherwise unnecessary\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:44
+msgid ""
+"In the following description, it is assumed that we are discussing position "
+"loops\\&. However this component can be used to implement other loops such "
+"as speed loops, torch height control, and others\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:46
+msgid ""
+"Each loop has a number of pins and parameters, whose names begin with "
+"B<pid\\&.>I<N>B<\\&.>, where I<N> is the channel number\\&. Channel numbers "
+"start at zero\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:48
+msgid ""
+"The three most important pins are I<command>, I<feedback>, and "
+"I<output>\\&. For a position loop, I<command> and I<feedback> are in "
+"position units\\&. For a linear axis, this could be inches, mm, metres, or "
+"whatever is relevant\\&. Likewise, for a angular axis, it could be degrees, "
+"radians, etc\\&. The units of the I<output> pin represent the change needed "
+"to make the feedback match the command\\&. As such, for a position loop "
+"I<output> is a velocity, in inches/sec, mm/sec, degrees/sec, etc\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:50
+msgid ""
+"Each loop has several other pins as well\\&. I<error> is equal to I<command> "
+"minus I<feedback>\\&. I<enable> is a bit that enables the loop\\&. If "
+"I<enable> is false, all integrators are reset, and the output is forced to "
+"zero\\&. If I<enable> is true, the loop operates normally\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:52
+msgid ""
+"The PID gains, limits, and other I<tunable> features of the loop are "
+"implemented as parameters\\&. These are as follows:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:54
+msgid "B<Pgain> Proportional gain"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:56
+msgid "B<Igain> Integral gain"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:58
+msgid "B<Dgain> Derivative gain"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:60
+msgid "B<bias> Constant offset on output"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:62
+msgid "B<FF0> Zeroth order Feedforward gain"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:64
+msgid "B<FF1> First order Feedforward gain"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:66
+msgid "B<FF2> Second order Feedforward gain"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:68
+msgid "B<FF3> Third order Feedforward gain"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:70
+msgid "B<deadband> Amount of error that will be ignored"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:72
+msgid "B<maxerror> Limit on error"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:74
+msgid "B<maxerrorI> Limit on error integrator"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:76
+msgid "B<maxerrorD> Limit on error differentiator"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:78
+msgid "B<maxcmdD> Limit on command differentiator"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:80
+msgid "B<maxcmdDD> Limit on command 2nd derivative"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:82
+msgid "B<maxcmdDDD> Limit on command 3rd derivative"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:84
+msgid "B<maxoutput> Limit on output value"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:86
+msgid ""
+"All of the limits (max____) are implemented such that if the parameter value "
+"is zero, there is no limit\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:88
+msgid ""
+"A number of internal values which may be useful for testing and tuning are "
+"also available as parameters\\&. To avoid cluttering the parameter list, "
+"these are only exported if \"debug=1\" is specified on the insmod command "
+"line\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:90
+msgid "B<errorI> Integral of error"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:92
+msgid "B<errorD> Derivative of error"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:94
+msgid "B<commandD> Derivative of the command"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:96
+msgid "B<commandDD> 2nd derivative of the command"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:98
+msgid "B<commandDDD> 3rd derivative of the command"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:100
+msgid ""
+"The PID loop calculations are as follows (see the code in pid\\&.c for all "
+"the nitty gritty details):"
+msgstr ""
+
+#. type: groff code
+#: man/man9/pid.9:101
+#, no-wrap
+msgid ""
+".if  n \\{\\\n"
+".RS 4\n"
+".\\}\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:122
+#, no-wrap
+msgid ""
+"error = command - feedback\n"
+"if ( abs(error) E<lt> deadband ) then error = 0\n"
+"limit error to +/- maxerror\n"
+"errorI += error * period\n"
+"limit errorI to +/- maxerrorI\n"
+"errorD = (error - previouserror) / period\n"
+"limit errorD to +/- maxerrorD\n"
+"commandD = (command - previouscommand) / period\n"
+"limit commandD to +/- maxcmdD\n"
+"commandDD = (commandD - previouscommandD) / period\n"
+"limit commandDD to +/- maxcmdDD\n"
+"commandDDD = (commandDD - previouscommandDD) / period\n"
+"limit commandDDD to +/- maxcmdDDD\n"
+"output = bias + error * Pgain + errorI * Igain +\n"
+"         errorD * Dgain + command * FF0 + commandD * FF1 +\n"
+"         commandDD * FF2 + commandDDD * FF3\n"
+"limit output to +/- maxoutput\n"
+msgstr ""
+
+#. type: groff code
+#: man/man9/pid.9:123
+#, no-wrap
+msgid ""
+".if  n \\{\\\n"
+".RE\n"
+".\\}\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:128
+msgid ""
+"This component has a built in auto tune mode\\&. It works by setting up a "
+"limit cycle to characterize the process\\&. This is called the Relay method "
+"and described in the 1984 Automation paper B<Automatic Tuning of Simple "
+"Regulators with Specifications on Phase and Amplitude Margins> by Karl Johan "
+"Åström and Tore Hägglund (doi:10\\&.1016/0005-1098(84)90014-1), "
+"https://lup\\&.lub\\&.lu\\&.se/search/ws/files/6340936/8509157\\&.pdf\\&. "
+"Using this method, B<Pgain/Igain/Dgain> or B<Pgain/Igain/FF1> can be "
+"determined using the Ziegler-Nichols algorithm\\&. When using B<FF1> tuning, "
+"scaling must be set so that B<output> is in user units per second\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:130
+msgid ""
+"During auto tuning, the B<command> input should not change\\&. The limit "
+"cycle is setup around the commanded position\\&. No initial tuning values "
+"are required to start auto tuning\\&. Only B<tune-cycles>, B<tune-effort> "
+"and B<tune-mode> need be set before starting auto tuning\\&. Note that "
+"setting B<tune-mode> to true disable the control loop\\&. When auto tuning "
+"completes, the tuning parameters will be set, the output set to bias and the "
+"controller still be disabled\\&. If running from LinuxCNC, the FERROR "
+"setting for the axis being tuned may need to be loosened up, as it must be "
+"larger than the limit cycle amplitude in order to avoid a following "
+"error\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:132
+msgid ""
+"To perform auto tuning, take the following steps\\&. Move the axis to be "
+"tuned somewhere near the center of it\\(cqs travel\\&. Set B<tune-cycles> "
+"(the default value should be fine in most cases) and B<tune-mode>\\&. Set "
+"B<tune-effort> to a small value\\&. Set B<enable> to true\\&. Set "
+"B<tune-mode> to true\\&. Set B<tune-start> to true\\&. If no oscillation "
+"occurs, or the oscillation is too small, slowly increase "
+"B<tune-effort>\\&. Set B<tune-start> to true\\&. If no oscillation occurs, "
+"or the oscillation is too small, slowly increase B<tune-effort> Auto tuning "
+"can be aborted at any time by setting B<enable> or B<tune-mode> to false\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:135
+msgid ""
+"The names for pins, parameters, and functions are prefixed as: "
+"B<pid\\&.N\\&.> for N=0,1,\\&...,num-1 when using B<num_chan=num> "
+"B<nameN\\&.> for nameN=name1,name2,\\&... when using "
+"B<names=name1,name2,\\&...>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:137
+msgid "The B<pid\\&.N\\&.> format is shown in the following descriptions\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:140
+msgid ""
+"B<pid\\&.>I<N>B<\\&.do-pid-calcs> (uses floating-point) performs the PID "
+"calculations for control loop I<N>\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:143
+msgid "B<pid\\&.>I<N>B<\\&.command> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:145
+msgid "The desired (commanded) value for the control loop\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:148
+msgid "B<pid\\&.>I<N>B<\\&.Pgain> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:151
+msgid ""
+"Proportional gain\\&. Results in a contribution to the output that is the "
+"error multiplied by B<Pgain>\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:154
+msgid "B<pid\\&.>I<N>B<\\&.Igain> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:159
+msgid ""
+"Integral gain\\&. Results in a contribution to the output that is the "
+"integral of the error multiplied by B<Igain>\\&. For example an error of "
+"0\\&.02 that lasted 10 seconds would result in an integrated error "
+"(B<errorI>) of 0\\&.2, and if B<Igain> is 20, the integral term would add "
+"4\\&.0 to the output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:162
+msgid "B<pid\\&.>I<N>B<\\&.Dgain> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:167
+msgid ""
+"Derivative gain\\&. Results in a contribution to the output that is the rate "
+"of change (derivative) of the error multiplied by B<Dgain>\\&. For example "
+"an error that changed from 0\\&.02 to 0\\&.03 over 0\\&.2 seconds would "
+"result in an error derivative (B<errorD>) of of 0\\&.05, and if B<Dgain> is "
+"5, the derivative term would add 0\\&.25 to the output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:170
+msgid "B<pid\\&.>I<N>B<\\&.feedback> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:172
+msgid "The actual (feedback) value, from some sensor such as an encoder\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:175
+msgid "B<pid\\&.>I<N>B<\\&.output> float out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:177
+msgid "The output of the PID loop, which goes to some actuator such as a motor\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:180
+msgid "B<pid\\&.>I<N>B<\\&.command-deriv> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:182
+msgid ""
+"The derivative of the desired (commanded) value for the control loop\\&. If "
+"no signal is connected then the derivative will be estimated numerically\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:185
+msgid "B<pid\\&.>I<N>B<\\&.feedback-deriv> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:187
+msgid ""
+"The derivative of the actual (feedback) value for the control loop\\&. If no "
+"signal is connected then the derivative will be estimated "
+"numerically\\&. When the feedback is from a quantized position source "
+"(e\\&.g\\&., encoder feedback position), behavior of the D term can be "
+"improved by using a better velocity estimate here, such as the velocity "
+"output of encoder(9) or hostmot2(9)\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:190
+msgid "B<pid\\&.>I<N>B<\\&.error-previous-target> bit in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:192
+msgid ""
+"Use previous invocation\\(cqs target vs\\&. current position for error "
+"calculation, like the motion controller expects\\&. This may make "
+"torque-mode position loops and loops requiring a large I gain easier to "
+"tune, by eliminating velocity-dependent following error\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:195
+msgid "B<pid\\&.>I<N>B<\\&.error> float out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:197
+msgid "The difference between command and feedback\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:200
+msgid "B<pid\\&.>I<N>B<\\&.enable> bit in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:204
+msgid ""
+"When true, enables the PID calculations\\&. When false, B<output> is zero, "
+"and all internal integrators, etc, are reset\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:207
+msgid "B<pid\\&.>I<N>B<\\&.index-enable> bit in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:212
+msgid ""
+"On the falling edge of B<index-enable>, pid does not update the internal "
+"command derivative estimate\\&. On systems which use the encoder index "
+"pulse, this pin should be connected to the index-enable signal\\&. When this "
+"is not done, and FF1 is nonzero, a step change in the input command causes a "
+"single-cycle spike in the PID output\\&. On systems which use exactly one of "
+"the B<-deriv> inputs, this affects the D term as well\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:215
+msgid "B<pid\\&.>I<N>B<\\&.bias> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:220
+msgid ""
+"B<bias> is a constant amount that is added to the output\\&. In most cases "
+"it should be left at zero\\&. However, it can sometimes be useful to "
+"compensate for offsets in servo amplifiers, or to balance the weight of an "
+"object that moves vertically\\&.  B<bias> is turned off when the PID loop is "
+"disabled, just like all other components of the output\\&. If a non-zero "
+"output is needed even when the PID loop is disabled, it should be added with "
+"an external HAL sum2 block\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:223
+msgid "B<pid\\&.>I<N>B<\\&.FF0> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:229
+msgid ""
+"Zero order feed-forward term\\&. Produces a contribution to the output that "
+"is B<FF0> multiplied by the commanded value\\&. For position loops, it "
+"should usually be left at zero\\&. For velocity loops, B<FF0> can compensate "
+"for friction or motor counter-EMF and may permit better tuning if used "
+"properly\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:232
+msgid "B<pid\\&.>I<N>B<\\&.FF1> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:236
+msgid ""
+"First order feed-forward term\\&. Produces a contribution to the output that "
+"is B<FF1> multiplied by the derivative of the commanded value\\&. For "
+"position loops, the contribution is proportional to speed, and can be used "
+"to compensate for friction or motor CEMF\\&. For velocity loops, it is "
+"proportional to acceleration and can compensate for inertia\\&. In both "
+"cases, it can result in better tuning if used properly\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:239
+msgid "B<pid\\&.>I<N>B<\\&.FF2> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:243
+msgid ""
+"Second order feed-forward term\\&. Produces a contribution to the output "
+"that is B<FF2> multiplied by the second derivative of the commanded "
+"value\\&. For position loops, the contribution is proportional to "
+"acceleration, and can be used to compensate for inertia\\&. For velocity "
+"loops, the contribution is proportional to jerk, and should usually be left "
+"at zero\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:246
+msgid "B<pid\\&.>I<N>B<\\&.FF3> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:250
+msgid ""
+"Third order feed-forward term\\&. Produces a contribution to the output that "
+"is B<FF3> multiplied by the third derivative of the commanded value\\&. For "
+"position loops, the contribution is proportional to jerk, and can be used to "
+"compensate for residual errors during acceleration\\&. For velocity loops, "
+"the contribution is proportional to snap(jounce), and should usually be left "
+"at zero\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:253
+msgid "B<pid\\&.>I<N>B<\\&.deadband> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:259
+msgid ""
+"Defines a range of \"acceptable\" error\\&. If the absolute value of "
+"B<error> is less than B<deadband>, it will be treated as if the error is "
+"zero\\&. When using feedback devices such as encoders that are inherently "
+"quantized, the deadband should be set slightly more than one-half count, to "
+"prevent the control loop from hunting back and forth if the command is "
+"between two adjacent encoder values\\&. When the absolute value of the error "
+"is greater than the deadband, the deadband value is subtracted from the "
+"error before performing the loop calculations, to prevent a step in the "
+"transfer function at the edge of the deadband (see B<BUGS>)\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:262
+msgid "B<pid\\&.>I<N>B<\\&.maxoutput> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:267
+msgid ""
+"Output limit\\&. The absolute value of the output will not be permitted to "
+"exceed B<maxoutput>, unless B<maxoutput> is zero\\&. When the output is "
+"limited, the error integrator will hold instead of integrating, to prevent "
+"windup and overshoot\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:270
+msgid "B<pid\\&.>I<N>B<\\&.maxerror> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:274
+msgid ""
+"Limit on the internal error variable used for P, I, and D\\&. Can be used to "
+"prevent high B<Pgain> values from generating large outputs under conditions "
+"when the error is large (for example, when the command makes a step "
+"change)\\&. Not normally needed, but can be useful when tuning non-linear "
+"systems\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:277
+msgid "B<pid\\&.>I<N>B<\\&.maxerrorD> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:283
+msgid ""
+"Limit on the error derivative\\&. The rate of change of error used by the "
+"B<Dgain> term will be limited to this value, unless the value is "
+"zero\\&. Can be used to limit the effect of B<Dgain> and prevent large "
+"output spikes due to steps on the command and/or feedback\\&. Not normally "
+"needed\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:286
+msgid "B<pid\\&.>I<N>B<\\&.maxerrorI> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:290
+msgid ""
+"Limit on error integrator\\&. The error integrator used by the B<Igain> term "
+"will be limited to this value, unless it is zero\\&. Can be used to prevent "
+"integrator windup and the resulting overshoot during/after sustained "
+"errors\\&. Not normally needed\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:293
+msgid "B<pid\\&.>I<N>B<\\&.maxcmdD> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:299
+msgid ""
+"Limit on command derivative\\&. The command derivative used by B<FF1> will "
+"be limited to this value, unless the value is zero\\&. Can be used to "
+"prevent B<FF1> from producing large output spikes if there is a step change "
+"on the command\\&. Not normally needed\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:302
+msgid "B<pid\\&.>I<N>B<\\&.maxcmdDD> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:308
+msgid ""
+"Limit on command second derivative\\&. The command second derivative used by "
+"B<FF2> will be limited to this value, unless the value is zero\\&. Can be "
+"used to prevent B<FF2> from producing large output spikes if there is a step "
+"change on the command\\&. Not normally needed\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:311
+msgid "B<pid\\&.>I<N>B<\\&.maxcmdDDD> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:317
+msgid ""
+"Limit on command third derivative\\&. The command third derivative used by "
+"B<FF3> will be limited to this value, unless the value is zero\\&. Can be "
+"used to prevent B<FF3> from producing large output spikes if there is a step "
+"change on the command\\&. Not normally needed\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:320
+msgid "B<pid\\&.>I<N>B<\\&.saturated> bit out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:322
+msgid "When true, the current PID output is saturated\\&. That is,"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:326
+msgid "B<output> = \\(+- B<maxoutput>\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:329
+msgid ""
+"B<pid\\&.>I<N>B<\\&.saturated-s> float out, "
+"B<pid\\&.>I<N>B<\\&.saturated-count> s32 out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:331
+msgid ""
+"When true, the output of PID was continually saturated for this many seconds "
+"(B<saturated-s>) or periods (B<saturated-count>)\\&."
+msgstr ""
+
+#. type: SS
+#: man/man9/pid.9:332
+#, no-wrap
+msgid "Additional auto tuning pins"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:335
+msgid "B<pid\\&.>I<N>B<\\&.tune-mode> bit in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:337
+msgid ""
+"When true, enables auto tune mode\\&. When false, normal PID calculations "
+"are performed\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:340
+msgid "B<pid\\&.>I<N>B<\\&.tune-start> bit io"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:342
+msgid ""
+"When set to true, starts auto tuning\\&. Cleared when the auto tuning "
+"completes\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:345
+msgid "B<pid\\&.>I<N>*B<\\&.tune-type> u32 rw"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:351
+msgid ""
+"When set to 0, B<Pgain/Igain/Dgain> are calculated\\&. When set to 1, "
+"B<Pgain/Igain/FF1> are calculated\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:354
+msgid "B<pid\\&.>I<N>B<\\&.tune-cycles> u32 rw"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:358
+msgid ""
+"Determines the number of cycles to run to characterize the process\\&.  "
+"B<tune-cycles> actually sets the number of half cycles\\&. More cycles "
+"results in a more accurate characterization as the average of all cycles is "
+"used\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:361
+msgid "B<pid\\&.>I<N>B<\\&.tune-effort> float rw"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:366
+msgid ""
+"The maximum output value used during automatic tuning\\&. Determines the "
+"effort used in setting up the limit cycle in the process\\&.  B<tune-effort> "
+"should be set to a positive value less than B<maxoutput>\\&. Start with "
+"something small and work up to a value that results in a good portion of the "
+"maximum motor current being used\\&. The smaller the value, the smaller the "
+"amplitude of the limit cycle\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:369
+msgid "B<pid\\&.>I<N>B<\\&.ultimate-gain> float ro (only if debug=1)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:375
+msgid ""
+"Determined from process characterization\\&.  B<ultimate-gain> is the ratio "
+"of B<tune-effort> to the limit cycle amplitude multiplied by 4\\&.0 divided "
+"by Pi\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:378
+msgid "B<pid\\&.>I<N>B<\\&.ultimate-period> float ro (only if debug=1)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:382
+msgid ""
+"Determined from process characterization\\&.  B<ultimate-period> is the "
+"period of the limit cycle\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:386
+msgid "B<pid\\&.>I<N>B<\\&.errorI> float ro (only if debug=1)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:390
+msgid ""
+"Integral of error\\&. This is the value that is multiplied by B<Igain> to "
+"produce the Integral term of the output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:393
+msgid "B<pid\\&.>I<N>B<\\&.errorD> float ro (only if debug=1)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:397
+msgid ""
+"Derivative of error\\&. This is the value that is multiplied by B<Dgain> to "
+"produce the Derivative term of the output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:400
+msgid "B<pid\\&.>I<N>B<\\&.commandD> float ro (only if debug=1)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:404
+msgid ""
+"Derivative of command\\&. This is the value that is multiplied by B<FF1> to "
+"produce the first order feed-forward term of the output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:407
+msgid "B<pid\\&.>I<N>B<\\&.commandDD> float ro (only if debug=1)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:411
+msgid ""
+"Second derivative of command\\&. This is the value that is multiplied by "
+"B<FF2> to produce the second order feed-forward term of the output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:414
+msgid "B<pid\\&.>I<N>B<\\&.commandDDD> float ro (only if debug=1)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:418
+msgid ""
+"Third derivative of command\\&. This is the value that is multiplied by "
+"B<FF3> to produce the third order feed-forward term of the output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:422
+msgid ""
+"Some people would argue that deadband should be implemented such that error "
+"is treated as zero if it is within the deadband, and be unmodified if it is "
+"outside the deadband\\&. This was not done because it would cause a step in "
+"the transfer function equal to the size of the deadband\\&. People who "
+"prefer that behavior are welcome to add a parameter that will change the "
+"behavior, or to write their own version of B<pid>\\&. However, the default "
+"behavior should not be changed\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pid.9:423
+msgid ""
+"Negative gains may lead to unwanted behavior\\&. It is possible in some "
+"situations that negative FF gains make sense, but in general all gains "
+"should be positive\\&. If some output is in the wrong direction, negating "
+"gains to fix it is a mistake; set the scaling correctly elsewhere "
+"instead\\&."
+msgstr ""
+
+#. type: TH
+#: man/man9/plasmac.9:9
+#, no-wrap
+msgid "PLASMAC"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:13
+msgid "plasmac - A plasma cutter controller"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:16
+msgid "B<loadrt plasmac>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:21
+msgid "A plasma cutting table control component for use with the LinuxCNC 2.10."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:23
+msgid "I<VERSION:>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:25
+msgid "008"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:27
+msgid "I<SUMMARY:>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:29
+msgid ""
+"Usage of this component is demonstrated in the QtPlasmaC example "
+"configurations included with LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:31
+msgid "I<DISCLAIMER:>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:33
+msgid ""
+"THE AUTHOR OF THIS SOFTWARE ACCEPTS ABSOLUTELY NO LIABILITY FOR ANY HARM OR "
+"LOSS RESULTING FROM ITS USE."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:35
+msgid "IT IS EXTREMELY UNWISE TO RELY ON SOFTWARE ALONE FOR SAFETY."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:37
+msgid ""
+"Any machinery capable of harming persons must have provisions for completely "
+"stopping all motors and moving parts etc. before persons enter any danger "
+"area."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:39
+msgid ""
+"All machinery must be designed to comply with local and national safety "
+"codes, and the author of this software can not, and does not, take any "
+"responsibility for such compliance."
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:41
+#, no-wrap
+msgid "B<plasmac> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:45
+#, no-wrap
+msgid "B<plasmac.arc-fail-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:48
+msgid "arc start failure timeout (seconds)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:48
+#, no-wrap
+msgid "B<plasmac.arc-lost-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:51
+msgid "arc lost delay during a cut (seconds)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:51
+#, no-wrap
+msgid "B<plasmac.arc-ok-high> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:54
+msgid "maximum voltage level for Arc OK signal [mode 0] (volts)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:54
+#, no-wrap
+msgid "B<plasmac.arc-ok-in> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:57
+msgid "external arc ok input signal [mode 1 & mode 2]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:57
+#, no-wrap
+msgid "B<plasmac.arc-ok-low> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:60
+msgid "minimum voltage level for Arc OK signal [mode 0] (volts)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:60
+#, no-wrap
+msgid "B<plasmac.arc-max-starts> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:63
+msgid "maximum attempts at starting the arc"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:63
+#, no-wrap
+msgid "B<plasmac.arc-voltage-in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:66
+msgid "arc voltage input [mode 0 & mode 1] see Notes above"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:66
+#, no-wrap
+msgid "B<plasmac.arc-voltage-offset> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:69
+msgid "offset to set arc voltage to 0 at 0 volts"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:69
+#, no-wrap
+msgid "B<plasmac.arc-voltage-scale> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:72
+msgid "scale to convert arc_voltage input to actual volts"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:72
+#, no-wrap
+msgid "B<plasmac.thc-auto> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:75
+msgid "enable automatic thc activation"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:75
+#, no-wrap
+msgid "B<plasmac.axis-x-max-limit> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:78
+msgid "axis x maximum limit, connect to ini.x.max-limit"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:78
+#, no-wrap
+msgid "B<plasmac.axis-x-min-limit> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:81
+msgid "axis x minimum limit, connect to ini.x.min-limit"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:81
+#, no-wrap
+msgid "B<plasmac.axis-x-position> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:84
+msgid "current x axis position, connect to axis.x.pos-cmd"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:84
+#, no-wrap
+msgid "B<plasmac.axis-y-max-limit> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:87
+msgid "axis y maximum limit, connect to ini.y.max-limit"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:87
+#, no-wrap
+msgid "B<plasmac.axis-y-min-limit> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:90
+msgid "axis y minimum limit, connect to ini.y.min-limit"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:90
+#, no-wrap
+msgid "B<plasmac.axis-y-position> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:93
+msgid "current y axis position, connect to axis.y.pos-cmd"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:93
+#, no-wrap
+msgid "B<plasmac.axis-z-max-limit> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:96
+msgid "axis z maximum limit, connect to ini.z.max-limit"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:96
+#, no-wrap
+msgid "B<plasmac.axis-z-min-limit> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:99
+msgid "axis z minimum limit, connect to ini.z.min-limit"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:99
+#, no-wrap
+msgid "B<plasmac.axis-z-position> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:102
+msgid "current z axis position, connect to joint.N.pos-fb"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:102
+#, no-wrap
+msgid "B<plasmac.breakaway> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:105
+msgid "torch breakaway switch (optional, see float_switch)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:105
+#, no-wrap
+msgid "B<plasmac.consumable-change> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:108
+msgid "change consumables in torch"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:108
+#, no-wrap
+msgid "B<plasmac.cornerlock-enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:111
+msgid "enable corner lock"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:111
+#, no-wrap
+msgid "B<plasmac.cornerlock-threshold> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:114
+msgid ""
+"corner lock threshold (% of requested feed rate), speeds below this disable "
+"THC"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:114
+#, no-wrap
+msgid "B<plasmac.current-velocity> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:117
+msgid "current machine velocity, connect to motion.current-vel"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:117
+#, no-wrap
+msgid "B<plasmac.cut-feed-rate> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:120
+msgid "cut feed rate from current material (machine units per minute)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:120
+#, no-wrap
+msgid "B<plasmac.cut-height> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:123
+msgid "cut height (machine units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:123
+#, no-wrap
+msgid "B<plasmac.cut-recovery> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:126
+msgid "recover from cut error"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:126
+#, no-wrap
+msgid "B<plasmac.cut-volts> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:129
+msgid "cut voltage (volts)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:129
+#, no-wrap
+msgid "B<plasmac.cutting-start> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:132
+msgid "start a new cut, connect to spindle.0.on"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:132
+#, no-wrap
+msgid "B<plasmac.debug-print> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:135
+msgid "if true will print state changes as a debug aid"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:135
+#, no-wrap
+msgid "B<plasmac.dry-run> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:138
+msgid "perfom a dry run without probing"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:138
+#, no-wrap
+msgid "B<plasmac.external-estop> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:141
+msgid "external E-stop input"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:141
+#, no-wrap
+msgid "B<plasmac.feed-override> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:144
+msgid "feed override value from GUI (connect to halui.feed-override.value)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:144
+#, no-wrap
+msgid "B<plasmac.feed-reduction> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:147
+msgid "reduce adaptive feed to this percentage (connect to motion.analog-out-03)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:147
+#, no-wrap
+msgid "B<plasmac.float-switch> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:150
+msgid ""
+"float switch input (can also act as breakaway if it actuates when torch "
+"breaks away)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:150
+#, no-wrap
+msgid "B<plasmac.float-switch-travel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:153
+msgid "float switch travel (machine units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:153
+#, no-wrap
+msgid "B<plasmac.gcode-scale> float in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:156
+msgid "current G-code scale"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:156
+#, no-wrap
+msgid "B<plasmac.height-override> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:159
+msgid "height override adjustment (volts)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:159
+#, no-wrap
+msgid "B<plasmac.height-per-volt> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:162
+msgid "torch height change per volt (machine units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:162
+#, no-wrap
+msgid "B<plasmac.homed> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:165
+msgid "machine is homed"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:165
+#, no-wrap
+msgid "B<plasmac.ignore-arc-ok-0> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:168 man/man9/plasmac.9:171
+msgid "don't require arc ok for start or cutting"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:168
+#, no-wrap
+msgid "B<plasmac.ignore-arc-ok-1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:171
+#, no-wrap
+msgid "B<plasmac.kerf-width> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:174
+msgid "placeholder for better G-code portability between GUIs"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:174
+#, no-wrap
+msgid "B<plasmac.override-jog> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:177
+msgid "override jog inhibit"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:177
+#, no-wrap
+msgid "B<plasmac.offset-set-probe> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:180
+msgid "deploy probe for setting offsets"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:180
+#, no-wrap
+msgid "B<plasmac.offset-set-scribe> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:183
+msgid "deploy scribe for setting offsets"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:183
+#, no-wrap
+msgid "B<plasmac.laser-mode> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:186
+msgid "laser mode for fiber lasers"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:186
+#, no-wrap
+msgid "B<plasmac.laser-recovery-start> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:189
+msgid "start laser offset for cut recovery"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:189
+#, no-wrap
+msgid "B<plasmac.laser-x-offset> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:192
+msgid "alignment laser x axis offset (scaled units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:192
+#, no-wrap
+msgid "B<plasmac.laser-y-offset> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:195
+msgid "alignment laser y axis offset (scaled units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:195
+#, no-wrap
+msgid "B<plasmac.lowpass-frequency> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:198
+msgid "lowpass cutoff frequency for arc voltage output"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:198
+#, no-wrap
+msgid "B<plasmac.machine-is-on> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:201
+msgid "machine is on signal"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:201
+#, no-wrap
+msgid "B<plasmac.max-offset> s32 in (default: I<5>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:204
+msgid "maximum height offset"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:204
+#, no-wrap
+msgid "B<plasmac.mesh-arc-ok> bit in (default: I<FALSE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:207
+msgid "don't require arc ok for mesh mode"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:207
+#, no-wrap
+msgid "B<plasmac.mesh-enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:210
+msgid "enable mesh cutting mode"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:210
+#, no-wrap
+msgid "B<plasmac.mode> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:213
+msgid "operating mode"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:213
+#, no-wrap
+msgid "B<plasmac.motion-type> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:216
+msgid "motion type, connect to motion.motion-type"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:216
+#, no-wrap
+msgid "B<plasmac.move-down> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:219
+msgid "external thc down switch [mode 2]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:219
+#, no-wrap
+msgid "B<plasmac.move-up> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:222
+msgid "external thc up switch [mode 2]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:222
+#, no-wrap
+msgid "B<plasmac.multi-tool> bit in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:225
+msgid "allows the use of multiple tools"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:225
+#, no-wrap
+msgid "B<plasmac.offset-feed-rate> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:228
+msgid "probe offset velocity (machine units per minute)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:228
+#, no-wrap
+msgid "B<plasmac.offset-probe-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:231
+msgid "wait for probe to deploy (seconds)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:231
+#, no-wrap
+msgid "B<plasmac.offset-probe-x> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:234
+msgid "X axis offset for offset probe (machine units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:234
+#, no-wrap
+msgid "B<plasmac.offset-probe-y> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:237
+msgid "Y axis offset for offset probe (machine units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:237
+#, no-wrap
+msgid "B<plasmac.offsets-active> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:240
+msgid "offsets are active, connect to motion.eoffsets-active"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:240
+#, no-wrap
+msgid "B<plasmac.ohmic-sense-on-delay> s32 in (default: I<3>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:243
+msgid "debounce cycles for ohmic sense on"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:243
+#, no-wrap
+msgid "B<plasmac.ohmic-sense-off-delay> s32 in (default: I<3>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:246
+msgid "debounce cycles for ohmic sense off"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:246
+#, no-wrap
+msgid "B<plasmac.ohmic-sense-in> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:249
+msgid "ohmic sense relay input"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:249
+#, no-wrap
+msgid "B<plasmac.ohmic-max-attempts> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:252
+msgid "maximum ohmic probe attempts before fallback to float switch"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:252
+#, no-wrap
+msgid "B<plasmac.ohmic-probe> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:255
+msgid "ohmic probe input, from ohmic-sense-out or external component/pin"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:255
+#, no-wrap
+msgid "B<plasmac.ohmic-probe-enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:258
+msgid "enable ohmic probe"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:258
+#, no-wrap
+msgid "B<plasmac.ohmic-probe-offset> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:261
+msgid "Z axis offset for ohmic probe (machine units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:261
+#, no-wrap
+msgid "B<plasmac.ohmic-test> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:264
+msgid "test for shorted torch"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:264
+#, no-wrap
+msgid "B<plasmac.ok-sample-counts> s32 in (default: I<10>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:267
+msgid "arc_ok number of valid samples required [mode 0]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:267
+#, no-wrap
+msgid "B<plasmac.ok-sample-threshold> float in (default: I<10>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:270
+msgid "arc_ok maximum arc voltage deviation allowed [mode 0]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:270
+#, no-wrap
+msgid "B<plasmac.pause-at-end> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:273
+msgid "time to pause at end of cut"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:273
+#, no-wrap
+msgid "B<plasmac.paused-motion-speed> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:276
+msgid "multiplier for speed of motion when paused, from -1 to 1"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:276
+#, no-wrap
+msgid "B<plasmac.pid-d-gain> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:279
+msgid "derivative gain input [mode 0 & mode 1]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:279
+#, no-wrap
+msgid "B<plasmac.pid-i-gain> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:282
+msgid "integral gain input [mode 0 & mode 1]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:282
+#, no-wrap
+msgid "B<plasmac.pid-p-gain> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:285
+msgid "proportional gain input [mode 0 & mode 1]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:285
+#, no-wrap
+msgid "B<plasmac.pierce-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:288
+msgid "time required to pierce stock (seconds)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:288
+#, no-wrap
+msgid "B<plasmac.probe-feed-rate> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:291
+msgid "probe down velocity (machine units per minute)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:291
+#, no-wrap
+msgid "B<plasmac.probe-final-speed> s32 in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:294
+msgid "final probe speed (steps per servo period)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:294
+#, no-wrap
+msgid "B<plasmac.pierce-height> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:297
+msgid "pierce height (machine units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:297
+#, no-wrap
+msgid "B<plasmac.probe-start-height> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:300
+msgid "probe starting height"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:300
+#, no-wrap
+msgid "B<plasmac.probe-test> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:303
+msgid "probe test only"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:303
+#, no-wrap
+msgid "B<plasmac.program-is-idle> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:306
+msgid "program is idle, connect to halui.program.is-idle"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:306
+#, no-wrap
+msgid "B<plasmac.program-is-paused> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:309
+msgid "program is paused, connect to halui.program.is-paused"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:309
+#, no-wrap
+msgid "B<plasmac.program-is-running> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:312
+msgid "program is running, connect to halui.program.is-running"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:312
+#, no-wrap
+msgid "B<plasmac.puddle-jump-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:315
+msgid ""
+"Delay move from pierce height to cut height (seconds), leave disconnected if "
+"not required."
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:315
+#, no-wrap
+msgid "B<plasmac.puddle-jump-height> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:318
+msgid ""
+"Puddle jump height (percentage of pierce height), leave disconnected if not "
+"required."
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:318
+#, no-wrap
+msgid "B<plasmac.requested-velocity> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:321
+msgid "deprecated"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:321
+#, no-wrap
+msgid "B<plasmac.feed-upm> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:324
+msgid ""
+"requested feed_rate, connect to motion.feed-upm to use as the default "
+"(G-code units per minute)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:324
+#, no-wrap
+msgid "B<plasmac.resolution> s32 in (default: I<100>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:327
+msgid "multiplier for resolution of the offset counts"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:327
+#, no-wrap
+msgid "B<plasmac.restart-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:330
+msgid "time from arc failure till next restart attempt"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:330
+#, no-wrap
+msgid "B<plasmac.safe-height> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:333
+msgid "requested safe traverse height (machine units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:333
+#, no-wrap
+msgid "B<plasmac.scribe-arm-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:336
+msgid "delay from scribe arm to scribe on"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:336
+#, no-wrap
+msgid "B<plasmac.scribe-on-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:339
+msgid "delay from scribe on to motion beginning"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:339
+#, no-wrap
+msgid "B<plasmac.scribe-start> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:342
+msgid "start a new scribe, connect to spindle.1.on"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:342
+#, no-wrap
+msgid "B<plasmac.setup-feed-rate> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:345
+msgid "feed rate for moves to pierce and cut heights (machine units per minute)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:345
+#, no-wrap
+msgid "B<plasmac.skip-ihs-distance> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:348
+msgid "skip IHS if less than this distance from last cut"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:348
+#, no-wrap
+msgid "B<plasmac.spotting-start> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:351
+msgid "start a new spot, connect to spindle.2.on"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:351
+#, no-wrap
+msgid "B<plasmac.spotting-threshold> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:354
+msgid "threshold voltage to start spotting delay"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:354
+#, no-wrap
+msgid "B<plasmac.spotting-time> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:357
+msgid "torch off delay after spotting threshold reached"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:357
+#, no-wrap
+msgid "B<plasmac.thc-delay> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:360
+msgid "delay from cut feed rate reached to THC activate (seconds) [non auto THC]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:360
+#, no-wrap
+msgid "B<plasmac.thc-disable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:363
+msgid "thc disable"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:363
+#, no-wrap
+msgid "B<plasmac.thc-enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:366
+msgid "enable/disable thc and set the IHS skip type"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:366
+#, no-wrap
+msgid "B<plasmac.thc-feed-rate> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:369
+msgid "maximum feed rate for thc (machine units per minute)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:369
+#, no-wrap
+msgid "B<plasmac.thc-sample-counts> s32 in (default: I<50>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:372
+msgid "thc number of valid samples required [auto THC]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:372
+#, no-wrap
+msgid "B<plasmac.thc-sample-threshold> float in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:375
+msgid "thc maximum arc voltage deviation allowed [auto THC]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:375
+#, no-wrap
+msgid "B<plasmac.thc-threshold> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:378
+msgid "thc threshold (volts), changes below this have no effect"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:378
+#, no-wrap
+msgid "B<plasmac.torch-enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:381
+msgid "enable torch"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:381
+#, no-wrap
+msgid "B<plasmac.torch-off> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:384
+msgid "turn torch off"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:384
+#, no-wrap
+msgid "B<plasmac.torch-pulse-start> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:387
+msgid "torch pulse start"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:387
+#, no-wrap
+msgid "B<plasmac.torch-pulse-time> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:390
+msgid "torch pulse time (seconds)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:390
+#, no-wrap
+msgid "B<plasmac.tube-cut> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:393
+msgid "set the current job as tube cutting"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:393
+#, no-wrap
+msgid "B<plasmac.units-per-mm> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:396
+msgid "for scale calcs, connect to halui.machine.units-per-mm"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:396
+#, no-wrap
+msgid "B<plasmac.use-auto-volts> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:399
+msgid "use calculated voltage for thc baseline"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:399
+#, no-wrap
+msgid "B<plasmac.voidlock-enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:402
+msgid "enable voidlock [mode 0 & mode 1]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:402
+#, no-wrap
+msgid "B<plasmac.voidlock-on-cycles> s32 in (default: I<2>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:405
+msgid "number of sampling cycles to activate voidlock"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:405
+#, no-wrap
+msgid "B<plasmac.voidlock-off-cycles> s32 in (default: I<10>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:408
+msgid "number of sampling cycles to deactivate voidlock"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:408
+#, no-wrap
+msgid "B<plasmac.voidlock-slope> s32 in (default: I<500>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:411
+msgid "voidlock slope in volts per second"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:411
+#, no-wrap
+msgid "B<plasmac.x-offset> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:414
+msgid ""
+"offset to apply to axis x for consumable change and cut recovery (scaled "
+"units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:414
+#, no-wrap
+msgid "B<plasmac.x-offset-current> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:417
+msgid "current x axis offset, connect to axis.x.eoffset"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:417
+#, no-wrap
+msgid "B<plasmac.xy-feed-rate> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:420
+msgid "feed-rate for consumable change"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:420
+#, no-wrap
+msgid "B<plasmac.y-offset> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:423
+msgid ""
+"offset to apply to axis y for consumable change and cut recovery (scaled "
+"units)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:423
+#, no-wrap
+msgid "B<plasmac.y-offset-current> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:426
+msgid "current z axis offset, connect to axis.y.eoffset"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:426
+#, no-wrap
+msgid "B<plasmac.z-offset-current> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:429
+msgid "current z axis offset, connect to axis.z.eoffset"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:429
+#, no-wrap
+msgid "B<plasmac.zero-window> float in (default: I<0.1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:432
+msgid ""
+"sets window that voltage fluctuations show as zero (-0.1 to 0.1 at default "
+"value)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:432
+#, no-wrap
+msgid "B<plasmac.pierce-type> u32 in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:435
+msgid "allows motion to progress during pierce. 0=No movement, 1=Wiggle, 2=Ramp"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:435
+#, no-wrap
+msgid "B<plasmac.pierce-motion-delay> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:438
+msgid ""
+"delay starting motion during pierce delay period. This is a % of Pierce "
+"Delay. Only used when pierce-with-motion is True"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:438
+#, no-wrap
+msgid "B<plasmac.cut-height-delay> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:441
+msgid ""
+"at the end of transition to end-pierce-height how long to pause before "
+"transition to cut height"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:441
+#, no-wrap
+msgid "B<plasmac.pierce-end-height> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:444
+msgid ""
+"The height at end of piercing (in machine units). Can be different to Cut "
+"Height. Default 0 means not used. i.e. no change in height"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:444
+#, no-wrap
+msgid "B<plasmac.gouge-speed> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:447
+msgid "Ramp starting speed for gouge. In machine units/min."
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:447
+#, no-wrap
+msgid "B<plasmac.gouge-speed-distance> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:450
+msgid ""
+"Distance gouge will run in machine units. Gouge plus creep distance should "
+"not be longer than any lead in"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:450
+#, no-wrap
+msgid "B<plasmac.creep-speed> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:453
+msgid ""
+"Ramp creep or intermediate speed. Comes after gouge and is before cut "
+"speed. In machine units/min."
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:453
+#, no-wrap
+msgid "B<plasmac.creep-speed-distance> float in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:456
+msgid ""
+"Distance creep will run in machine units. Gouge plus creep distance should "
+"not be longer than any lead in"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:456
+#, no-wrap
+msgid "B<plasmac.adaptive-feed> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:459
+msgid "for reverse-run, connect to motion.adaptive-feed"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:459
+#, no-wrap
+msgid "B<plasmac.arc-ok-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:462
+msgid "arc ok output"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:462
+#, no-wrap
+msgid "B<plasmac.arc-voltage-out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:465
+msgid "arc voltage output [mode 0 & mode 1]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:465
+#, no-wrap
+msgid "B<plasmac.consumable-changing> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:468
+msgid "consumables are being changed"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:468
+#, no-wrap
+msgid "B<plasmac.cornerlock-is-locked> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:471
+msgid "corner locked indicator"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:471
+#, no-wrap
+msgid "B<plasmac.cut-length> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:474
+msgid "length of current cut job"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:474
+#, no-wrap
+msgid "B<plasmac.cut-recovering> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:477
+msgid "recovering from cut error"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:477
+#, no-wrap
+msgid "B<plasmac.cut-time> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:480
+msgid "cut time of current job"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:480
+#, no-wrap
+msgid "B<plasmac.cutting-stop> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:483
+msgid "stop manual cut, connect to halui.spindle.0.stop"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:483
+#, no-wrap
+msgid "B<plasmac.feed-hold> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:486
+msgid "feed hold, connect to motion.feed-hold"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:486
+#, no-wrap
+msgid "B<plasmac.jog-inhibit> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:489
+msgid "jog inhibit, connect to motion.jog-inhibit"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:489
+#, no-wrap
+msgid "B<plasmac.laser-recovery-state> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:492
+msgid "laser recovery status"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:492
+#, no-wrap
+msgid "B<plasmac.led-down> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:495
+msgid "thc move down indicator"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:495
+#, no-wrap
+msgid "B<plasmac.led-up> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:498
+msgid "thc move up indicator"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:498
+#, no-wrap
+msgid "B<plasmac.offset-scale> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:501
+msgid "offset scale, connect to axis.E<lt>x y zE<gt>.eoffset-scale"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:501
+#, no-wrap
+msgid "B<plasmac.ohmic-enable> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:504
+msgid "on only while probing"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:504
+#, no-wrap
+msgid "B<plasmac.ohmic-sense-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:507
+msgid "ohmic sense output state"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:507
+#, no-wrap
+msgid "B<plasmac.paused-motion> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:510
+msgid "paused motion flag, true when paused motion is active"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:510
+#, no-wrap
+msgid "B<plasmac.paused-time> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:513
+msgid "paused time during current job"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:513
+#, no-wrap
+msgid "B<plasmac.pierce-count> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:516
+msgid "number of pierce attempts (torch starts)"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:516
+#, no-wrap
+msgid "B<plasmac.probe-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:519
+msgid "probe for tube cutting, connect to motion.probe-input"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:519
+#, no-wrap
+msgid "B<plasmac.probe-test-error> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:522
+msgid "minimum limit reached while probe testing"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:522
+#, no-wrap
+msgid "B<plasmac.probe-time> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:525
+msgid "probe time of current job"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:525
+#, no-wrap
+msgid "B<plasmac.program-pause> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:528
+msgid "pause the current program, connect to halui.program.pause"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:528
+#, no-wrap
+msgid "B<plasmac.program-resume> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:531
+msgid "resume the currently paused program, connect to halui.program.resume"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:531
+#, no-wrap
+msgid "B<plasmac.program-run> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:534
+msgid "run the currently loaded program, connect to halui.program.run"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:534
+#, no-wrap
+msgid "B<plasmac.program-stop> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:537
+msgid "stop current program, connect to halui.program.stop"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:537
+#, no-wrap
+msgid "B<plasmac.rapid-time> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:540
+msgid "rapid motion time of current job"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:540
+#, no-wrap
+msgid "B<plasmac.run-time> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:543
+msgid "run time of current job"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:543
+#, no-wrap
+msgid "B<plasmac.safe-height-is-limited> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:546
+msgid "safe height is limited indicator"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:546
+#, no-wrap
+msgid "B<plasmac.sensor-active> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:549
+msgid "one of float, ohmic, or breakaway is detected"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:549
+#, no-wrap
+msgid "B<plasmac.scribe-arm> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:552
+msgid "arm the scribe"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:552
+#, no-wrap
+msgid "B<plasmac.scribe-on> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:555
+msgid "turn scribe on"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:555
+#, no-wrap
+msgid "B<plasmac.state-out> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:558
+msgid "current state"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:558
+#, no-wrap
+msgid "B<plasmac.stop-type-out> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:561
+msgid "current stop type"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:561
+#, no-wrap
+msgid "B<plasmac.thc-active> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:564
+msgid "thc status output"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:564
+#, no-wrap
+msgid "B<plasmac.thc-enabled> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:567
+msgid "thc is enabled"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:567
+#, no-wrap
+msgid "B<plasmac.torch-on> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:570
+msgid "turn torch on, connect to your torch on input"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:570
+#, no-wrap
+msgid "B<plasmac.torch-time> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:573
+msgid "torch on time of current job"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:573
+#, no-wrap
+msgid "B<plasmac.voidlock-is-locked> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:576
+msgid "voidlock is locked indicator [mode 0 & mode 1]"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:576
+#, no-wrap
+msgid "B<plasmac.x-offset-counts> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:579
+msgid "x offset for consumable change, connect to axis.x.eoffset-counts"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:579
+#, no-wrap
+msgid "B<plasmac.xy-offset-enable> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:582
+msgid "enable x and y offsets, connect to axis.E<lt>x & yE<gt>.eoffset-enable"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:582
+#, no-wrap
+msgid "B<plasmac.y-offset-counts> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:585
+msgid "y offset for consumable change, connect to axis.y.eoffset-counts"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:585
+#, no-wrap
+msgid "B<plasmac.z-height> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:588
+msgid "current z axis height relative to the probed zero height"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:588
+#, no-wrap
+msgid "B<plasmac.z-offset-counts> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:591
+msgid "z offset for height control, connect to axis.z.eoffset-counts"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:591
+#, no-wrap
+msgid "B<plasmac.z-offset-enable> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:594
+msgid "enable z offsets, connect to axis.z.eoffset-enable"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:594
+#, no-wrap
+msgid "B<plasmac.z-relative> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:597
+msgid "distance of Z from last probed height"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:597
+#, no-wrap
+msgid "B<plasmac.current-feed-rate> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:600
+msgid "current feed rate per minute"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:600
+#, no-wrap
+msgid "B<plasmac.requested-feed-rate> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:603
+msgid "requested feed rate"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:603
+#, no-wrap
+msgid "B<plasmac.low-cut-volts> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:606
+msgid "low cut voltage threshold while thc active"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:606
+#, no-wrap
+msgid "B<plasmac.target-samples> s32 in (default: I<6>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:609
+msgid "number of samples for setting target_volts"
+msgstr ""
+
+#. type: TP
+#: man/man9/plasmac.9:609
+#, no-wrap
+msgid "B<plasmac.target-volts> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:612
+msgid "target voltage for thc, set by arc voltage at cut height"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/plasmac.9:615
+msgid "Phillip A Carter & Gregory D Carl"
+msgstr ""
+
+#. type: TH
+#: man/man9/pwmgen.9:10
+#, no-wrap
+msgid "PWMGEN"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:32
+msgid "pwmgen - software PWM/PDM generation"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:35
+msgid "B<loadrt pwmgen output_type=>I<type0>[,I<type1>\\&...]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:38
+msgid ""
+"B<pwmgen> is used to generate PWM (pulse width modulation) or PDM (pulse "
+"density modulation) signals\\&. The maximum PWM frequency and the resolution "
+"is quite limited compared to hardware-based approaches, but in many cases "
+"software PWM can be very useful\\&. If better performance is needed, a "
+"hardware PWM generator is a better choice\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:40
+msgid ""
+"B<pwmgen> supports a maximum of eight channels\\&. The number of channels "
+"actually loaded depends on the number of I<type> values given\\&. The value "
+"of each I<type> determines the outputs for that channel\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:42
+msgid ""
+"type 0: single output A single output pin, B<pwm>, whose duty cycle is "
+"determined by the input value for positive inputs, and which is off (or at "
+"B<min-dc>) for negative inputs\\&.:: Suitable for single ended "
+"circuits\\&. type 1: pwm/direction:: Two output pins, B<pwm> and "
+"B<dir>\\&. The duty cycle on B<pwm> varies as a function of the input "
+"value\\&. B<dir> is low for positive inputs and high for negative "
+"inputs\\&. type 2: up/down:: Two output pins, B<up> and B<down>\\&. For "
+"positive inputs, the PWM/PDM waveform appears on B<up>, while B<down> is "
+"low\\&. For negative inputs, the waveform appears on B<down>, while B<up> is "
+"low\\&. Suitable for driving the two sides of an H-bridge to generate a "
+"bipolar output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:45
+msgid "B<pwmgen\\&.make-pulses> (no floating-point)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:48
+msgid ""
+"Generates the actual PWM waveforms, using information computed by "
+"B<update>\\&. Must be called as frequently as possible, to maximize the "
+"attainable PWM frequency and resolution, and minimize jitter\\&. Operates on "
+"all channels at once\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:51
+msgid "B<pwmgen\\&.update> (uses floating point)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:56
+msgid ""
+"Accepts an input value, performs scaling and limit checks, and converts it "
+"into a form usable by B<make-pulses> for PWM/PDM generation\\&. Can (and "
+"should) be called less frequently than B<make-pulses>\\&. Operates on all "
+"channels at once\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:60
+msgid "B<pwmgen\\&.>I<N>*B<\\&.enable> bit in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:66
+msgid ""
+"Enables PWM generator I<N> - when false, all B<pwmgen\\&.>I<N> output pins "
+"are low\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:69
+msgid "B<pwmgen\\&.>I<N>*B<\\&.value> float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:79
+msgid ""
+"Commanded value\\&. When B<value> = 0\\&.0, duty cycle is 0%, and when "
+"B<value> = \\(+-B<scale>, duty cycle is \\(+- 100% (subject to B<min-dc> and "
+"B<max-dc> limitations)\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:82
+msgid "B<pwmgen\\&.>I<N>*B<\\&.pwm> bit out (output types 0 and 1 only)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:84
+msgid "PWM/PDM waveform\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:87
+msgid "B<pwmgen\\&.>I<N>*B<\\&.dir> bit out (output type 1 only)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:89
+msgid "Direction output: low for forward, high for reverse\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:92
+msgid "B<pwmgen\\&.>I<N>*B<\\&.up> bit out (output type 2 only)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:94
+msgid "PWM/PDM waveform for positive input values, low for negative inputs\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:97
+msgid "B<pwmgen\\&.>I<N>*B<\\&.down> bit out (output type 2 only)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:99
+msgid "PWM/PDM waveform for negative input values, low for positive inputs\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:102
+msgid "B<pwmgen\\&.>I<N>*B<\\&.curr-dc> float out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:104
+msgid ""
+"The current duty cycle, after all scaling and limits have been "
+"applied\\&. Range is from -1\\&.0 to +1\\&.0\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:107
+msgid "B<pwmgen\\&.>I<N>*B<\\&.max-dc> float in/out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:109
+msgid ""
+"The maximum duty cycle\\&. A value of 1\\&.0 corresponds to 100%\\&. This "
+"can be useful when using transistor drivers with bootstrapped power "
+"supplies, since the supply requires some low time to recharge\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:112
+msgid "B<pwmgen\\&.>I<N>*B<\\&.min-dc> float in/out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:115
+msgid ""
+"The minimum duty cycle\\&. A value of 1\\&.0 corresponds to 100%\\&. Note "
+"that when the pwm generator is disabled, the outputs are constantly low, "
+"regardless of the setting of B<min-dc>\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:118
+msgid ""
+"B<pwmgen\\&.>I<N>*B<\\&.scale> float in/out, B<pwmgen\\&.>I<N>*B<\\&.offset> "
+"float in/out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:123
+msgid ""
+"These parameters provide a scale and offset from the B<value> pin to the "
+"actual duty cycle\\&. The duty cycle is calculated according to I<dc = "
+"(value/scale) + offset>, with 1\\&.0 meaning 100%\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:126
+msgid "B<pwmgen\\&.>I<N>*B<\\&.pwm-freq> float in/out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:134
+msgid ""
+"PWM frequency in Hz\\&. The upper limit is half of the frequency at which "
+"B<make-pulses> is invoked, and values above that limit will be changed to "
+"the limit\\&. If B<dither-pwm> is false, the value will be changed to the "
+"nearest integer submultiple of the B<make-pulses> frequency\\&. A value of "
+"zero produces Pulse Density Modulation instead of Pulse Width Modulation\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:137
+msgid "B<pwmgen\\&.>I<N>*B<\\&.dither-pwm> bit in/out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/pwmgen.9:153
+msgid ""
+"Because software-generated PWM uses a fairly slow timebase (several to many "
+"microseconds), it has limited resolution\\&. For example, if B<make-pulses> "
+"is called at a 20 kHz rate, and B<pwm-freq> is 2 kHz, there are only 10 "
+"possible duty cycles\\&. If B<dither-pwm> is false, the commanded duty cycle "
+"will be rounded to the nearest of those values\\&. Assuming B<value> remains "
+"constant, the same output will repeat every PWM cycle\\&. If B<dither-pwm> "
+"is true, the output duty cycle will be dithered between the two closest "
+"values, so that the long-term average is closer to the desired level\\&.  "
+"B<dither-pwm> has no effect if B<pwm-freq> is zero (PDM mode), since PDM is "
+"an inherently dithered process\\&."
+msgstr ""
+
+#. type: TH
+#: man/man9/sample_hold.9:9
+#, no-wrap
+msgid "SAMPLE_HOLD"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sample_hold.9:13
+msgid "sample_hold - Sample and Hold"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sample_hold.9:16
+msgid "B<loadrt sample_hold [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sample_hold.9:17
+#, no-wrap
+msgid "B<sample-hold.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sample_hold.9:21
+#, no-wrap
+msgid "B<sample-hold.>I<N>B<.in> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sample_hold.9:25
+#, no-wrap
+msgid "B<sample-hold.>I<N>B<.hold> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sample_hold.9:29
+#, no-wrap
+msgid "B<sample-hold.>I<N>B<.out> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sample_hold.9:34
+msgid "B<tristate>(9)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/scale.9:13
+msgid "scale - LinuxCNC HAL component that applies a scale and offset to its input"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/scale.9:16
+msgid "B<loadrt scale [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/scale.9:17
+#, no-wrap
+msgid "B<scale.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/scale.9:21
+#, no-wrap
+msgid "B<scale.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/scale.9:25
+#, no-wrap
+msgid "B<scale.>I<N>B<.gain> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/scale.9:29
+#, no-wrap
+msgid "B<scale.>I<N>B<.offset> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/scale.9:33
+#, no-wrap
+msgid "B<scale.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/scale.9:36
+msgid "out = in * gain + offset"
+msgstr ""
+
+#. type: TH
+#: man/man9/select8.9:9
+#, no-wrap
+msgid "SELECT8"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/select8.9:13
+msgid "select8 - 8-bit binary match detector"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/select8.9:16
+msgid "B<loadrt select8 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/select8.9:17
+#, no-wrap
+msgid "B<select8.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/select8.9:21
+#, no-wrap
+msgid "B<select8.>I<N>B<.enable> bit in (default: I<TRUE>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/select8.9:24
+msgid "Set enable to FALSE to cause all outputs to be set FALSE."
+msgstr ""
+
+#. type: TP
+#: man/man9/select8.9:24
+#, no-wrap
+msgid "B<select8.>I<N>B<.sel> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/select8.9:27
+msgid "The number of the output to set TRUE.  All other outputs well be set FALSE."
+msgstr ""
+
+#. type: TP
+#: man/man9/select8.9:27
+#, no-wrap
+msgid "B<select8.>I<N>B<.out>I<M> bit out (M=0..7) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/select8.9:30
+msgid ""
+"Output bits.  If enable is set and the sel input is between 0 and 7, then "
+"the corresponding output bit will be set true."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/select8.9:33
+msgid "B<demux>(9)"
+msgstr ""
+
+#. type: TH
+#: man/man9/serport.9:9
+#, no-wrap
+msgid "SERPORT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:13
+msgid ""
+"serport - Hardware driver for the digital I/O bits of the 8250 and 16550 "
+"serial port."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:16
+msgid "B<loadrt serport io=>I<addr[,addr...]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:18
+msgid ""
+"The pin numbers refer to the 9-pin serial pinout.  Keep in mind that these "
+"ports generally use rs232 voltages, not 0/5V signals."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:23
+msgid ""
+"Specify the I/O address of the serial ports using the module parameter "
+"B<io=>I<addr[,addr...]>.  These ports must not be in use by the kernel.  To "
+"free up the I/O ports after bootup, install setserial and execute a command "
+"like:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:25
+msgid "sudo setserial /dev/ttyS0 uart none"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:29
+msgid ""
+"but it is best to ensure that the serial port is never used or configured by "
+"the Linux kernel by setting a kernel commandline parameter or not loading "
+"the serial kernel module if it is a modularized driver."
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:31
+#, no-wrap
+msgid "B<serport.>I<N>B<.read>"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:34
+#, no-wrap
+msgid "B<serport.>I<N>B<.write>"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:38
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-1-in> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:41
+msgid "Also called DCD (data carrier detect); pin 8 on the 25-pin serial pinout"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:41
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-6-in> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:44
+msgid "Also called DSR (data set ready); pin 6 on the 25-pin serial pinout"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:44
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-8-in> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:47
+msgid "Also called CTS (clear to send); pin 5 on the 25-pin serial pinout"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:47
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-9-in> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:50
+msgid "Also called RI (ring indicator); pin 22 on the 25-pin serial pinout"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:50
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-1-in-not> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:53
+msgid "Inverted version of pin-1-in"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:53
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-6-in-not> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:56
+msgid "Inverted version of pin-6-in"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:56
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-8-in-not> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:59
+msgid "Inverted version of pin-8-in"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:59
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-9-in-not> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:62
+msgid "Inverted version of pin-9-in"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:62
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-3-out> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:65
+msgid "Also called TX (transmit data); pin 2 on the 25-pin serial pinout"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:65
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-4-out> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:68
+msgid "Also called DTR (data terminal ready); pin 20 on the 25-pin serial pinout"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:68
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-7-out> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/serport.9:71
+msgid "Also called RTS (request to send); pin 4 on the 25-pin serial pinout"
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:72
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-3-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:76
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-4-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:80
+#, no-wrap
+msgid "B<serport.>I<N>B<.pin-7-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/serport.9:84
+#, no-wrap
+msgid "B<serport.>I<N>B<.ioaddr> u32 r "
+msgstr ""
+
+#. type: TH
+#: man/man9/sim_axis_hardware.9:9
+#, no-wrap
+msgid "SIM_AXIS_HARDWARE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:13
+msgid "sim_axis_hardware - A component to simulate home and limit switches"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:16
+msgid ""
+"B<loadrt sim_axis_hardware "
+"[count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:20
+msgid ""
+"This component creates simulated home and limit switches based on the "
+"current position."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:22
+msgid ""
+"It currently can supply simulation for X, tandem X, Y, tandem Y, Z, U, V, "
+"and A axes."
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:25
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.update> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:29
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xcurrent-pos> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:32
+msgid "The current position on the axis - eg connect to joint.0.motor-pos-fb"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:32
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2current-pos> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:36
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ycurrent-pos> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:40
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2current-pos> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:44
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zcurrent-pos> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:48
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Acurrent-pos> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:52
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ucurrent-pos> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:56
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vcurrent-pos> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:60
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xhomesw-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:63
+msgid "The position of the home switch"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:63
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2homesw-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:67
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Yhomesw-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:71
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2homesw-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:75
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zhomesw-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:79
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ahomesw-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:83
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Uhomesw-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:87
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vhomesw-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:91
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xmaxsw-upper> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:94
+msgid "The upper range of the maximum limit switch, above this is false."
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:94
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2maxsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:98
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ymaxsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:102
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2maxsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:106
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zmaxsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:110
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Amaxsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:114
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Umaxsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:118
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vmaxsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:122
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xmaxsw-lower> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:125
+msgid "The lower range of the maximum limit switch, below this is false."
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:125
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2maxsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:129
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ymaxsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:133
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2maxsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:137
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zmaxsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:141
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Amaxsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:145
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Umaxsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:149
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vmaxsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:153
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xminsw-upper> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:156
+msgid "The upper range of the minimum limit switch, above this is false."
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:156
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2minsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:160
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Yminsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:164
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2minsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:168
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zminsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:172
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Aminsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:176
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Uminsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:180
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vminsw-upper> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:184
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xminsw-lower> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:187
+msgid "The lower range of the minimum limit switch, below this is false."
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:187
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2minsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:191
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Yminsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:195
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2minsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:199
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zminsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:203
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Aminsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:207
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Uminsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:211
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vminsw-lower> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:215
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xhomesw-hyst> float in (default: I<.025>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:218
+msgid "range that home switch will be true +- half this to the home position"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:218
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2homesw-hyst> float in (default: I<.025>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:222
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Yhomesw-hyst> float in (default: I<.025>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:226
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2homesw-hyst> float in (default: I<.025>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:230
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zhomesw-hyst> float in (default: I<.025>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:234
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ahomesw-hyst> float in (default: I<.025>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:238
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Uhomesw-hyst> float in (default: I<.025>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:242
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vhomesw-hyst> float in (default: I<.025>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:246
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xhoming> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:249
+msgid "True is homing in progress"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:249
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2homing> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:253
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Yhoming> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:257
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2homing> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:261
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zhoming> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:265
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ahoming> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:269
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Uhoming> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:273
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vhoming> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:277
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xhomesw-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:280
+msgid "Home switch for the X axis"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:280
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:284
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Yhomesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:288
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:292
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zhomesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:296
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ahomesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:300
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Uhomesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:304
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vhomesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:308
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.homesw-all> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:312
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xmaxsw-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:315
+msgid "Max limit switch"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:315
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xminsw-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:318
+msgid "min limit switch"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:318
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xbothsw-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:321
+msgid "True for both max and min limit switch"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:321
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2maxsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:325
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2minsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:329
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2bothsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:333
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ymaxsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:337
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Yminsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:341
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ybothsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:345
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2maxsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:349
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2minsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:353
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2bothsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:357
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zmaxsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:361
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zminsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:365
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zbothsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:369
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Amaxsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:373
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Aminsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:377
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Abothsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:381
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Umaxsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:385
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Uminsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:389
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ubothsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:393
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vmaxsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:397
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vminsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:401
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vbothsw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:405
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.limitsw-all> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:409
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.limitsw-homesw-all> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:412
+msgid "True for all limits and all home."
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:412
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xmaxsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:416
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xminsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:420
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Xbothsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:424
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2maxsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:428
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2minsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:432
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.X2bothsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:436
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ymaxsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:440
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Yminsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:444
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ybothsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:448
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2maxsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:452
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2minsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:456
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Y2bothsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:460
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zmaxsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:464
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zminsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:468
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Zbothsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:472
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Amaxsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:476
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Aminsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:480
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Abothsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:484
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Umaxsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:488
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Uminsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:492
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Ubothsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:496
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vmaxsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:500
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vminsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:504
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.Vbothsw-homesw-out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_axis_hardware.9:508
+#, no-wrap
+msgid "B<sim-axis-hardware.>I<N>B<.limit-offset> float in (default: I<.01>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_axis_hardware.9:511
+msgid ""
+"how much the limit switches are offset from inputted position. added to max, "
+"subtracted from min"
+msgstr ""
+
+#. type: TH
+#: man/man9/sim_encoder.9:10
+#, no-wrap
+msgid "SIM_ENCODER"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:32
+msgid "sim_encoder - simulated quadrature encoder"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:35
+msgid "B<loadrt sim_encoder [num_chan=>I<num> | B<names=>I<name1>[,I<name2>\\&...]]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:38
+msgid ""
+"B<sim_encoder> can generate quadrature signals as if from an encoder\\&. It "
+"also generates an index pulse once per revolution\\&. It is mostly used for "
+"testing and simulation, to replace hardware that may not be available\\&. It "
+"has a limited maximum frequency, as do all software based pulse "
+"generators\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:40
+msgid ""
+"B<sim_encoder> supports a maximum of eight channels\\&. The number of "
+"channels actually loaded is set by the B<num_chan=> argument when the module "
+"is loaded\\&. Alternatively, specify B<names=> and unique names separated by "
+"commas\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:42
+msgid ""
+"The B<num_chan=> and B<names=> specifiers are mutually exclusive\\&. If "
+"neither B<num_chan=> nor B<names=> are specified, the default value is "
+"one\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:45
+msgid "B<sim-encoder\\&.make-pulses> (no floating-point)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:47
+msgid ""
+"Generates the actual quadrature and index pulses\\&. Must be called as "
+"frequently as possible, to maximize the count rate and minimize "
+"jitter\\&. Operates on all channels at once\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:50
+msgid "B<sim-encoder\\&.update-speed> (uses floating-point)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:58
+msgid ""
+"Reads the B<speed> command and other parameters and converts the data into a "
+"form that can be used by B<make-pulses>\\&. Changes take effect only when "
+"B<update-speed> runs\\&. Can (and should) be called less frequently than "
+"B<make-pulses>\\&. Operates on all channels at once\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:62
+msgid ""
+"The names for pins and parameters are prefixed as: B<sim-encoder\\&.N\\&.> "
+"for N=0,1,\\&...,num-1 when using B<num_chan=num> B<nameN\\&.> for "
+"nameN=name1,name2,\\&... when using B<names=name1,name2,\\&...>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:64
+msgid ""
+"The B<sim-encoder\\&.N\\&.> format is shown in the following "
+"descriptions\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:67
+msgid "B<sim-encoder\\&.*>I<N>\\&.phase-A* bit out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:69
+msgid "One of the quadrature outputs\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:72
+msgid "B<sim-encoder\\&.*>I<N>\\&.phase-B* bit out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:74
+msgid "The other quadrature output\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:77
+msgid "B<sim-encoder\\&.*>I<N>\\&.phase-Z* bit out"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:79
+msgid "The index pulse\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:82
+msgid "B<sim-encoder\\&.*>I<N>\\&.speed* float in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:85
+msgid ""
+"The desired speed of the encoder, in user units per per second\\&. This is "
+"divided by B<scale>, and the result is used as the encoder speed in "
+"revolutions per second\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:89
+msgid "B<sim-encoder\\&.*>I<N>\\&.ppr* u32 rw"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:91
+msgid ""
+"The pulses per revolution of the simulated encoder\\&. Note that this is "
+"pulses, not counts, per revolution (ppr)\\&. Each pulse or cycle from the "
+"encoder results in four counts, because every edge is counted\\&. Default "
+"value is 100 ppr, or 400 counts per revolution\\&."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:94
+msgid "B<sim-encoder\\&.*>I<N>\\&.scale* float rw"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_encoder.9:106
+msgid ""
+"Scale factor for the B<speed> input\\&. The B<speed> value is divided by "
+"B<scale> to get the actual encoder speed in revolutions per second\\&. For "
+"example, if B<scale> is set to 60, then B<speed> is in revolutions per "
+"minute (RPM) instead of revolutions per second\\&. The default value is "
+"1\\&.00\\&."
+msgstr ""
+
+#. type: TH
+#: man/man9/sim_home_switch.9:9
+#, no-wrap
+msgid "SIM_HOME_SWITCH"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:13
+msgid "sim_home_switch - Home switch simulator"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:16
+msgid "B<loadrt sim_home_switch [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:24
+msgid ""
+"After tripping home switch, travel in opposite direction is required (amount "
+"set by the hysteresis pin).  A pin (index-enable) is provided for use when "
+"B<[JOINT_n]HOME_USE_INDEX> is specified to reset the I/O pin "
+"B<joint.N.index-enable>."
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_home_switch.9:26
+#, no-wrap
+msgid "B<sim-home-switch.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_home_switch.9:30
+#, no-wrap
+msgid "B<sim-home-switch.>I<N>B<.cur-pos> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:33
+msgid "Current position (typically: joint.n.motor-pos-fb)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_home_switch.9:33
+#, no-wrap
+msgid "B<sim-home-switch.>I<N>B<.home-pos> float in (default: I<1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:36
+msgid "Home switch position"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_home_switch.9:36
+#, no-wrap
+msgid "B<sim-home-switch.>I<N>B<.hysteresis> float in (default: I<0.1>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:39
+msgid "Travel required to backoff (hysteresis)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_home_switch.9:39
+#, no-wrap
+msgid "B<sim-home-switch.>I<N>B<.home-sw> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:42
+msgid "Home switch activated"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_home_switch.9:42
+#, no-wrap
+msgid "B<sim-home-switch.>I<N>B<.index-enable> bit io "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:45
+msgid "typ: connect to joint.N.index-enable"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_home_switch.9:45
+#, no-wrap
+msgid "B<sim-home-switch.>I<N>B<.index-delay-ms> float in (default: I<10>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_home_switch.9:48
+msgid "delay in msec to reset index-enable"
+msgstr ""
+
+#. type: TH
+#: man/man9/sim_matrix_kb.9:9
+#, no-wrap
+msgid "SIM_MATRIX_KB"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_matrix_kb.9:13
+msgid "sim_matrix_kb - convert HAL pin inputs to keycodes"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_matrix_kb.9:16
+msgid "B<loadrt sim_matrix_kb [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:17
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:21
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.out> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_matrix_kb.9:24
+msgid "pin that outputs the Keycode"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:24
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.button.c00.r>I<MM> bit in (MM=00..07) "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_matrix_kb.9:27 man/man9/sim_matrix_kb.9:30
+#: man/man9/sim_matrix_kb.9:33 man/man9/sim_matrix_kb.9:36
+#: man/man9/sim_matrix_kb.9:39 man/man9/sim_matrix_kb.9:42
+#: man/man9/sim_matrix_kb.9:45 man/man9/sim_matrix_kb.9:48
+msgid "array of inputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:27
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.button.c01.r>I<MM> bit in (MM=00..07) "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:30
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.button.c02.r>I<MM> bit in (MM=00..07) "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:33
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.button.c03.r>I<MM> bit in (MM=00..07) "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:36
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.button.c04.r>I<MM> bit in (MM=00..07) "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:39
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.button.c05.r>I<MM> bit in (MM=00..07) "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:42
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.button.c06.r>I<MM> bit in (MM=00..07) "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_matrix_kb.9:45
+#, no-wrap
+msgid "B<sim-matrix-kb.>I<N>B<.button.c07.r>I<MM> bit in (MM=00..07) "
+msgstr ""
+
+#. type: TH
+#: man/man9/sim_parport.9:9
+#, no-wrap
+msgid "SIM_PARPORT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:13
+msgid "sim_parport - A component to simulate the pins of the hal_parport component"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:16
+msgid "B<loadrt sim_parport [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:21
+msgid ""
+"Sim_parport is used to replace the pins of a real parport without changing "
+"any of the pins names in the rest of the config."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:23
+msgid ""
+"It has pass-through pins (ending in -fake) that allows connecting to other "
+"components."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:25
+msgid "eg pin-02-in will follow pin-02-in-fake 's logic."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:27
+msgid ""
+"pin_01_out-fake will follow pin_01_out (possibly modified by "
+"pin_01_out-invert)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:29
+msgid ""
+"It creates all possible pins of both 'in' and 'out' options of the "
+"hal_parport component."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:31
+msgid ""
+"This allows using other hardware I/O in place of the parport (without having "
+"to change the rest of the config)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:33
+msgid "or simulating hardware such as limit switches."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:35
+msgid "it's primary use is in Stepconf for building simulated configs."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:37
+msgid "You must use the names= option to have the right pin names."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:39
+msgid "eg. names=parport.0,parport.1"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:41
+msgid ""
+"The read and write functions pass the logic from pins to fake pins or vice "
+"vera"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_parport.9:43
+msgid "The reset function is a no operation."
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:46
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.read>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:49
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.write>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:52
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.reset>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:56
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-01-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:60
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-02-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:64
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-03-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:68
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-04-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:72
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-05-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:76
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-06-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:80
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-07-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:84
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-08-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:88
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-09-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:92
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-14-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:96
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-16-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:100
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-17-out> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:104
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-01-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:108
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-02-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:112
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-03-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:116
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-04-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:120
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-05-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:124
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-06-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:128
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-07-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:132
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-08-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:136
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-09-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:140
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-14-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:144
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-16-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:148
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-17-out-fake> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:152
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-02-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:156
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-03-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:160
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-04-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:164
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-05-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:168
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-06-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:172
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-07-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:176
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-08-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:180
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-09-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:184
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-10-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:188
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-11-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:192
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-12-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:196
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-13-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:200
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-15-in> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:204
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-02-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:208
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-03-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:212
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-04-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:216
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-05-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:220
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-06-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:224
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-07-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:228
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-08-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:232
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-09-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:236
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-10-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:240
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-11-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:244
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-12-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:248
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-13-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:252
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-15-in-fake> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:256
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-02-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:260
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-03-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:264
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-04-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:268
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-05-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:272
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-06-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:276
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-07-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:280
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-08-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:284
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-09-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:288
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-10-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:292
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-11-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:296
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-12-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:300
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-13-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:304
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-15-in-not> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:308
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.reset-time> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:311
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-01-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:315
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-02-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:319
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-03-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:323
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-04-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:327
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-05-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:331
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-06-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:335
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-07-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:339
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-08-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:343
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-09-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:347
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-14-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:351
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-16-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:355
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-17-out-invert> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:359
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-01-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:363
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-02-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:367
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-03-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:371
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-04-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:375
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-05-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:379
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-06-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:383
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-07-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:387
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-08-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:391
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-09-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:395
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-14-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:399
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-16-out-reset> bit rw "
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_parport.9:403
+#, no-wrap
+msgid "B<sim-parport.>I<N>B<.pin-17-out-reset> bit rw "
+msgstr ""
+
+#. type: TH
+#: man/man9/simple_tp.9:9
+#, no-wrap
+msgid "SIMPLE_TP"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/simple_tp.9:13
+msgid ""
+"simple_tp - This component is a single axis simple trajectory planner, same "
+"as used for jogging in LinuxCNC."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/simple_tp.9:15
+msgid ""
+"Used by PNCconf to allow testing of acceleration and velocity values for an "
+"axis."
+msgstr ""
+
+#. type: TP
+#: man/man9/simple_tp.9:16
+#, no-wrap
+msgid "B<simple-tp.>I<N>B<.update> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/simple_tp.9:20
+#, no-wrap
+msgid "B<simple-tp.>I<N>B<.target-pos> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/simple_tp.9:23
+msgid "target position to plan for."
+msgstr ""
+
+#. type: TP
+#: man/man9/simple_tp.9:23
+#, no-wrap
+msgid "B<simple-tp.>I<N>B<.maxvel> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/simple_tp.9:26
+#, no-wrap
+msgid "B<simple-tp.>I<N>B<.maxaccel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/simple_tp.9:29
+msgid "Acceleration rate"
+msgstr ""
+
+#. type: TP
+#: man/man9/simple_tp.9:29
+#, no-wrap
+msgid "B<simple-tp.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/simple_tp.9:32
+msgid "If disabled, planner sets velocity to zero immediately."
+msgstr ""
+
+#. type: TP
+#: man/man9/simple_tp.9:32
+#, no-wrap
+msgid "B<simple-tp.>I<N>B<.current-pos> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/simple_tp.9:35
+msgid "position commanded at this point in time."
+msgstr ""
+
+#. type: TP
+#: man/man9/simple_tp.9:35
+#, no-wrap
+msgid "B<simple-tp.>I<N>B<.current-vel> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/simple_tp.9:38
+msgid "velocity commanded at this moment in time."
+msgstr ""
+
+#. type: TP
+#: man/man9/simple_tp.9:38
+#, no-wrap
+msgid "B<simple-tp.>I<N>B<.active> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/simple_tp.9:41
+msgid "if active is true, the planner is requesting movement."
+msgstr ""
+
+#. type: TH
+#: man/man9/sim_spindle.9:9
+#, no-wrap
+msgid "SIM_SPINDLE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_spindle.9:13
+msgid "sim_spindle - Simulated spindle with index pulse"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_spindle.9:16
+msgid "B<loadrt sim_spindle [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_spindle.9:17
+#, no-wrap
+msgid "B<sim-spindle.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_spindle.9:21
+#, no-wrap
+msgid "B<sim-spindle.>I<N>B<.velocity-cmd> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_spindle.9:24
+msgid "Commanded speed"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_spindle.9:24
+#, no-wrap
+msgid "B<sim-spindle.>I<N>B<.position-fb> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_spindle.9:27
+msgid "Feedback position, in revolutions"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_spindle.9:27
+#, no-wrap
+msgid "B<sim-spindle.>I<N>B<.index-enable> bit io "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_spindle.9:30
+msgid "Reset B<position-fb> to 0 at the next full rotation"
+msgstr ""
+
+#. type: TP
+#: man/man9/sim_spindle.9:31
+#, no-wrap
+msgid "B<sim-spindle.>I<N>B<.scale> float rw (default: I<1.0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_spindle.9:34
+msgid "factor applied to B<velocity-cmd>."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sim_spindle.9:37
+msgid ""
+"The result of 'B<velocity-cmd> * B<scale>' be in revolutions per second.  "
+"For example, if B<velocity-cmd> is in revolutions/minute, B<scale> should be "
+"set to 1/60 or 0.016666667."
+msgstr ""
+
+#. type: TH
+#: man/man9/sphereprobe.9:9
+#, no-wrap
+msgid "SPHEREPROBE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sphereprobe.9:13
+msgid "sphereprobe - Probe a pretend hemisphere"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sphereprobe.9:16
+msgid "B<loadrt sphereprobe [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:17
+#, no-wrap
+msgid "B<sphereprobe.>I<N>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sphereprobe.9:20
+msgid "update probe-out based on inputs"
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:21
+#, no-wrap
+msgid "B<sphereprobe.>I<N>B<.px> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:25
+#, no-wrap
+msgid "B<sphereprobe.>I<N>B<.py> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:29
+#, no-wrap
+msgid "B<sphereprobe.>I<N>B<.pz> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sphereprobe.9:32
+msgid "B<rawcounts> position from software encoder"
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:32
+#, no-wrap
+msgid "B<sphereprobe.>I<N>B<.cx> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:36
+#, no-wrap
+msgid "B<sphereprobe.>I<N>B<.cy> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:40
+#, no-wrap
+msgid "B<sphereprobe.>I<N>B<.cz> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sphereprobe.9:43
+msgid "Center of sphere in counts"
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:43
+#, no-wrap
+msgid "B<sphereprobe.>I<N>B<.r> s32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sphereprobe.9:46
+msgid "Radius of hemisphere in counts"
+msgstr ""
+
+#. type: TP
+#: man/man9/sphereprobe.9:46
+#, no-wrap
+msgid "B<sphereprobe.>I<N>B<.probe-out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:13
+msgid ""
+"spindle - Control a spindle with different acceleration and deceleration and "
+"optional gear change scaling"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:16
+msgid "B<loadrt spindle [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:19
+msgid ""
+"This component will control a spindle with adjustable acceleration and "
+"deceleration."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:23
+#, no-wrap
+msgid ""
+" NOTE: This component is unfortunately named and creates pins with names "
+"very much like those created by the motion component.\n"
+" In nearly every case this is not the documentation page that you are "
+"looking for.\n"
+" See http://linuxcnc.org/docs/html/man/man9/motion.9.html instead.\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:28
+msgid ""
+"It is designed for use with non-servo spindle drives that have separate "
+"fwd/reverse inputs, such as DC drives and inverters.  If a spindle encoder "
+"is available it is used to tailor the acceleration and deceleration to the "
+"spindle load.  If not the spindle speed is simulated. The component allows "
+"for gearboxes with up to 16 gears.  Each gear has individual control of "
+"speeds, acceleration, driver gain and direction."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:29
+#, no-wrap
+msgid "B<spindle.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:33
+#, no-wrap
+msgid "B<spindle.>I<N>B<.select-gear> u32 in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:36
+msgid ""
+"Select a gear. Must be in the range 0 -E<gt> number of available gears "
+"-1. If you use this, do not use the select.x input pins."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:36
+#, no-wrap
+msgid "B<spindle.>I<N>B<.commanded-speed> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:39
+msgid "Commanded spindle speed (in RPM)"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:39
+#, no-wrap
+msgid "B<spindle.>I<N>B<.actual-speed> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:43
+msgid ""
+"Actual spindle speed from a spindle encoder (in RPS).  If you do not have a "
+"spindle encoder set the simulate_encoder parameter to 1."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:43
+#, no-wrap
+msgid "B<spindle.>I<N>B<.simulate-encoder> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:46
+msgid "If you do not have an encoder, set this to 1."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:46
+#, no-wrap
+msgid "B<spindle.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:49
+msgid "If FALSE, the spindle is stopped at the gear's maximum deceleration."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:49
+#, no-wrap
+msgid "B<spindle.>I<N>B<.spindle-lpf> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:53
+msgid ""
+"Smooth the spindle-rpm-abs output when at speed, 0 = disabled.  Suitable "
+"values are probably between 1 and 20 depending on how stable your spindle "
+"is."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:53
+#, no-wrap
+msgid "B<spindle.>I<N>B<.spindle-rpm> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:57
+msgid ""
+"Current spindle speed in RPM.+ve = forward, -ve = reverse.  Uses the encoder "
+"input if available. If not, uses a simulated encoder speed."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:57
+#, no-wrap
+msgid "B<spindle.>I<N>B<.spindle-rpm-abs> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:60
+msgid "Absolute spindle speed in RPM. Useful for spindle speed displays."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:60
+#, no-wrap
+msgid "B<spindle.>I<N>B<.output> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:63
+msgid "Scaled output"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:63
+#, no-wrap
+msgid "B<spindle.>I<N>B<.current-gear> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:66
+msgid "Currently selected gear."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:66
+#, no-wrap
+msgid "B<spindle.>I<N>B<.at-speed> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:69
+msgid "TRUE when the spindle is at speed"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:69
+#, no-wrap
+msgid "B<spindle.>I<N>B<.forward> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:72
+msgid "TRUE for forward rotation"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:72
+#, no-wrap
+msgid "B<spindle.>I<N>B<.reverse> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:75
+msgid ""
+"TRUE for reverse rotation. Both forward and reverse are false when the "
+"spindle is stopped."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:75
+#, no-wrap
+msgid "B<spindle.>I<N>B<.brake> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:78
+msgid "TRUE when decelerating"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:78
+#, no-wrap
+msgid "B<spindle.>I<N>B<.zero-speed> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:81
+msgid "TRUE when the spindle is stationary"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:81
+#, no-wrap
+msgid "B<spindle.>I<N>B<.limited> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:84
+msgid "TRUE when the commanded spindle speed is E<gt>max or E<lt>min."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:87
+msgid "B<motion>(9)"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:90
+#, no-wrap
+msgid "B<The following pins are created depending the 'numgears=' parameter.>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:96
+#, no-wrap
+msgid ""
+"One of each pin is created for each gear. If no gears are specified then one "
+"gear will be created.\n"
+"For instance if you have gears=2 on your command line, you will have two "
+"scale pins:\n"
+" B<spindle.>I<N>B<.scale.0>I<\n"
+" >B<spindle.>I<N>B<.scale.1>\n"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:97
+#, no-wrap
+msgid "B<spindle.>I<N>B<.scale.>I<x float in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:101
+msgid ""
+"Scale the output. For multiple gears you would use a different scale for "
+"each gear.  If you need to reverse the output for some gears, use a negative "
+"scale."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:102
+#, no-wrap
+msgid "B<spindle.>I<N>B<.min.>I<x float in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:106
+msgid ""
+"Set the minimum speed allowed (in RPM).  The limit output will be TRUE while "
+"the commanded speed is between 0 RPM and the min speed."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:107
+#, no-wrap
+msgid "B<spindle.>I<N>B<.max.>I<x float in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:111
+msgid ""
+"Set the maximum speed allowed (in RPM).  The limit output will be TRUE while "
+"the commanded speed is above this value."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:112
+#, no-wrap
+msgid "B<spindle.>I<N>B<.accel.>I<x float in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:118
+msgid ""
+"Set the maximum acceleration.  If you do not have a spindle encoder this is "
+"in RPM/second.  If you do have an encoder the output is the actual speed "
+"plus this value.  This way the acceleration can be dependent on the spindle "
+"load."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:119
+#, no-wrap
+msgid "B<spindle.>I<N>B<.decel.>I<x float in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:123
+msgid ""
+"Set the minimum deceleration. If you do not have a spindle encoder this is "
+"in RPM/second.  If you do have an encoder the output is the actual speed "
+"minus this value."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:124
+#, no-wrap
+msgid "B<spindle.>I<N>B<.speed-tolerance.>I<x float in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:128
+msgid ""
+"Tolerance for 'at-speed' signal (in RPM).  Actual spindle speeds within this "
+"amount of the commanded speed will cause the at-speed signal to go TRUE."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:129
+#, no-wrap
+msgid "B<spindle.>I<N>B<.zero-tolerance.>I<x float in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:132
+msgid "Tolerance for 'zero-speed' signal (in RPM)."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:133
+#, no-wrap
+msgid "B<spindle.>I<N>B<.offset.>I<x float in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:136
+msgid "The output command is offset by this amount (in RPM)."
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle.9:137
+#, no-wrap
+msgid "B<spindle.>I<N>B<.select.>I<x bit in>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle.9:141
+msgid ""
+"Selects this gear. If no select inputs are active, gear 0 is selected.  If "
+"multiple select inputs are active then the highest is selected."
+msgstr ""
+
+#. type: TH
+#: man/man9/spindle_monitor.9:9
+#, no-wrap
+msgid "SPINDLE_MONITOR"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle_monitor.9:13
+msgid "spindle_monitor - spindle at-speed and underspeed detection"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle_monitor.9:16
+msgid "B<loadrt spindle_monitor [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle_monitor.9:17
+#, no-wrap
+msgid "B<spindle-monitor.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle_monitor.9:21
+#, no-wrap
+msgid "B<spindle-monitor.>I<N>B<.spindle-is-on> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle_monitor.9:25
+#, no-wrap
+msgid "B<spindle-monitor.>I<N>B<.spindle-command> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle_monitor.9:29
+#, no-wrap
+msgid "B<spindle-monitor.>I<N>B<.spindle-feedback> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle_monitor.9:33
+#, no-wrap
+msgid "B<spindle-monitor.>I<N>B<.spindle-at-speed> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle_monitor.9:37
+#, no-wrap
+msgid "B<spindle-monitor.>I<N>B<.spindle-underspeed> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle_monitor.9:40
+#, no-wrap
+msgid "B<spindle-monitor.>I<N>B<.level> u32 rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle_monitor.9:43
+msgid "state machine state"
+msgstr ""
+
+#. type: TP
+#: man/man9/spindle_monitor.9:43
+#, no-wrap
+msgid "B<spindle-monitor.>I<N>B<.threshold> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/spindle_monitor.9:50
+msgid "gpl v2 or higher"
+msgstr ""
+
+#. type: TH
+#: man/man9/steptest.9:9
+#, no-wrap
+msgid "STEPTEST"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/steptest.9:13
+msgid ""
+"steptest - Used by Stepconf to allow testing of acceleration and velocity "
+"values for an axis."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/steptest.9:16
+msgid "B<loadrt steptest [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:17
+#, no-wrap
+msgid "B<steptest.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:21
+#, no-wrap
+msgid "B<steptest.>I<N>B<.jog-minus> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/steptest.9:24
+msgid "Drive TRUE to jog the axis in its minus direction"
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:24
+#, no-wrap
+msgid "B<steptest.>I<N>B<.jog-plus> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/steptest.9:27
+msgid "Drive TRUE to jog the axis in its positive direction"
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:27
+#, no-wrap
+msgid "B<steptest.>I<N>B<.run> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/steptest.9:30
+msgid ""
+"Drive TRUE to run the axis near its current position_fb with a trapezoidal "
+"velocity profile"
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:30
+#, no-wrap
+msgid "B<steptest.>I<N>B<.maxvel> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:33
+#, no-wrap
+msgid "B<steptest.>I<N>B<.maxaccel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/steptest.9:36
+msgid "Permitted Acceleration"
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:36
+#, no-wrap
+msgid "B<steptest.>I<N>B<.amplitude> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:39
+#, no-wrap
+msgid "B<steptest.>I<N>B<.dir> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:42
+#, no-wrap
+msgid "B<steptest.>I<N>B<.position-cmd> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:46
+#, no-wrap
+msgid "B<steptest.>I<N>B<.position-fb> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:50
+#, no-wrap
+msgid "B<steptest.>I<N>B<.running> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:54
+#, no-wrap
+msgid "B<steptest.>I<N>B<.run-target> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:58
+#, no-wrap
+msgid "B<steptest.>I<N>B<.run-start> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:62
+#, no-wrap
+msgid "B<steptest.>I<N>B<.run-low> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:66
+#, no-wrap
+msgid "B<steptest.>I<N>B<.run-high> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:70
+#, no-wrap
+msgid "B<steptest.>I<N>B<.pause> s32 in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/steptest.9:73
+msgid "pause time for each end of run in seconds"
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:74
+#, no-wrap
+msgid "B<steptest.>I<N>B<.epsilon> float rw (default: I<.001>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/steptest.9:78
+#, no-wrap
+msgid "B<steptest.>I<N>B<.elapsed> float r "
+msgstr ""
+
+#. type: TH
+#: man/man9/sum2.9:9
+#, no-wrap
+msgid "SUM2"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sum2.9:13
+msgid "sum2 - Sum of two inputs (each with a gain) and an offset"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sum2.9:16
+msgid "B<loadrt sum2 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/sum2.9:17
+#, no-wrap
+msgid "B<sum2.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sum2.9:21
+#, no-wrap
+msgid "B<sum2.>I<N>B<.in0> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sum2.9:25
+#, no-wrap
+msgid "B<sum2.>I<N>B<.in1> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/sum2.9:29
+#, no-wrap
+msgid "B<sum2.>I<N>B<.out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sum2.9:32
+msgid "out = in0 * gain0 + in1 * gain1 + offset"
+msgstr ""
+
+#. type: TP
+#: man/man9/sum2.9:33
+#, no-wrap
+msgid "B<sum2.>I<N>B<.gain0> float rw (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sum2.9:37
+#, no-wrap
+msgid "B<sum2.>I<N>B<.gain1> float rw (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/sum2.9:41
+#, no-wrap
+msgid "B<sum2.>I<N>B<.offset> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/sum2.9:46
+msgid "scaled_s32_sums(9), weighted_sum(9)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:13
+msgid "thc - Torch Height Control"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:16
+msgid "B<loadrt thc>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:21
+msgid "Torch Height Control Mesa THC E<gt> Encoder E<gt> LinuxCNC THC component"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:25
+msgid ""
+"The Mesa THC sends a frequency based on the voltage detected to the "
+"encoder.  The velocity from the encoder is converted to volts with the "
+"velocity scale parameter inside the THC component."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:28
+msgid ""
+"The THCAD card sends a frequency at 0 volts so the scale offset parameter is "
+"used to zero the calculated voltage."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:32
+msgid ""
+"Component Functions If enabled and torch is on and X + Y velocity is within "
+"tolerance of set speed allow the THC to offset the Z axis as needed to "
+"maintain voltage."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:35 man/man9/thcud.9:27
+msgid ""
+"If enabled and torch is off and the Z axis is moving up remove any "
+"correction at a rate not to exceed the rate of movement of the Z axis."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:38 man/man9/thcud.9:30
+msgid ""
+"If enabled and torch is off and there is no correction pass the Z position "
+"and feed back untouched."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:40 man/man9/thcud.9:32
+msgid "If not enabled pass the Z position and feed back untouched."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:42
+msgid "Physical Connections"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:44
+msgid ""
+"Plasma Torch Arc Voltage Signal =E<gt> 6 x 487k 1% resistors =E<gt> THC Arc "
+"Voltage In"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:46
+msgid "THC Frequency Signal =E<gt> Encoder #0, pin A (Input)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:48
+msgid "Plasma Torch Arc OK Signal =E<gt> input pin"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:50
+msgid "output pin =E<gt> Plasma Torch Start Arc Contacts"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:52 man/man9/thcud.9:44
+msgid "HAL Plasma Connections"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:54
+msgid "encoder.nn.velocity =E<gt> thc.encoder-vel (tip voltage)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:56
+msgid "spindle.0.on =E<gt> output pin (start the arc)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:58
+msgid "thc.arc-ok E<lt>= motion.digital-in-00 E<lt>= input pin (arc ok signal)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:60 man/man9/thcud.9:54
+msgid "HAL Motion Connections"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:62
+msgid "thc.requested-vel E<lt>= motion.requested-vel"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:64
+msgid "thc.current-vel E<lt>= motion.current-vel"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:67
+#, no-wrap
+msgid "B<thc> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:71
+#, no-wrap
+msgid "B<thc.encoder-vel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:74
+msgid "Connect to hm2_5i20.0.encoder.00.velocity"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:74
+#, no-wrap
+msgid "B<thc.current-vel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:77 man/man9/thcud.9:89
+msgid "Connect to motion.current-vel"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:77
+#, no-wrap
+msgid "B<thc.requested-vel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:80 man/man9/thcud.9:92
+msgid "Connect to motion.requested-vel"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:80
+#, no-wrap
+msgid "B<thc.volts-requested> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:83
+msgid "Tip Volts current_vel E<gt>= min_velocity requested"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:83
+#, no-wrap
+msgid "B<thc.vel-tol> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:86
+msgid "Velocity Tolerance (Corner Lock)"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:86
+#, no-wrap
+msgid "B<thc.torch-on> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:89 man/man9/thcud.9:95
+msgid "Connect to spindle.N.on"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:89
+#, no-wrap
+msgid "B<thc.arc-ok> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:92
+msgid "Arc OK from Plasma Torch"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:92
+#, no-wrap
+msgid "B<thc.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:95 man/man9/thcud.9:101
+msgid "Enable the THC, if not enabled Z position is passed through"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:95
+#, no-wrap
+msgid "B<thc.z-pos-in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:98 man/man9/thcud.9:104
+msgid "Z Motor Position Command in from axis.n.motor-pos-cmd"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:98
+#, no-wrap
+msgid "B<thc.z-pos-out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:101 man/man9/thcud.9:107
+msgid "Z Motor Position Command Out"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:101
+#, no-wrap
+msgid "B<thc.z-fb-out> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:104 man/man9/thcud.9:110
+msgid "Z Position Feedback to Axis"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:104
+#, no-wrap
+msgid "B<thc.volts> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:107
+msgid "The Calculated Volts"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:107
+#, no-wrap
+msgid "B<thc.vel-status> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:110 man/man9/thcud.9:116
+msgid "When the THC thinks we are at requested speed"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:110
+#, no-wrap
+msgid "B<thc.offset-value> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:113 man/man9/thcud.9:113
+msgid "The Current Offset"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:114
+#, no-wrap
+msgid "B<thc.vel-scale> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:117
+msgid "The scale to convert the Velocity signal to Volts"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:117
+#, no-wrap
+msgid "B<thc.scale-offset> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:120
+msgid "The offset of the velocity input at 0 volts"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:120
+#, no-wrap
+msgid "B<thc.velocity-tol> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:123 man/man9/thcud.9:126
+msgid "The deviation percent from planned velocity"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:123
+#, no-wrap
+msgid "B<thc.voltage-tol> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:126
+msgid "The deviation of Tip Voltage before correction takes place"
+msgstr ""
+
+#. type: TP
+#: man/man9/thc.9:126
+#, no-wrap
+msgid "B<thc.correction-vel> float rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thc.9:129
+msgid "The amount of change in user units per period to move Z to correct"
+msgstr ""
+
+#. type: TH
+#: man/man9/thcud.9:9
+#, no-wrap
+msgid "THCUD"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:13
+msgid "thcud - Torch Height Control Up/Down Input"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:16
+msgid "B<loadrt thcud>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:21
+msgid "Torch Height Control This THC takes either an up or a down input from a THC"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:24
+msgid ""
+"If enabled and torch is on and X + Y velocity is within tolerance of set "
+"speed allow the THC to offset the Z axis as needed to maintain voltage."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:34
+msgid "Typical Physical Connections using a Parallel Port"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:36
+msgid "Parallel Pin 12 E<lt>= THC controller Plasma Up"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:38
+msgid "Parallel Pin 13 E<lt>= THC controller Plasma Down"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:40
+msgid "Parallel Pin 15 E<lt>= Plasma Torch Arc Ok Signal"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:42
+msgid "Parallel Pin 16 =E<gt> Plasma Torch Start Arc Contacts"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:46
+msgid "net torch-up thcud.torch-up E<lt>= parport.0.pin-12-in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:48
+msgid "net torch-down thcud.torch-down E<lt>= parport.0.pin-13-in"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:50
+msgid "net torch-on spindle.0.on =E<gt> parport.0.pin-16-out (start the arc)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:52
+msgid ""
+"net arc-ok thcud.arc-ok E<lt>= motion.digital-in-00 E<lt>= "
+"parport.0.pin-15-in (arc ok signal)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:56
+msgid "net requested-vel thcud.requested-vel E<lt>= motion.requested-vel"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:58
+msgid "net current-vel thcud.current-vel E<lt>= motion.current-vel"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:61
+msgid "PyVCP Connections In the XML file you need something like:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:68
+#, no-wrap
+msgid ""
+"  E<lt>pyvcpE<gt>\n"
+"  E<lt>checkbuttonE<gt>\n"
+"    E<lt>textE<gt>\"THC Enable\"E<lt>/textE<gt>\n"
+"    E<lt>halpinE<gt>\"thc-enable\"E<lt>/halpinE<gt>\n"
+"  E<lt>/checkbuttonE<gt>\n"
+"  E<lt>/pyvcpE<gt>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:70
+msgid "Connect the PyVCP pins in the postgui.hal file like this:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:72
+msgid "net thc-enable thcud.enable E<lt>= pyvcp.thc-enable"
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:76
+#, no-wrap
+msgid "B<thcud> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:80
+#, no-wrap
+msgid "B<thcud.torch-up> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:83
+msgid "Connect to an input pin"
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:83
+#, no-wrap
+msgid "B<thcud.torch-down> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:86
+msgid "Connect to input pin"
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:86
+#, no-wrap
+msgid "B<thcud.current-vel> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:89
+#, no-wrap
+msgid "B<thcud.requested-vel> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:92
+#, no-wrap
+msgid "B<thcud.torch-on> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:95
+#, no-wrap
+msgid "B<thcud.arc-ok> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:98
+msgid "Arc Ok from Plasma Torch"
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:98
+#, no-wrap
+msgid "B<thcud.enable> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:101
+#, no-wrap
+msgid "B<thcud.z-pos-in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:104
+#, no-wrap
+msgid "B<thcud.z-pos-out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:107
+#, no-wrap
+msgid "B<thcud.z-fb-out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:110
+#, no-wrap
+msgid "B<thcud.cur-offset> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:113
+#, no-wrap
+msgid "B<thcud.vel-status> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:116
+#, no-wrap
+msgid "B<thcud.removing-offset> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:119
+msgid "Pin for testing"
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:119
+#, no-wrap
+msgid "B<thcud.correction-vel> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/thcud.9:122
+msgid "The Velocity to move Z to correct"
+msgstr ""
+
+#. type: TP
+#: man/man9/thcud.9:123
+#, no-wrap
+msgid "B<thcud.velocity-tol> float rw "
+msgstr ""
+
+#. type: TH
+#: man/man9/threadtest.9:9
+#, no-wrap
+msgid "THREADTEST"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/threadtest.9:13
+msgid "threadtest - LinuxCNC HAL component for testing thread behavior"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/threadtest.9:16
+msgid "B<loadrt threadtest [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/threadtest.9:17
+#, no-wrap
+msgid "B<threadtest.>I<N>B<.increment>"
+msgstr ""
+
+#. type: TP
+#: man/man9/threadtest.9:20
+#, no-wrap
+msgid "B<threadtest.>I<N>B<.reset>"
+msgstr ""
+
+#. type: TP
+#: man/man9/threadtest.9:24
+#, no-wrap
+msgid "B<threadtest.>I<N>B<.count> u32 out "
+msgstr ""
+
+#. type: TH
+#: man/man9/time.9:9
+#, no-wrap
+msgid "TIME"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:13
+msgid "time - Time on in Hours, Minutes, Seconds"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:16
+msgid "B<loadrt time [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:20
+msgid "Time"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:28
+msgid ""
+"When either the time.N.start or time.N.pause bits goes true the cycle timer "
+"resets and starts to time until time.N.start AND time.N.pause go false. When "
+"the time.N.pause bit goes true timing is paused until time.N.pause goes "
+"false. If you connect time.N.start to halui.program.is-running and leave "
+"time.N.pause unconnected the timer will reset during a pause. See the "
+"example connections below for more information."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:30
+msgid "Time returns the hours, minutes, and seconds that time.N.start is true."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:32
+msgid "Sample PyVCP code to display the hours:minutes:seconds."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:64
+#, no-wrap
+msgid ""
+"E<lt>pyvcpE<gt>\n"
+"  E<lt>hboxE<gt>\n"
+"  E<lt>labelE<gt>\n"
+"    E<lt>textE<gt>\"Cycle Time\"E<lt>/textE<gt>\n"
+"    E<lt>fontE<gt>(\"Helvetica\",14)E<lt>/fontE<gt>\n"
+"  E<lt>/labelE<gt>\n"
+"  E<lt>u32E<gt> \n"
+"      E<lt>halpinE<gt>\"time-hours\"E<lt>/halpinE<gt>\n"
+"      E<lt>fontE<gt>(\"Helvetica\",14)E<lt>/fontE<gt>\n"
+"      E<lt>formatE<gt>\"2d\"E<lt>/formatE<gt>\n"
+"  E<lt>/u32E<gt>\n"
+"  E<lt>labelE<gt>\n"
+"    E<lt>textE<gt>\":\"E<lt>/textE<gt>\n"
+"    E<lt>fontE<gt>(\"Helvetica\",14)E<lt>/fontE<gt>\n"
+"  E<lt>/labelE<gt>\n"
+"  E<lt>u32E<gt> \n"
+"      E<lt>halpinE<gt>\"time-minutes\"E<lt>/halpinE<gt>\n"
+"      E<lt>fontE<gt>(\"Helvetica\",14)E<lt>/fontE<gt>\n"
+"      E<lt>formatE<gt>\"2d\"E<lt>/formatE<gt>\n"
+"  E<lt>/u32E<gt>\n"
+"  E<lt>labelE<gt>\n"
+"    E<lt>textE<gt>\":\"E<lt>/textE<gt>\n"
+"    E<lt>fontE<gt>(\"Helvetica\",14)E<lt>/fontE<gt>\n"
+"  E<lt>/labelE<gt>\n"
+"  E<lt>u32E<gt> \n"
+"      E<lt>halpinE<gt>\"time-seconds\"E<lt>/halpinE<gt>\n"
+"      E<lt>fontE<gt>(\"Helvetica\",14)E<lt>/fontE<gt>\n"
+"      E<lt>formatE<gt>\"2d\"E<lt>/formatE<gt>\n"
+"  E<lt>/u32E<gt>\n"
+"  E<lt>/hboxE<gt>\n"
+"E<lt>/pyvcpE<gt>\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:67
+msgid ""
+"In your post-gui.hal file you might use one of the following to connect this "
+"timer:"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:69
+#, no-wrap
+msgid " For a new config:\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:77
+#, no-wrap
+msgid ""
+" loadrt time\n"
+" addf time.0 servo-thread\n"
+" net cycle-timer        time.0.start E<lt>= halui.program.is-running\n"
+" net cycle-timer-pause  time.0.pause E<lt>= halui.program.is-paused\n"
+" net cycle-seconds pyvcp.time-seconds E<lt>= time.0.seconds\n"
+" net cycle-minutes pyvcp.time-minutes E<lt>= time.0.minutes\n"
+" net cycle-hours pyvcp.time-hours E<lt>= time.0.hours\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:83
+#, no-wrap
+msgid ""
+" Previous to this version if you wanted the timer to continue running\n"
+" during a pause instead of resetting, you had to use a HAL NOT component\n"
+" to invert the halui.program.is-idle pin and connect to time.N.start as\n"
+" shown below:\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:93
+#, no-wrap
+msgid ""
+" loadrt time\n"
+" loadrt not\n"
+" addf time.0 servo-thread\n"
+" addf not.0 servo-thread\n"
+" net prog-running not.0.in E<lt>= halui.program.is-idle\n"
+" net cycle-timer time.0.start E<lt>= not.0.out\n"
+" net cycle-seconds pyvcp.time-seconds E<lt>= time.0.seconds\n"
+" net cycle-minutes pyvcp.time-minutes E<lt>= time.0.minutes\n"
+" net cycle-hours pyvcp.time-hours E<lt>= time.0.hours\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:96
+#, no-wrap
+msgid ""
+" For those who have this setup already, you can simply add a net "
+"connecting\n"
+" time.N.pause to halui.program.is-paused:\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:98
+#, no-wrap
+msgid " net cycle-timer-pause time.0.pause E<lt>= halui.program.is-paused\n"
+msgstr ""
+
+#. type: TP
+#: man/man9/time.9:102
+#, no-wrap
+msgid "B<time.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/time.9:106
+#, no-wrap
+msgid "B<time.>I<N>B<.start> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:109
+msgid "Timer On"
+msgstr ""
+
+#. type: TP
+#: man/man9/time.9:109
+#, no-wrap
+msgid "B<time.>I<N>B<.pause> bit in (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:112
+msgid "Pause"
+msgstr ""
+
+#. type: TP
+#: man/man9/time.9:112
+#, no-wrap
+msgid "B<time.>I<N>B<.seconds> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:115
+msgid "Seconds"
+msgstr ""
+
+#. type: TP
+#: man/man9/time.9:115
+#, no-wrap
+msgid "B<time.>I<N>B<.minutes> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:118
+msgid "Minutes"
+msgstr ""
+
+#. type: TP
+#: man/man9/time.9:118
+#, no-wrap
+msgid "B<time.>I<N>B<.hours> u32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:121
+msgid "Hours"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/time.9:124
+msgid "John Thornton, itaib, Moses McKnight"
+msgstr ""
+
+#. type: TH
+#: man/man9/timedelay.9:9
+#, no-wrap
+msgid "TIMEDELAY"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelay.9:13
+msgid "timedelay - The equivalent of a time-delay relay"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelay.9:16
+msgid "B<loadrt timedelay [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelay.9:17
+#, no-wrap
+msgid "B<timedelay.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelay.9:21
+#, no-wrap
+msgid "B<timedelay.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelay.9:25
+#, no-wrap
+msgid "B<timedelay.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelay.9:29
+msgid ""
+"Follows the value of B<in> after applying the delays B<on-delay> and "
+"B<off-delay>."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelay.9:29
+#, no-wrap
+msgid "B<timedelay.>I<N>B<.on-delay> float in (default: I<0.5>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelay.9:33
+msgid ""
+"The time, in seconds, for which B<in> must be B<true> before B<out> becomes "
+"B<true>"
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelay.9:33
+#, no-wrap
+msgid "B<timedelay.>I<N>B<.off-delay> float in (default: I<0.5>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelay.9:37
+msgid ""
+"The time, in seconds, for which B<in> must be B<false> before B<out> becomes "
+"B<false>"
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelay.9:37
+#, no-wrap
+msgid "B<timedelay.>I<N>B<.elapsed> float out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelay.9:43
+msgid "Jeff Epler, based on works by Stephen Wille Padnos and John Kasunich"
+msgstr ""
+
+#. type: TH
+#: man/man9/timedelta.9:9
+#, no-wrap
+msgid "TIMEDELTA"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:13
+msgid ""
+"timedelta - LinuxCNC HAL component that measures thread scheduling timing "
+"behavior"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:16
+msgid "B<loadrt timedelta [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:17
+#, no-wrap
+msgid "B<timedelta.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:21
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.jitter> s32 out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:24
+msgid ""
+"Worst-case scheduling error (in ns).  This is the largest discrepancy "
+"between ideal thread period, and actual time between sequential runs of this "
+"component.  This uses the absolute value of the error, so 'got run too "
+"early' and 'got run too late' both show up as positive jitter."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:24
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.current-jitter> s32 out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:27
+msgid ""
+"Scheduling error (in ns) of the current invocation.  This is the discrepancy "
+"between ideal thread period, and actual time since the previous run of this "
+"component.  This uses the absolute value of the error, so 'got run too "
+"early' and 'got run too late' both show up as positive jitter."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:27
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.current-error> s32 out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:30
+msgid ""
+"Scheduling error (in ns) of the current invocation.  This is the discrepancy "
+"between ideal thread period, and actual time since the previous run of this "
+"component.  This does not use the absolute value of the error, so 'got run "
+"too early' shows up as negative error and 'got run too late' shows up as "
+"positive error."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:30
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.min> s32 out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:33
+msgid "Minimum time (in ns) between sequential runs of this component."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:33
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.max> s32 out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:36
+msgid "Maximum time (in ns) between sequential runs of this component."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:36
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:39
+msgid "Set this pin to True, then back to False, to reset some of the statistics."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:39
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.out> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:42
+msgid ""
+"Time (in ns) since the previous run of this component.  This should ideally "
+"be equal to the thread period."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:42
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.err> s32 out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:45
+msgid "Cumulative time error (in ns).  Probably not useful."
+msgstr ""
+
+#. type: TP
+#: man/man9/timedelta.9:45
+#, no-wrap
+msgid "B<timedelta.>I<N>B<.avg-err> float out (default: I<0>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/timedelta.9:48
+msgid "The average scheduling error (in ns)."
+msgstr ""
+
+#. type: TH
+#: man/man9/toggle2nist.9:9
+#, no-wrap
+msgid "TOGGLE2NIST"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:13
+msgid "toggle2nist - toggle button to nist logic"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:16
+msgid "B<loadrt toggle2nist [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:22
+msgid ""
+"Toggle2nist can be used with a momentary push button to control a device "
+"that has separate on and off inputs and an is-on output."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:24
+msgid ""
+"\\[bu] On a rising edge on pin I<in> when I<is-on> is low: It sets I<on> "
+"until I<is-on> becomes high."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:26
+msgid ""
+"\\[bu] On a rising edge on pin I<in> when I<is-on> is high: It sets I<off> "
+"until I<is-on> becomes low."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:29
+msgid "\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2510]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u250C]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]xxxxxxxxxxxx\\[u2510]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u250C]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]xxxxxxxxxxxx\\[u2510]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:31
+msgid "in\\[u00A0]\\[u00A0]\\[u00A0]:\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2518]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]xxxxxxxxxxxx\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2518]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]xxxxxxxxxxxx\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:33
+msgid "\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2510]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u250C]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2510]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:35
+msgid "on\\[u00A0]\\[u00A0]\\[u00A0]:\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2518]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:37
+msgid "\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2510]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u250C]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2510]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:39
+msgid "off\\[u00A0]\\[u00A0]:\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2518]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:41
+msgid "\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2510]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u250C]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2510]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:43
+msgid "is-on:\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2518]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]"
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle2nist.9:46
+#, no-wrap
+msgid "B<toggle2nist.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle2nist.9:50
+#, no-wrap
+msgid "B<toggle2nist.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle2nist.9:54
+#, no-wrap
+msgid "B<toggle2nist.>I<N>B<.is-on> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle2nist.9:58
+#, no-wrap
+msgid "B<toggle2nist.>I<N>B<.on> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle2nist.9:62
+#, no-wrap
+msgid "B<toggle2nist.>I<N>B<.off> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle2nist.9:67
+msgid "Anders Wallin"
+msgstr ""
+
+#. type: TH
+#: man/man9/toggle.9:9
+#, no-wrap
+msgid "TOGGLE"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:13
+msgid "toggle - 'push-on, push-off' from momentary pushbuttons"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:16
+msgid "B<loadrt toggle [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:20
+msgid "\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2510]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u250C]\\[u2500]\\[u2500]\\[u2510]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u250C]\\[u2500]\\[u2500]\\[u2510]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:22
+msgid "in\\[u00A0]:\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2518]\\[u00A0]\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2518]\\[u00A0]\\[u00A0]\\[u2514]\\[u2500]\\[u2500]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:24
+msgid "\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2510]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u250C]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2510]"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:26
+msgid "out:\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2518]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u00A0]\\[u2514]\\[u2500]\\[u2500]\\[u2500]\\[u2500]\\[u2500]"
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle.9:28
+#, no-wrap
+msgid "B<toggle.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle.9:32
+#, no-wrap
+msgid "B<toggle.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:35
+msgid "button input"
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle.9:35
+#, no-wrap
+msgid "B<toggle.>I<N>B<.out> bit io "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:38
+msgid "on/off output"
+msgstr ""
+
+#. type: TP
+#: man/man9/toggle.9:39
+#, no-wrap
+msgid "B<toggle.>I<N>B<.debounce> u32 rw (default: I<2>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/toggle.9:42
+msgid "debounce delay in periods"
+msgstr ""
+
+#. type: TH
+#: man/man9/tristate_bit.9:9
+#, no-wrap
+msgid "TRISTATE_BIT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/tristate_bit.9:13
+msgid ""
+"tristate_bit - Place a signal on an I/O pin only when enabled, similar to a "
+"tristate buffer in electronics"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/tristate_bit.9:16
+msgid "B<loadrt tristate_bit [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/tristate_bit.9:17
+#, no-wrap
+msgid "B<tristate-bit.>I<N>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/tristate_bit.9:20 man/man9/tristate_float.9:20
+msgid "If B<enable> is TRUE, copy B<in> to B<out>."
+msgstr ""
+
+#. type: TP
+#: man/man9/tristate_bit.9:21
+#, no-wrap
+msgid "B<tristate-bit.>I<N>B<.in> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/tristate_bit.9:24 man/man9/tristate_float.9:24
+msgid "Input value"
+msgstr ""
+
+#. type: TP
+#: man/man9/tristate_bit.9:24
+#, no-wrap
+msgid "B<tristate-bit.>I<N>B<.out> bit io "
+msgstr ""
+
+#. type: TP
+#: man/man9/tristate_bit.9:27
+#, no-wrap
+msgid "B<tristate-bit.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/tristate_bit.9:30 man/man9/tristate_float.9:30
+msgid "When TRUE, copy in to out"
+msgstr ""
+
+#. type: TH
+#: man/man9/tristate_float.9:9
+#, no-wrap
+msgid "TRISTATE_FLOAT"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/tristate_float.9:13
+msgid ""
+"tristate_float - Place a signal on an I/O pin only when enabled, similar to "
+"a tristate buffer in electronics"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/tristate_float.9:16
+msgid "B<loadrt tristate_float [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/tristate_float.9:17
+#, no-wrap
+msgid "B<tristate-float.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/tristate_float.9:21
+#, no-wrap
+msgid "B<tristate-float.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/tristate_float.9:24
+#, no-wrap
+msgid "B<tristate-float.>I<N>B<.out> float io "
+msgstr ""
+
+#. type: TP
+#: man/man9/tristate_float.9:27
+#, no-wrap
+msgid "B<tristate-float.>I<N>B<.enable> bit in "
+msgstr ""
+
+#. type: TH
+#: man/man9/updown.9:9
+#, no-wrap
+msgid "UPDOWN"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:13
+msgid "updown - Counts up or down, with optional limits and wraparound behavior"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:16
+msgid "B<loadrt updown [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:17
+#, no-wrap
+msgid "B<updown.>I<N>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:20
+msgid "Process inputs and update count if necessary"
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:21
+#, no-wrap
+msgid "B<updown.>I<N>B<.countup> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:24
+msgid "Increment count when this pin goes from 0 to 1"
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:24
+#, no-wrap
+msgid "B<updown.>I<N>B<.countdown> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:27
+msgid "Decrement count when this pin goes from 0 to 1"
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:27
+#, no-wrap
+msgid "B<updown.>I<N>B<.reset> bit in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:30
+msgid "Reset count when this pin goes from 0 to 1"
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:30
+#, no-wrap
+msgid "B<updown.>I<N>B<.count> s32 out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:33
+msgid "The current count"
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:34
+#, no-wrap
+msgid "B<updown.>I<N>B<.clamp> bit rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:37
+msgid "If TRUE, then clamp the output to the min and max parameters."
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:37
+#, no-wrap
+msgid "B<updown.>I<N>B<.wrap> bit rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:40
+msgid ""
+"If TRUE, then wrap around when the count goes above or below the min and max "
+"parameters.  Note that wrap implies (and overrides) clamp."
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:40
+#, no-wrap
+msgid "B<updown.>I<N>B<.max> s32 rw (default: I<0x7FFFFFFF>)"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:43
+msgid "If clamp or wrap is set, count will never exceed this number"
+msgstr ""
+
+#. type: TP
+#: man/man9/updown.9:43
+#, no-wrap
+msgid "B<updown.>I<N>B<.min> s32 rw "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/updown.9:46
+msgid "If clamp or wrap is set, count will never be less than this number"
+msgstr ""
+
+#. type: TH
+#: man/man9/userkins.9:9
+#, no-wrap
+msgid "USERKINS"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:13
+msgid "userkins - Template for user-built kinematics"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:16
+msgid "B<loadrt userkins [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:22
+msgid ""
+"The userkins.comp file is a template for creating kinematics that can be "
+"user-built using halcompile."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:25
+msgid ""
+"The unmodified userkins component can be used as a kinematics file for a "
+"machine with identity kinematics for an xyz machine employing 3 joints "
+"(motors)."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:27
+msgid "B<USAGE:>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:29
+#, no-wrap
+msgid "  1) Copy the userkins.comp file to a user-owned directory (B<mydir>).\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:33
+#, no-wrap
+msgid ""
+"     Note: The userkins.comp file can be downloaded from:\n"
+"E<.URL "
+"https://github.com/LinuxCNC/linuxcnc/raw/2.8/src/hal/components/userkins.comp>\n"
+"     where '2.8' is the branch name (use 'master' for the master branch)\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:37
+#, no-wrap
+msgid ""
+"     For a RIP (run-in-place) build, the file is located in\n"
+"     the git tree as:\n"
+"       src/hal/components/userkins.comp\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:56
+#, no-wrap
+msgid ""
+"  2) Edit the functions kinematicsForward() and kinematicsInverse() as "
+"required.\n"
+"  3) If required, add HAL pins following examples in the template code.\n"
+"  4) Build and install the component using halcompile:\n"
+"     $ cd B<mydir>\n"
+"     $ [sudo] halcompile --install userkins.comp\n"
+"     # Note:\n"
+"     #      sudo is required when using a deb install\n"
+"     #      sudo is B<not> required for run-in-place builds\n"
+"     # $ man halcompile for more info\n"
+"  5) Specify userkins in an ini file as:\n"
+"     B<[KINS]>\n"
+"     B<KINEMATICS=userkins>\n"
+"     B<JOINTS=3>\n"
+"     # the number of JOINTS must agree with the\n"
+"     # number of joints used in your modified userkins.comp\n"
+"  6) Note: the manpage for userkins is not updated by halcompile --install\n"
+"  7) To use a different component name, rename the file (example "
+"mykins.comp)\n"
+"     and change all instances of 'userkins' to 'mykins'.\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:60
+#, no-wrap
+msgid ""
+"B<NOTES:>\n"
+"  1  The B<fpin> pin is included to satisfy the requirements of the\n"
+"     halcompile utility but it is not accessible to kinematics functions.\n"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/userkins.9:64
+#, no-wrap
+msgid ""
+"  2  HAL pins and parameters needed in kinematics functions "
+"(kinematicsForward(),\n"
+"     kinematicsInverse()) must be setup in a function "
+"(B<userkins_setup()>)\n"
+"     invoked by the initial motion module call to kinematicsType().\n"
+msgstr ""
+
+#. type: TP
+#: man/man9/userkins.9:66
+#, no-wrap
+msgid "B<userkins.>I<N>B<.fdemo> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/userkins.9:70
+#, no-wrap
+msgid "B<userkins.>I<N>B<.fpin> s32 out (default: I<0>)"
+msgstr ""
+
+#. type: TH
+#: man/man9/wcomp.9:9
+#, no-wrap
+msgid "WCOMP"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:13
+msgid "wcomp - Window comparator"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:16
+msgid "B<loadrt wcomp [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/wcomp.9:17
+#, no-wrap
+msgid "B<wcomp.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/wcomp.9:21
+#, no-wrap
+msgid "B<wcomp.>I<N>B<.in> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:24
+msgid "Value being compared"
+msgstr ""
+
+#. type: TP
+#: man/man9/wcomp.9:24
+#, no-wrap
+msgid "B<wcomp.>I<N>B<.min> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:27
+msgid "Low boundary for comparison"
+msgstr ""
+
+#. type: TP
+#: man/man9/wcomp.9:27
+#, no-wrap
+msgid "B<wcomp.>I<N>B<.max> float in "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:30
+msgid "High boundary for comparison"
+msgstr ""
+
+#. type: TP
+#: man/man9/wcomp.9:30
+#, no-wrap
+msgid "B<wcomp.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:33
+msgid "True if B<in> is strictly between B<min> and B<max>"
+msgstr ""
+
+#. type: TP
+#: man/man9/wcomp.9:33
+#, no-wrap
+msgid "B<wcomp.>I<N>B<.under> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:36
+msgid "True if B<in> is less than or equal to B<min>"
+msgstr ""
+
+#. type: TP
+#: man/man9/wcomp.9:36
+#, no-wrap
+msgid "B<wcomp.>I<N>B<.over> bit out "
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:39
+msgid "True if B<in> is greater than or equal to B<max>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/wcomp.9:42
+msgid "If B<max> E<lt>= B<min> then the behavior is undefined."
+msgstr ""
+
+#. type: TH
+#: man/man9/xhc_hb04_util.9:9
+#, no-wrap
+msgid "XHC_HB04_UTIL"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/xhc_hb04_util.9:13
+msgid "xhc_hb04_util - xhc-hb04 convenience utility"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/xhc_hb04_util.9:16
+msgid "B<loadrt xhc_hb04_util [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/xhc_hb04_util.9:20
+msgid ""
+"Provides logic for a start/pause button and an interface to "
+"B<halui.program.is_paused>, B<is_idle>, B<is_running> to generate outputs "
+"for B<halui.program.pause>, B<resume>, B<run>."
+msgstr ""
+
+#. type: Plain text
+#: man/man9/xhc_hb04_util.9:24
+msgid ""
+"Includes 4 simple lowpass filters with B<coef> and B<scale> pins.  The coef "
+"value should be 0 E<lt>= coef E<lt>=1, smaller coef values slow response.  "
+"See the lowpass manpage for calculating the filter time constant ($ man "
+"lowpass)."
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:27
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N> (requires a floating-point thread)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:31
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.start-or-pause> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:35
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.is-paused> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:39
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.is-idle> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:43
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.is-running> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:47
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.pause> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:51
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.resume> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:55
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.run> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:59
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.in0> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:63
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.in1> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:67
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.in2> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:71
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.in3> s32 in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:75
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.out0> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:79
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.out1> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:83
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.out2> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:87
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.out3> s32 out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:91
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.scale0> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:95
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.scale1> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:99
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.scale2> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:103
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.scale3> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:107
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.coef0> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:111
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.coef1> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:115
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.coef2> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:119
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.coef3> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:123
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.divide-by-k-in> float in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:127
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.divide-by-k-out> float out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xhc_hb04_util.9:131
+#, no-wrap
+msgid "B<xhc-hb04-util.>I<N>B<.k> float in (default: I<1.0>)"
+msgstr ""
+
+#. type: TH
+#: man/man9/xor2.9:9
+#, no-wrap
+msgid "XOR2"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/xor2.9:13
+msgid "xor2 - Two-input XOR (exclusive OR) gate"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/xor2.9:16
+msgid "B<loadrt xor2 [count=>I<N>B<|names=>I<name1>B<[,>I<name2...>B<]]>"
+msgstr ""
+
+#. type: TP
+#: man/man9/xor2.9:17
+#, no-wrap
+msgid "B<xor2.>I<N>"
+msgstr ""
+
+#. type: TP
+#: man/man9/xor2.9:21
+#, no-wrap
+msgid "B<xor2.>I<N>B<.in0> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xor2.9:25
+#, no-wrap
+msgid "B<xor2.>I<N>B<.in1> bit in "
+msgstr ""
+
+#. type: TP
+#: man/man9/xor2.9:29
+#, no-wrap
+msgid "B<xor2.>I<N>B<.out> bit out "
+msgstr ""
+
+#. type: TP
+#: man/man9/xor2.9:34
+#, no-wrap
+msgid "B<in0=TRUE in1=FALSE>"
+msgstr ""
+
+#. type: TQ
+#: man/man9/xor2.9:36
+#, no-wrap
+msgid "B<in0=FALSE in1=TRUE>"
+msgstr ""
+
+#. type: Plain text
+#: man/man9/xor2.9:50
+msgid "B<and2>(9), B<logic>(9), B<lut5>(9), B<not>(9), B<or2>(9)."
+msgstr ""